Expansion of task scheduling module in μC/OS-II kernel

Since μC/OS-Ⅱ cannot support the restriction on task scheduling of the same priority,a strategy was proposed based on round-robin scheduling.It borrowed two priority tasks in the kernel as the clock source and the polling engine respectively,so that tasks with the same priority worked under the lowest priority in turns.The method allows the kernel to support up to 192 tasks in the same priority without losing the real-time quality.The experiment and comparison indicate that the proposed method is simple and practical.