说明：  In a preemptive priority based RTOS, priority inversion problem is among the major sources of deadline violations. Priority inheritance protocol is one of the approaches to reduce priority inversion. Unfortunately, RTOS like uC/OS can’t support priority inheritance protocol since it does not allow kernel to have multiple tasks at the same priority. Although it has different ways to avoid priority inversion such as priority ceiling protocol, developers still have some difficulties in programming real time applications with it. In this paper, we redesign the uC/OS kernel to provide the ability to support round robin scheduling and implement priority inheritance semaphore on the modified kernel. As result, we port new kernel with priority inheritance semaphore to evaluation board, and evaluate the execution time of each of the kernel service as well as verify the operations of our implementation.
(In a preemptive priority based RTOS, priority inversionproblem is among the major sources of deadlineviolations. Priority inheritance protocol is one of theapproaches to reduce priority inversion. Unfortunately, RTOS like uC/OS can t support priority inheritanceprotocol since it does not allow kernel to have multipletasks at the same priority. Although it has different waysto avoid priority inversion such as priority ceilingprotocol, developers still have some difficulties inprogramming real time applications with it. In this paper, we redesign the uC/OS kernel to provide the ability tosupport round robin scheduling and implement priorityinheritance semaphore on the modified kernel. As result, we port new kernel with priority inheritance semaphore toevaluation board, and evaluate the execution time of eachof the kernel service as well as verify the operations ofour implementation.)