nucleus plus实时任务抢占式操作系统在omap1610开发板上的成功移植，可实现跨越平台的开发和二次应用层开发-nucleus plus real-time task preemptive operating system in the success of transplantation omap1610 development board can be cross-platform development and realization of the second applicat

1ms时标 混合式调度器（一个抢占式任务，多个合作式任务）-1ms time scale hybrid scheduler (a preemptive task, a number of co-operative tasks)

针对Arm7内核的芯片实现的无限中断嵌套，其实是多任务实时操作系统的一种不依赖任务就绪表的队列式抢占CPU的实现方式的基础-Interrupt Nest