Embedded applications are becoming more complex and isputting more pressure on embedded system softwareprogrammers. In a complex system， a number of tasks must

　　run in parallel in real time in an operating system. Examplesinclude Ethernet， USB， SDHC， and so on. One such task is anelectrical motor control， like DC， Brushless DC， stepper， or

　　even a 3-phase sinusoidal motors such as the PMSM， or ACinduction motors. The motor control algorithm requiresprecise timing of the control tasks， such as the output signalgeneration， which is based on the scheduled tasks of theopposing rotor position in the operating system （OS）， and withsignificant latency. Therefore， the inclusion of motor controltasks in an operating system requires special care. Motor

　　control in this document means a process that controlselectrical motors such as AC induction， BLDC， PMsynchronous， or DC MQ