公开(公告)号：US09971631B2

公开(公告)日：2018-05-15

申请号：US15035433

申请日：2013-11-29

Applicant: FOUNDATION OF SOONGSIL UNIVERSITY INDUSTRY COOPERATION

Inventor： Kang-Hee Kim ,  Hyeong-Seok Kang ,  Jin-Young Choi ,  Joon-Woo Lee

IPC: G06F9/48 ,  G06F12/02 ,  G06F13/24 ,  G06F13/28 ,  G06F13/42

CPC classification number: G06F9/4887 ,  G06F12/023 ,  G06F13/24 ,  G06F13/28 ,  G06F13/4234 ,  G06F2212/1044

Abstract: 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.