用c++编写嵌入式多任务操作系统

用c++编写嵌入式多任务操作系统Design and Implementation of Real Time Software
for Control of Mechanical Systems

by

D.M. Auslander
dma@me.berkeley.edu

J.R. Ridgely
jridgely@calpoly.edu

J.D. Ringgenberg
joeringg@ugcs.caltech.edu Dept. of Mechanical Engineering University of California Berkeley, CA 94720-1740

c 1997-2002, D.M. Auslander, J.R. Ridgely, J.D. Ringgenberg copyright °

ii

c 1997-2002 by D.M. Auslander, J.R. Ridgely and J.D. Ringgenberg °

Contents
1 Mechatronics 1.1 A History of Increasing Complexity . . . . . . . . . . 1.2 Mechatronic System Organization . . . . . . . . . . 1.3 Ampliers and Isolation . . . . . . . . . . . . . . . . 1.4 Scope: The Unit Machine . . . . . . . . . . . . . . . 1.5 “Control” . . . . . . . . . . . . . . . . . . . . . . . . 1.6 Real Time Software . . . . . . . . . . . . . . .