function overrun_init% Deadline overrun handling using TrueTime overrun handlers.% % Period of controller task: 6 ms% Execution time: 5 + U(0,2) ms% % Two approaches are provided. The first allows the task to% continue into next sample (no overrun handler is attached),% whereas the second uses a simple overrun handler that terminates% the current job if the deadline is exceeded. % Initialize TrueTime kernelttInitKernel(2, 1, 'prioFP'); % nbrOfInputs, nbrOfOutputs, fixed priorityrand('state', 0);% Task attributesperiod = 0.006;offset = 0.0; % start of first task instanceprio = 1;% Create task data (local memory)data.K = 0.96;data.Ti = 0.12;data.Td = 0.049;data.beta = 0.5;data.N = 10;data.h = 0.006;data.u = 0;data.Iold = 0;data.Dold = 0;data.yold = 0;data.rChan = 1;data.yChan = 2;data.uChan = 1;data.count = 0;ttCreatePeriodicTask('pid_task', offset, period, prio, 'pidcode', data);% Attach deadline overrun handler%ttCreateInterruptHandler('DL_handler', prio, 'hdlcode');%ttAttachDLHandler('pid_task', 'DL_handler');