Qiupetter

你好，铁蛋运动控制系统内核采用开源的Linux RT patch来增强系统实时性（CONFIG_PREEMPT_RT_FULL），主要优化点在中断线程化，自旋锁互斥化，以及修正优先级翻转等方面。 patch源码：https://www.kernel.org/pub/linux/kernel/projects/rt Fully Preemptible Kernel (RT): 实时系统 All kernel code is preemptible except for a few selected critical sections. Threaded interrupt handlers are forced. Furthermore several substitution mechanisms...