I applied RT-preemption and High-Resolution Timer Patch to linux- .
It gave satisfactory result for 'cyclic_test' and
'HR-Timer clock-nanoSleep_test'.

But the problem is that Interrupt Latency in much more than before.
This is result which i got from my Interrupt Latency program.

WITH RT-preemption:
(Max Latency= 513.1 micro seconds and Min Latency= 12.1 micro seconds)

WITHOUT RT-preemption:
(Max Latency= 13.1 micro seconds and Min Latency= 1.8 micro seconds)

Since, RT-preemption implements ISR like threads, so is this the reason for

higher latency? Is there any way to improve this?