To ensure the requirements of the hard real-time tasks, a double run queue is used instead of the original single run queue, these tasks are organized in one run queue and MLF schedule strategy is used for them.

• 为保证硬实时任务的时限要求,把原Linux的单运行队列改为双运行队列,硬实时任务单独被放在一个队列中,并采用MLF调度算法代替原内核的FIFO调度算法。