低速器件上高速任务调度的实现研究

Research on High-speed Task-scheduling in Low-speed Device

本文以视觉机器人的快速轨迹跟踪为研究背景,分析了前后台系统及RTOS下常规解决方案处理本问题的局限性,提出了一种择时将中断纳入操作系统管理的解决方案,实现了在低速器件上的高速任务切换,最后设计了系统实时性验证程序,并进行了性能测试.本文提出的任务调度方案和实时验证方案对高速的数据采集、处理系统具有普适性.

In this paper,the limitations of the foreground/background systems and common resolve scheme with RTOS are first analyzed based on the research background of the accelerating problem for Freescale intelligent racing car.Then a new way of time-selectedly adding interrupt to the operating system is presented,high-speed task switching is implemented.Finally,a program to verifying the real-time feature of the system is designed,and performance test has been done.The scheme presented in this paper can be widely used in high-speed data acquisition and processing system.