Movement stability control method applied to four-stage driving
A technology of stability control and movement, applied in the direction of generating/distributing signals, etc., can solve problems such as large precision errors, and achieve the effect of reducing system errors and improving clock accuracy
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Embodiment 1
[0024] A method for controlling the stability of a movement applied to a four-stage drive, which specifically includes the following steps:
[0025] S1. Use dynamic multi-mode clock mechanism to improve Linux clock accuracy, realize interrupt data processing and statistics for the four-level drive movement, 1Linux clock mechanism and improvement 1.1Linux clock mechanism, through the determination of clock and timer models , It is helpful to reduce the error of Linux system, the kernel should manage the running time of the system and wall time;
[0026] S2. A large number of tasks in the kernel are based on four-level driving and time driving. Some of these tasks are executed periodically, adjusting the balance of the run queue in the scheduler or refreshing the screen, and some tasks require I / O operations to be executed later. You need to wait for a relative time before running. The system clock is a combination of timer hardware and system software. In the architecture, the most ...
Embodiment 2
[0031] The difference between this embodiment and Embodiment 1 is:
[0032] The processing of jiffies specifically includes the following steps:
[0033] M1. Interrupt Chuli in standard mode. First, determine whether there is a real-time timer in the real-time timer queue. When the number of real-time timers is set, the working mode of the movement is determined, execute the function to maintain system related events, and query whether there is a real-time timer in the real-time timer queue. An interrupt processing first determines whether the jiffies clock expires;
[0034] M2. Query the linked list of real-time timers, and set the time of the next interruption generated by the movement according to the difference between its earliest time-out real-time timer and the current event;
[0035] M3. Detection in high-frequency cycle mode, specifically including interrupt processing in high-frequency cycle mode to determine in advance whether the jiffies clock expires, and if it does not e...
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