{"id":7206,"date":"2026-08-14T13:35:03","date_gmt":"2026-08-14T05:35:03","guid":{"rendered":"https:\/\/nullthought.net\/?p=7206"},"modified":"2026-08-14T13:35:05","modified_gmt":"2026-08-14T05:35:05","slug":"%e5%ae%9e%e6%97%b6%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9f%e5%a6%82%e4%bd%95%e8%83%bd%e5%a4%9f%e5%81%9a%e5%88%b0%e5%ae%9e%e6%97%b6%ef%bc%9f","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=7206","title":{"rendered":"\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\u5982\u4f55\u80fd\u591f\u505a\u5230\u5b9e\u65f6\uff1f"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\u4e4b\u6240\u4ee5\u80fd\u201c\u5b9e\u65f6\u201d\uff0c\u6838\u5fc3\u5e76\u4e0d\u662f\u5b83<strong>\u5e73\u5747\u8fd0\u884c\u5f97\u66f4\u5feb<\/strong>\uff0c\u800c\u662f\u5b83\u80fd\u5c3d\u91cf\u4fdd\u8bc1\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u67d0\u4e2a\u5173\u952e\u4efb\u52a1\u5728\u89c4\u5b9a\u7684\u6700\u8fdf\u65f6\u95f4\u4e4b\u524d\uff0c\u4e00\u5b9a\u5f97\u5230 CPU \u5e76\u5b8c\u6210\u5904\u7406\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6362\u53e5\u8bdd\u8bf4\uff0c\u5b9e\u65f6\u7cfb\u7edf\u6700\u91cd\u8981\u7684\u662f<strong>\u786e\u5b9a\u6027\uff08determinism\uff09<\/strong>\uff0c\u800c\u4e0d\u662f\u5355\u7eaf\u7684\u901f\u5ea6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f8b\u5982\uff0c\u5047\u8bbe\u4e00\u4e2a\u7535\u673a\u63a7\u5236\u4efb\u52a1\u8981\u6c42\u6bcf 1 ms \u6267\u884c\u4e00\u6b21\u3002\u666e\u901a Linux\/Windows \u53ef\u80fd\u5927\u591a\u6570\u65f6\u5019\u90fd\u80fd\u5728 1 ms \u5185\u6267\u884c\uff0c\u4f46\u5076\u5c14\u56e0\u4e3a\u540e\u53f0\u4efb\u52a1\u3001\u5185\u5b58\u6362\u9875\u3001\u9a71\u52a8\u7a0b\u5e8f\u3001\u7cfb\u7edf\u4e2d\u65ad\u7b49\u539f\u56e0\u62d6\u5230 5 ms\u300120 ms\u3002\u5bf9\u4e8e\u666e\u901a\u7535\u8111\uff0c\u8fd9\u53ea\u662f\u201c\u5361\u4e86\u4e00\u4e0b\u201d\uff1b\u4f46\u5bf9\u98de\u884c\u63a7\u5236\u3001\u6c7d\u8f66\u5236\u52a8\u3001\u5de5\u4e1a\u63a7\u5236\u3001\u706b\u661f\u8f66\u59ff\u6001\u63a7\u5236\u6765\u8bf4\uff0c\u8fd9\u53ef\u80fd\u5c31\u662f\u6545\u969c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">RTOS \u4f1a\u901a\u8fc7\u4e00\u6574\u5957\u673a\u5236\uff0c\u628a\u8fd9\u79cd\u201c\u5076\u5c14\u5361\u4f4f\u201d\u7684\u4e0d\u786e\u5b9a\u6027\u538b\u5230\u5f88\u4f4e\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u5173\u952e\u7684\u4e00\u70b9\u662f<strong>\u57fa\u4e8e\u4f18\u5148\u7ea7\u7684\u62a2\u5360\u5f0f\u8c03\u5ea6<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5047\u8bbe\u7cfb\u7edf\u91cc\u6709\u4e09\u4e2a\u4efb\u52a1\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>A\uff1a\u59ff\u6001\u63a7\u5236\uff0c\u4f18\u5148\u7ea7\u6700\u9ad8<\/li>\n\n\n\n<li>B\uff1a\u901a\u4fe1<\/li>\n\n\n\n<li>C\uff1a\u65e5\u5fd7\u8bb0\u5f55\uff0c\u4f18\u5148\u7ea7\u6700\u4f4e<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c CPU \u6b63\u5728\u6267\u884c\u65e5\u5fd7\u4efb\u52a1 C\uff0c\u8fd9\u65f6\u59ff\u6001\u63a7\u5236\u4efb\u52a1 A \u5230\u671f\u4e86\uff0cRTOS \u4e0d\u4f1a\u7b49 C \u505a\u5b8c\uff0c\u800c\u662f\u7acb\u5373\u6682\u505c C\uff0c\u628a CPU \u4ea4\u7ed9 A\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u53eb\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Preemptive Scheduling\uff0c\u62a2\u5360\u5f0f\u8c03\u5ea6\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u56e0\u6b64\uff0c\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u7684\u54cd\u5e94\u65f6\u95f4\u53ef\u4ee5\u6bd4\u8f83\u7cbe\u786e\u5730\u4f30\u7b97\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u53ef\u4ee5\u7b80\u5355\u7406\u89e3\u4e3a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u666e\u901a\u684c\u9762\u7cfb\u7edf\uff1a\n\n\u4efb\u52a1A \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n\u540e\u53f0\u7a0b\u5e8f \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n\u78c1\u76d8\u8bbf\u95ee \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n\u9a71\u52a8\u7a0b\u5e8f \u2500\u2500\u2500\u2500\u2500\u2500\u2500\n\u4efb\u52a1B \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n\n\u4ec0\u4e48\u65f6\u5019\u8f6e\u5230\u5173\u952e\u4efb\u52a1\uff1f\n\u5927\u591a\u6570\u65f6\u5019\u5f88\u5feb\uff0c\u4f46\u4e0d\u4fdd\u8bc1\u3002\n\n\nRTOS\uff1a\n\n\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n                    \u2193 \u88ab\u62a2\u5360\n\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1        \u2588\u2588\u2588\u2588\u2588\u2588\u2588\u2588\u2588\n                    \u2191 \u7acb\u5373\u6267\u884c\n\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1              \u2514\u2500\u2500\u2500\u2500\u7ee7\u7eed\u6267\u884c\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b2c\u4e8c\u4e2a\u5173\u952e\u673a\u5236\u662f<strong>\u4e2d\u65ad\u54cd\u5e94\u65f6\u95f4\u5fc5\u987b\u53ef\u63a7<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6bd4\u5982\u4e00\u4e2a\u4f20\u611f\u5668\u7a81\u7136\u4ea7\u751f\u4e2d\u65ad\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u201c\u65b0\u7684\u59ff\u6001\u6570\u636e\u5230\u4e86\u3002\u201d<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">CPU \u4ece\u5f53\u524d\u4efb\u52a1\u8f6c\u53bb\u6267\u884c\u4e2d\u65ad\u670d\u52a1\u7a0b\u5e8f\uff0c\u9700\u8981\u4e00\u5b9a\u65f6\u95f4\uff0c\u8fd9\u53eb\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Interrupt Latency\uff0c\u4e2d\u65ad\u5ef6\u8fdf\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u666e\u901a\u64cd\u4f5c\u7cfb\u7edf\u53ef\u80fd\u51fa\u73b0\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>10 \u03bcs\n20 \u03bcs\n15 \u03bcs\n\u7a81\u7136\u4e00\u6b21 2 ms\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5e73\u5747\u503c\u770b\u8d77\u6765\u4e0d\u9519\uff0c\u4f46\u5bf9\u4e8e\u5b9e\u65f6\u63a7\u5236\uff0c\u6700\u540e\u90a3\u4e2a 2 ms \u53ef\u80fd\u4e0d\u53ef\u63a5\u53d7\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">RTOS \u66f4\u5173\u6ce8\u7684\u662f\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><strong>\u6700\u574f\u60c5\u51b5\u4e0b\u6700\u591a\u5ef6\u8fdf\u591a\u5c11\uff1f<\/strong><\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u6bd4\u5982\u7cfb\u7edf\u8bbe\u8ba1\u76ee\u6807\u53ef\u80fd\u662f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u4e2d\u65ad\u5ef6\u8fdf &lt; 10 \u03bcs\n\u4efb\u52a1\u5207\u6362 &lt; 5 \u03bcs\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u53ea\u8981\u8fd9\u4e9b\u4e0a\u9650\u662f\u53ef\u4ee5\u5206\u6790\u548c\u9a8c\u8bc1\u7684\uff0c\u5de5\u7a0b\u5e08\u5c31\u53ef\u4ee5\u8bbe\u8ba1\u6574\u4e2a\u63a7\u5236\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6240\u4ee5\u5b9e\u65f6\u7cfb\u7edf\u91cc\u7ecf\u5e38\u5173\u5fc3\u4e00\u4e2a\u6982\u5ff5\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Worst-Case Execution Time\uff0cWCET\uff0c\u6700\u574f\u6267\u884c\u65f6\u95f4\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u4e5f\u662f RTOS \u548c\u666e\u901a\u64cd\u4f5c\u7cfb\u7edf\u601d\u7ef4\u65b9\u5f0f\u7684\u4e00\u4e2a\u91cd\u8981\u533a\u522b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u666e\u901a\u7cfb\u7edf\u66f4\u5173\u6ce8\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u5e73\u5747\u6027\u80fd\u662f\u591a\u5c11\uff1f<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9e\u65f6\u7cfb\u7edf\u66f4\u5173\u6ce8\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><strong>\u6700\u5dee\u60c5\u51b5\u4e0b\u4f1a\u4e0d\u4f1a\u8d85\u65f6\uff1f<\/strong><\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b2c\u4e09\u4e2a\u91cd\u8981\u673a\u5236\u662f<strong>\u907f\u514d\u4e0d\u53ef\u9884\u6d4b\u7684\u7cfb\u7edf\u884c\u4e3a<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f8b\u5982\u684c\u9762\u64cd\u4f5c\u7cfb\u7edf\u5e38\u5e38\u4f7f\u7528\u865a\u62df\u5185\u5b58\u3002\u5982\u679c RAM \u4e0d\u591f\uff0c\u7cfb\u7edf\u53ef\u80fd\u628a\u4e00\u90e8\u5206\u6570\u636e\u4ea4\u6362\u5230\u78c1\u76d8\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>RAM\n \u2193\nPage Fault\n \u2193\nSSD \/ \u786c\u76d8\n \u2193\n\u91cd\u65b0\u52a0\u8f7d\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u6b21\u8bbf\u95ee\u53ef\u80fd\u539f\u672c\u53ea\u9700\u8981\u51e0\u5341\u7eb3\u79d2\uff0c\u5374\u7a81\u7136\u53d8\u6210\u51e0\u767e\u5fae\u79d2\u751a\u81f3\u51e0\u6beb\u79d2\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u79cd\u884c\u4e3a\u5bf9\u4e8e\u5b9e\u65f6\u7cfb\u7edf\u975e\u5e38\u9ebb\u70e6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6240\u4ee5\u5f88\u591a RTOS\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4e0d\u4f7f\u7528\u5206\u9875\uff0c\u6216\u8005\u4e25\u683c\u9650\u5236\u52a8\u6001\u5185\u5b58\u64cd\u4f5c\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7c7b\u4f3c\u7684\u95ee\u9898\u8fd8\u5305\u62ec\u5783\u573e\u56de\u6536\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e00\u4e9b\u9ad8\u7ea7\u8bed\u8a00\u8fd0\u884c\u65f6\u53ef\u80fd\u7a81\u7136\u8fdb\u884c\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>Garbage Collection\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e8e\u662f\u7a0b\u5e8f\u505c\u987f\u51e0\u5341\u6beb\u79d2\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5bf9\u4e8e\u7f51\u9875\u670d\u52a1\u5668\u53ef\u80fd\u6ca1\u6709\u95ee\u9898\uff0c\u4f46\u5bf9\u4e8e 1 kHz \u7684\u98de\u63a7\u5faa\u73af\u5c31\u53ef\u80fd\u5b8c\u5168\u4e0d\u80fd\u63a5\u53d7\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u56e0\u6b64\u9ad8\u7b49\u7ea7\u5b9e\u65f6\u7cfb\u7edf\u901a\u5e38\u5c3d\u91cf\u907f\u514d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e0d\u53ef\u9884\u6d4b\u7684\u5185\u5b58\u5206\u914d<\/li>\n\n\n\n<li>\u9875\u9762\u4ea4\u6362<\/li>\n\n\n\n<li>\u957f\u65f6\u95f4\u5783\u573e\u56de\u6536<\/li>\n\n\n\n<li>\u4e0d\u786e\u5b9a\u7684\u78c1\u76d8\u8bbf\u95ee<\/li>\n\n\n\n<li>\u4e0d\u53d7\u63a7\u5236\u7684\u540e\u53f0\u8fdb\u7a0b<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b2c\u56db\u4e2a\u5173\u952e\u673a\u5236\u662f<strong>\u9ad8\u7cbe\u5ea6\u5b9a\u65f6\u5668<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">RTOS \u4e2d\u7684\u5f88\u591a\u4efb\u52a1\u4e0d\u662f\u201c\u6709\u7a7a\u5c31\u8fd0\u884c\u201d\uff0c\u800c\u662f\u6309\u7167\u4e25\u683c\u5468\u671f\u6267\u884c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f8b\u5982\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u59ff\u6001\u63a7\u5236\uff1a        \u6bcf 1 ms\n\u7535\u673a\u63a7\u5236\uff1a        \u6bcf 2 ms\n\u4f20\u611f\u5668\u878d\u5408\uff1a      \u6bcf 5 ms\n\u5bfc\u822a\u7b97\u6cd5\uff1a        \u6bcf 20 ms\n\u901a\u4fe1\uff1a            \u6bcf 100 ms\n\u65e5\u5fd7\uff1a            \u6bcf 1 s\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">RTOS \u7684\u786c\u4ef6\u5b9a\u65f6\u5668\u5230\u70b9\u4ee5\u540e\u4f1a\u4ea7\u751f\u4e2d\u65ad\uff0c\u7136\u540e\u8c03\u5ea6\u76f8\u5e94\u4efb\u52a1\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e8e\u662f\u5f62\u6210\u975e\u5e38\u7a33\u5b9a\u7684\u63a7\u5236\u5468\u671f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>0 ms    \u63a7\u5236\n1 ms    \u63a7\u5236\n2 ms    \u63a7\u5236\n3 ms    \u63a7\u5236\n4 ms    \u63a7\u5236\n...\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u5bf9\u63a7\u5236\u7cfb\u7edf\u5c24\u5176\u91cd\u8981\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f8b\u5982 PID \u63a7\u5236\u5668\u5047\u5b9a\u91c7\u6837\u5468\u671f\u4e3a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>Ts = 1 ms\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u5b9e\u9645\u53d8\u6210\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>1.0 ms\n1.1 ms\n0.9 ms\n5.4 ms\n0.8 ms\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u63a7\u5236\u6548\u679c\u53ef\u80fd\u660e\u663e\u6076\u5316\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u79cd\u5468\u671f\u6267\u884c\u65f6\u95f4\u7684\u6ce2\u52a8\u53eb\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Jitter\uff0c\u6296\u52a8\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">RTOS \u7684\u4e00\u4e2a\u91cd\u8981\u76ee\u6807\uff0c\u5c31\u662f\u8ba9 jitter \u5c3d\u53ef\u80fd\u5c0f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd8\u6709\u4e00\u4e2a\u5f88\u5bb9\u6613\u88ab\u5ffd\u7565\u7684\u95ee\u9898\u53eb<strong>\u4f18\u5148\u7ea7\u53cd\u8f6c<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5047\u8bbe\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1 A<\/li>\n\n\n\n<li>\u4e2d\u4f18\u5148\u7ea7\u4efb\u52a1 B<\/li>\n\n\n\n<li>\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1 C<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f4e\u4f18\u5148\u7ea7 C \u5148\u9501\u4f4f\u4e00\u4e2a\u5171\u4eab\u8d44\u6e90\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>Mutex\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u65f6\u9ad8\u4f18\u5148\u7ea7 A \u4e5f\u9700\u8981\u8fd9\u4e2a\u8d44\u6e90\uff0c\u4e8e\u662f\u53ea\u80fd\u7b49 C\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u504f\u504f\u4e2d\u4f18\u5148\u7ea7 B \u53c8\u62a2\u5360 C\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e8e\u662f\u5f62\u6210\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>A \u7b49 C\nC \u53c8\u88ab B \u62a2\u5360\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ed3\u679c\u672c\u6765\u6700\u9ad8\u4f18\u5148\u7ea7\u7684 A\uff0c\u53cd\u800c\u88ab\u95f4\u63a5\u62d6\u5ef6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u5c31\u662f\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Priority Inversion\uff0c\u4f18\u5148\u7ea7\u53cd\u8f6c\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8457\u540d\u7684 Mars Pathfinder \u4efb\u52a1\u5c31\u66fe\u51fa\u73b0\u8fc7\u7c7b\u4f3c\u7684\u4f18\u5148\u7ea7\u53cd\u8f6c\u95ee\u9898\uff0c\u6700\u7ec8\u901a\u8fc7 VxWorks \u7684<strong>\u4f18\u5148\u7ea7\u7ee7\u627f\u673a\u5236<\/strong>\u89e3\u51b3\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u539f\u7406\u662f\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c C \u6321\u4f4f\u4e86\u6700\u9ad8\u4f18\u5148\u7ea7 A\uff0c\u90a3\u4e48\u4e34\u65f6\u628a C \u7684\u4f18\u5148\u7ea7\u63d0\u5347\u5230 A \u7684\u7ea7\u522b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>C \u539f\u672c\u4f18\u5148\u7ea7\uff1a\u4f4e\n        \u2193\nA \u7b49\u5f85 C\n        \u2193\nC \u4e34\u65f6\u83b7\u5f97\u9ad8\u4f18\u5148\u7ea7\n        \u2193\nC \u5feb\u901f\u5b8c\u6210\n        \u2193\n\u91ca\u653e\u9501\n        \u2193\nA \u8fd0\u884c\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u53eb\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Priority Inheritance\uff0c\u4f18\u5148\u7ea7\u7ee7\u627f\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u73b0\u4ee3 RTOS \u4e2d\u8fd8\u6709\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Priority Ceiling\uff0c\u4f18\u5148\u7ea7\u5929\u82b1\u677f<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b49\u673a\u5236\uff0c\u4e13\u95e8\u89e3\u51b3\u7c7b\u4f3c\u95ee\u9898\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6240\u4ee5\uff0c\u5982\u679c\u628a RTOS \u4e3a\u4ec0\u4e48\u201c\u5b9e\u65f6\u201d\u538b\u7f29\u6210\u4e00\u53e5\u8bdd\uff0c\u5c31\u662f\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><strong>\u901a\u8fc7\u53ef\u9884\u6d4b\u7684\u8c03\u5ea6\u3001\u4e2d\u65ad\u3001\u5185\u5b58\u548c\u8d44\u6e90\u7ba1\u7406\uff0c\u628a\u5173\u952e\u4efb\u52a1\u7684\u6700\u574f\u54cd\u5e94\u65f6\u95f4\u63a7\u5236\u5728\u4e00\u4e2a\u53ef\u4ee5\u8ba1\u7b97\u548c\u9a8c\u8bc1\u7684\u8303\u56f4\u5185\u3002<\/strong><\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u53ef\u4ee5\u628a\u666e\u901a\u64cd\u4f5c\u7cfb\u7edf\u548c RTOS \u7b80\u5316\u5bf9\u6bd4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u7279\u6027<\/th><th>Windows \/ \u666e\u901a Linux<\/th><th>RTOS<\/th><\/tr><\/thead><tbody><tr><td>\u6838\u5fc3\u76ee\u6807<\/td><td>\u541e\u5410\u91cf\u3001\u4f53\u9a8c<\/td><td>\u786e\u5b9a\u6027<\/td><\/tr><tr><td>\u8c03\u5ea6<\/td><td>\u516c\u5e73\u3001\u7efc\u5408\u4f18\u5316<\/td><td>\u4e25\u683c\u4f18\u5148\u7ea7<\/td><\/tr><tr><td>\u5173\u952e\u4efb\u52a1\u62a2\u5360<\/td><td>\u4e0d\u4e00\u5b9a\u4e25\u683c<\/td><td>\u5f3a\u8c03\u53ca\u65f6\u62a2\u5360<\/td><\/tr><tr><td>\u4e2d\u65ad\u5ef6\u8fdf<\/td><td>\u53ef\u80fd\u6ce2\u52a8\u8f83\u5927<\/td><td>\u6709\u4e25\u683c\u4e0a\u9650<\/td><\/tr><tr><td>\u8c03\u5ea6\u5ef6\u8fdf<\/td><td>\u4e0d\u5bb9\u6613\u4fdd\u8bc1<\/td><td>\u53ef\u5206\u6790<\/td><\/tr><tr><td>\u865a\u62df\u5185\u5b58<\/td><td>\u5927\u91cf\u4f7f\u7528<\/td><td>\u5e38\u9650\u5236\u6216\u4e0d\u7528<\/td><\/tr><tr><td>\u9875\u9762\u4ea4\u6362<\/td><td>\u5e38\u89c1<\/td><td>\u901a\u5e38\u907f\u514d<\/td><\/tr><tr><td>Jitter<\/td><td>\u53ef\u4ee5\u8f83\u5927<\/td><td>\u5c3d\u91cf\u5c0f<\/td><\/tr><tr><td>WCET<\/td><td>\u901a\u5e38\u4e0d\u5173\u6ce8<\/td><td>\u975e\u5e38\u91cd\u8981<\/td><\/tr><tr><td>\u5178\u578b\u5e94\u7528<\/td><td>PC\u3001\u670d\u52a1\u5668<\/td><td>\u98de\u63a7\u3001\u6c7d\u8f66\u3001\u5de5\u4e1a\u63a7\u5236\u3001\u822a\u5929<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd8\u8981\u7279\u522b\u5f3a\u8c03\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u5b9e\u65f6 \u2260 \u5feb\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f8b\u5982\u4e24\u4e2a\u7cfb\u7edf\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7cfb\u7edf A\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u5e73\u5747\u54cd\u5e94\uff1a0.1 ms\n\u6700\u574f\u54cd\u5e94\uff1a50 ms\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u7cfb\u7edf B\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u5e73\u5747\u54cd\u5e94\uff1a0.8 ms\n\u6700\u574f\u54cd\u5e94\uff1a1.0 ms\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u4efb\u52a1\u8981\u6c42\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>Deadline = 2 ms\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u90a3\u4e48 B \u624d\u662f\u771f\u6b63\u9002\u5408\u5b9e\u65f6\u63a7\u5236\u7684\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u867d\u7136 A \u5e73\u5747\u5feb\u4e86 8 \u500d\uff0c\u4f46\u5b83\u5076\u5c14\u4f1a\u51fa\u73b0 50 ms \u7684\u5ef6\u8fdf\uff0c\u6240\u4ee5\u4e0d\u80fd\u4fdd\u8bc1\u4efb\u52a1\u6309\u65f6\u5b8c\u6210\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u4e5f\u6b63\u662f\u4e3a\u4ec0\u4e48\u706b\u661f\u8f66\u4f1a\u9009\u62e9 VxWorks \u8fd9\u6837\u7684 RTOS\u3002\u5bf9\u4e8e\u6bc5\u529b\u53f7\u6765\u8bf4\uff0cRAD750 \u7684\u7b97\u529b\u548c\u4eca\u5929\u7684\u624b\u673a\u76f8\u6bd4\u975e\u5e38\u4f4e\uff0c\u4f46 NASA \u66f4\u5173\u5fc3\u7684\u662f\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u201c\u4ec0\u4e48\u65f6\u5019\u6267\u884c\uff0c\u6211\u77e5\u9053\uff1b\u6700\u8fdf\u4ec0\u4e48\u65f6\u5019\u5b8c\u6210\uff0c\u6211\u4e5f\u77e5\u9053\u3002\u201d<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u800c\u4e0d\u662f\u5355\u7eaf\u8ffd\u6c42\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u201c\u5e73\u5747\u8dd1\u5f97\u6709\u591a\u5feb\u3002\u201d<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u5176\u5b9e\u5c31\u662f\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\u6700\u672c\u8d28\u7684\u8bbe\u8ba1\u54f2\u5b66\uff1a<strong>\u4e0d\u662f\u8ffd\u6c42\u6700\u5feb\uff0c\u800c\u662f\u8ffd\u6c42\u53ef\u9884\u6d4b\u3002<\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\u4e4b\u6240\u4ee5\u80fd\u201c\u5b9e\u65f6\u201d\uff0c\u6838\u5fc3\u5e76\u4e0d\u662f\u5b83\u5e73\u5747\u8fd0\u884c\u5f97\u66f4\u5feb\uff0c\u800c\u662f\u5b83\u80fd\u5c3d\u91cf\u4fdd\u8bc1\uff1a \u67d0\u4e2a\u5173\u952e\u4efb\u52a1\u5728\u89c4\u5b9a\u7684\u6700\u8fdf\u65f6\u95f4\u4e4b\u524d [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center 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center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[3,8],"tags":[69],"class_list":["post-7206","post","type-post","status-publish","format-standard","hentry","category-it","category-tech","tag-engineering"],"rttpg_featured_image_url":null,"rttpg_author":{"display_name":"NullThought","author_link":"https:\/\/nullthought.net\/?author=1"},"rttpg_comment":0,"rttpg_category":"<a href=\"https:\/\/nullthought.net\/?cat=3\" rel=\"category\">IT<\/a> <a href=\"https:\/\/nullthought.net\/?cat=8\" rel=\"category\">Tech<\/a>","rttpg_excerpt":"\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\u4e4b\u6240\u4ee5\u80fd\u201c\u5b9e\u65f6\u201d\uff0c\u6838\u5fc3\u5e76\u4e0d\u662f\u5b83\u5e73\u5747\u8fd0\u884c\u5f97\u66f4\u5feb\uff0c\u800c\u662f\u5b83\u80fd\u5c3d\u91cf\u4fdd\u8bc1\uff1a \u67d0\u4e2a\u5173\u952e\u4efb\u52a1\u5728\u89c4\u5b9a\u7684\u6700\u8fdf\u65f6\u95f4\u4e4b\u524d&hellip;","_links":{"self":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/7206","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=7206"}],"version-history":[{"count":1,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/7206\/revisions"}],"predecessor-version":[{"id":7207,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/7206\/revisions\/7207"}],"wp:attachment":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=7206"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=7206"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=7206"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}