Aiming at the problem that μC/OS-Ⅱ does not support round-robin scheduling of the same priority task, a twolevel hybrid task scheduling strategy is proposed. In the first level, by putting the task priority as criterion for task scheduling,a preemptive scheduling of different priority task is implemented. And in the second level, adopting time slice circular scheduling strategy, round-robin scheduling of same priority task is implemented. The waiting list of tasks is designed by on-chip registers of FPGA an...