【摘要】 CANopen主站作为CANopen网络的配置管理者、网络管理者和监视者具有重要的意义;CANopen网络的特性决定了CANo- pen主站必须具有高度的实时性、并发处理能力和动态灵活性,因此多任务的工作方式是最佳的选择:基于可移植性的考虑,提出了一种用标准C语言实现的非抢占式的多任务调度结构;由于仅用标准C语言实现,该结构可运用于任何C编译环境;经过实际测试,在ARM7和Windows操作系统上该结构都可达到微秒级的调度速度,满足CANopen主站的实时性要求。更多还原

【Abstract】 As the configuration manager,network management master and monitor,CANopen master plays an important role in CANo- pen network.According to its features,CANopen master should operate real-timely,concurrently and dynamically.Therefore,multi- task is the best work mode.In consideration of transplanting capability,an ANSI C based non-preemptive multi-task scheduling structure is proposed.Because of the pure ANSI C implementation,it can run on any C compiler.Verified by field experiments,it realizes microsecond level scheduling on both ARM7 and windows platforms,so that it satisfies the real-time requirements of CANopen.更多还原