发明名称 |
METHOD AND APPARATUS FOR SCHEDULING PIPELINE OF MULTIPROCESSOR-BASED MOTION CONTROL SOFTWARE |
摘要 |
According to the present invention, a method comprising: (a) calculating, by an admission control program, a parameter for scheduling a pipeline using a maximum allowable period and an execution time for each of N motion tasks, wherein the parameter includes an optimal periodic value, a task offset and an input/output offset for each of the N tasks; (b) generating, by a coordinator program, N motion tasks, wherein one of the N motion tasks is determined to be a reference task, and the other is determined to be a non-reference task; (c) allowing, by the reference task and the non-reference task, an operating system to generate a task wakeup timer and an input/output (I/O) initiating timer; and (d) setting, by the non-reference task, a task offset and an input/output offset for an own timer on the basis of the task wakeup timer of the reference task. |
申请公布号 |
US2016292005(A1) |
申请公布日期 |
2016.10.06 |
申请号 |
US201315035433 |
申请日期 |
2013.11.29 |
申请人 |
FOUNDATION OF SOONGSIL UNIVERSITY INDUSTRY COOPERA TION |
发明人 |
LEE Kang-Hee;KANG Hyeong-Seok;CHOI Jin-Young;LEE Joon-Woo |
分类号 |
G06F9/48;G06F13/42;G06F12/02;G06F13/28;G06F13/24 |
主分类号 |
G06F9/48 |
代理机构 |
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代理人 |
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主权项 |
1. A method for scheduling a pipeline of multiprocessor-based motion control software, the method comprising:
(a) calculating, by an admission control program, a parameter for scheduling a pipeline using a maximum allowable period and an execution time for each of N motion tasks, wherein the parameter includes an optimal periodic value, a task offset and an input/output offset for each of the N tasks; (b) generating, by a coordinator program, N motion tasks, wherein one of the N motion tasks is determined to be a reference task, and the other is determined to be a non-reference task; (c) allowing, by the reference task and the non-reference task, an operating system to generate a task wakeup timer and an input/output (I/O) initiating timer; and (d) setting, by the non-reference task, a task offset and an input/output offset for an own timer on the basis of the task wakeup timer of the reference task. |
地址 |
Seoul KR |