473 lines
16 KiB
C
473 lines
16 KiB
C
/****************************************************************************
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* include/nuttx/wqueue.h
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*
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* Copyright (C) 2009, 2011-2014 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_WQUEUE_H
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#define __INCLUDE_NUTTX_WQUEUE_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <semaphore.h>
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#include <queue.h>
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#include <nuttx/clock.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* CONFIG_SCHED_WORKQUEUE. Not selectable. Set by the configuration system
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* if either CONFIG_SCHED_HPWORK or CONFIG_SCHED_LPWORK are selected.
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* CONFIG_SCHED_HPWORK. Create a dedicated "worker" thread to
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* handle delayed processing from interrupt handlers. This feature
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* is required for some drivers but, if there are not complaints,
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* can be safely disabled. The worker thread also performs
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* garbage collection -- completing any delayed memory deallocations
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* from interrupt handlers. If the worker thread is disabled,
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* then that clean will be performed by the IDLE thread instead
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* (which runs at the lowest of priority and may not be appropriate
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* if memory reclamation is of high priority). If CONFIG_SCHED_HPWORK
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* is enabled, then the following options can also be used:
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* CONFIG_SCHED_HPWORKPRIORITY - The execution priority of the high-
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* priority worker thread. Default: 224
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* CONFIG_SCHED_HPWORKPERIOD - How often the worker thread checks for
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* work in units of microseconds. If the high priority worker thread is
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* performing garbage collection, then the default is 50*1000 (50 MS).
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* Otherwise, if the lower priority worker thread is performing garbage
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* collection, the default is 100*1000.
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* CONFIG_SCHED_HPWORKSTACKSIZE - The stack size allocated for the worker
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* thread. Default: 2048.
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* CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
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* the worker thread. Default: 17
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*
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* CONFIG_SCHED_LPWORK. If CONFIG_SCHED_LPWORK is selected then a lower-
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* priority work queue will be created. This lower priority work queue
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* is better suited for more extended processing (such as file system
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* clean-up operations)
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* CONFIG_SCHED_LPNTHREADS - The number of thread in the low-priority queue's
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* thread pool. Default: 1
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* CONFIG_SCHED_LPWORKPRIORITY - The minimum execution priority of the lower
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* priority worker thread. Default: 50
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* CONFIG_SCHED_LPWORKPRIOMAX - The maximum execution priority of the lower
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* priority worker thread. Default: 176
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* CONFIG_SCHED_LPWORKPERIOD - How often the lower priority worker thread
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* checks for work in units of microseconds. Default: 50*1000 (50 MS).
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* CONFIG_SCHED_LPWORKSTACKSIZE - The stack size allocated for the lower
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* priority worker thread. Default: 2048.
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*
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* The user-mode work queue is only available in the protected or kernel
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* builds. This those configurations, the user-mode work queue provides the
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* same (non-standard) facility for use by applications.
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*
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* CONFIG_LIB_USRWORK. If CONFIG_LIB_USRWORK is also defined then the
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* user-mode work queue will be created.
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* CONFIG_LIB_USRWORKPRIORITY - The minimum execution priority of the lower
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* priority worker thread. Default: 100
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* CONFIG_LIB_USRWORKPERIOD - How often the lower priority worker thread
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* checks for work in units of microseconds. Default: 100*1000 (100 MS).
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* CONFIG_LIB_USRWORKSTACKSIZE - The stack size allocated for the lower
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* priority worker thread. Default: 2048.
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*/
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/* Is this a protected build (CONFIG_BUILD_PROTECTED=y) */
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#if defined(CONFIG_BUILD_PROTECTED)
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/* Yes.. kernel worker threads are not built in a kernel build when we are
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* building the user-space libraries.
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*/
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# ifndef __KERNEL__
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# undef CONFIG_SCHED_HPWORK
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# undef CONFIG_SCHED_LPWORK
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# undef CONFIG_SCHED_WORKQUEUE
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/* User-space worker threads are not built in a kernel build when we are
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* building the kernel-space libraries (but we still need to know that it
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* is configured).
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*/
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# endif
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#elif defined(CONFIG_BUILD_KERNEL)
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/* The kernel only build is equivalent to the kernel part of the protected
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* build.
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*/
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#else
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/* User-space worker threads are not built in a flat build
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* (CONFIG_BUILD_PROTECTED=n && CONFIG_BUILD_KERNEL=n)
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*/
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# undef CONFIG_LIB_USRWORK
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#endif
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#if defined(CONFIG_SCHED_WORKQUEUE) || defined(CONFIG_LIB_USRWORK)
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/* High priority, kernel work queue configuration ***************************/
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#ifdef CONFIG_SCHED_HPWORK
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# ifndef CONFIG_SCHED_HPWORKPRIORITY
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# define CONFIG_SCHED_HPWORKPRIORITY 224
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# endif
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# ifndef CONFIG_SCHED_HPWORKPERIOD
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# ifdef CONFIG_SCHED_LPWORK
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# define CONFIG_SCHED_HPWORKPERIOD (100*1000) /* 100 milliseconds */
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# else
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# define CONFIG_SCHED_HPWORKPERIOD (50*1000) /* 50 milliseconds */
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# endif
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# endif
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# ifndef CONFIG_SCHED_HPWORKSTACKSIZE
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# define CONFIG_SCHED_HPWORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
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# endif
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#endif /* CONFIG_SCHED_HPWORK */
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/* Low priority kernel work queue configuration *****************************/
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#ifdef CONFIG_SCHED_LPWORK
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# ifndef CONFIG_SCHED_LPNTHREADS
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# define CONFIG_SCHED_LPNTHREADS 1
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#endif
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# ifndef CONFIG_SCHED_LPWORKPRIORITY
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# define CONFIG_SCHED_LPWORKPRIORITY 50
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# endif
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# ifndef CONFIG_SCHED_LPWORKPRIOMAX
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# ifdef CONFIG_SCHED_HPWORK
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# define CONFIG_SCHED_LPWORKPRIOMAX (CONFIG_SCHED_HPWORKPRIORITY-16)
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# else
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# define CONFIG_SCHED_LPWORKPRIOMAX 176
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# endif
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# endif
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# ifdef CONFIG_SCHED_HPWORK
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# if CONFIG_SCHED_LPWORKPRIORITY >= CONFIG_SCHED_HPWORKPRIORITY
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# error CONFIG_SCHED_LPWORKPRIORITY >= CONFIG_SCHED_HPWORKPRIORITY
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# endif
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# if CONFIG_SCHED_LPWORKPRIOMAX >= CONFIG_SCHED_HPWORKPRIORITY
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# error CONFIG_SCHED_LPWORKPRIOMAX >= CONFIG_SCHED_HPWORKPRIORITY
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# endif
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# endif
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# if CONFIG_SCHED_LPWORKPRIORITY > CONFIG_SCHED_LPWORKPRIOMAX
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# error CONFIG_SCHED_LPWORKPRIORITY > CONFIG_SCHED_LPWORKPRIOMAX
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# endif
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# ifndef CONFIG_SCHED_LPWORKPERIOD
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# define CONFIG_SCHED_LPWORKPERIOD (50*1000) /* 50 milliseconds */
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# endif
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# ifndef CONFIG_SCHED_LPWORKSTACKSIZE
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# define CONFIG_SCHED_LPWORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
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# endif
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# ifdef CONFIG_WORK_HPWORK
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/* The high priority worker thread should be higher priority than the low
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* priority worker thread.
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*/
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# if CONFIG_SCHED_LPWORKPRIORITY > CONFIG_SCHED_HPWORKPRIORITY
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# warning "The Lower priority worker thread has the higher priority"
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# endif
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#endif
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#endif /* CONFIG_SCHED_LPWORK */
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/* User space work queue configuration **************************************/
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#ifdef CONFIG_LIB_USRWORK
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# ifndef CONFIG_LIB_USRWORKPRIORITY
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# define CONFIG_LIB_USRWORKPRIORITY 100
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# endif
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# ifndef CONFIG_LIB_USRWORKPERIOD
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# define CONFIG_LIB_USRWORKPERIOD (100*1000) /* 100 milliseconds */
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# endif
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# ifndef CONFIG_LIB_USRWORKSTACKSIZE
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# define CONFIG_LIB_USRWORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
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# endif
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#endif /* CONFIG_LIB_USRWORK */
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/* Work queue IDs:
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*
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* Kernel Work Queues:
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* HPWORK: This ID of the high priority work queue that should only be
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* used for hi-priority, time-critical, driver bottom-half functions.
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*
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* LPWORK: This is the ID of the low priority work queue that can be
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* used for any purpose. if CONFIG_SCHED_LPWORK is not defined, then
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* there is only one kernel work queue and LPWORK == HPWORK.
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*
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* User Work Queue:
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* USRWORK: In the kernel phase a a kernel build, there should be no
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* references to user-space work queues. That would be an error.
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* Otherwise, in a flat build, user applications will use the lower
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* priority work queue (if there is one).
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*/
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#if defined(CONFIG_LIB_USRWORK) && !defined(__KERNEL__)
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/* User mode */
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# define USRWORK 2 /* User mode work queue */
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# define HPWORK USRWORK /* Redirect kernel-mode references */
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# define LPWORK USRWORK
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#else
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/* Kernel mode */
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# define HPWORK 0 /* High priority, kernel-mode work queue */
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# ifdef CONFIG_SCHED_LPWORK
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# define LPWORK (HPWORK+1) /* Low priority, kernel-mode work queue */
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# else
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# define LPWORK HPWORK /* Redirect low-priority references */
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# endif
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# define USRWORK LPWORK /* Redirect user-mode references */
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#endif /* CONFIG_LIB_USRWORK && !__KERNEL__ */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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#ifndef __ASSEMBLY__
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/* Defines the work callback */
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typedef void (*worker_t)(FAR void *arg);
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/* Defines one entry in the work queue. The user only needs this structure
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* in order to declare instances of the work structure. Handling of all
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* fields is performed by the work APIs
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*/
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struct work_s
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{
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struct dq_entry_s dq; /* Implements a doubly linked list */
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worker_t worker; /* Work callback */
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FAR void *arg; /* Callback argument */
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systime_t qtime; /* Time work queued */
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systime_t delay; /* Delay until work performed */
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: work_usrstart
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*
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* Description:
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* Start the user mode work queue.
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*
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* Input parameters:
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* None
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*
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* Returned Value:
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* The task ID of the worker thread is returned on success. A negated
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* errno value is returned on failure.
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*
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****************************************************************************/
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#if defined(CONFIG_LIB_USRWORK) && !defined(__KERNEL__)
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int work_usrstart(void);
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#endif
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/****************************************************************************
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* Name: work_queue
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*
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* Description:
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* Queue work to be performed at a later time. All queued work will be
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* performed on the worker thread of execution (not the caller's).
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*
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* The work structure is allocated by caller, but completely managed by
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* the work queue logic. The caller should never modify the contents of
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* the work queue structure; the caller should not call work_queue()
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* again until either (1) the previous work has been performed and removed
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* from the queue, or (2) work_cancel() has been called to cancel the work
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* and remove it from the work queue.
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*
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* Input parameters:
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* qid - The work queue ID
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* work - The work structure to queue
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* worker - The worker callback to be invoked. The callback will invoked
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* on the worker thread of execution.
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* arg - The argument that will be passed to the worker callback when
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* it is invoked.
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* delay - Delay (in clock ticks) from the time queue until the worker
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* is invoked. Zero means to perform the work immediately.
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*
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* Returned Value:
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* Zero on success, a negated errno on failure
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*
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****************************************************************************/
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int work_queue(int qid, FAR struct work_s *work, worker_t worker,
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FAR void *arg, systime_t delay);
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/****************************************************************************
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* Name: work_cancel
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*
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* Description:
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* Cancel previously queued work. This removes work from the work queue.
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* After work has been cancelled, it may be re-queue by calling work_queue()
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* again.
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*
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* Input parameters:
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* qid - The work queue ID
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* work - The previously queue work structure to cancel
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*
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* Returned Value:
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* Zero on success, a negated errno on failure
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*
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* -ENOENT - There is no such work queued.
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* -EINVAL - An invalid work queue was specified
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*
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****************************************************************************/
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int work_cancel(int qid, FAR struct work_s *work);
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/****************************************************************************
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* Name: work_signal
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*
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* Description:
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* Signal the worker thread to process the work queue now. This function
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* is used internally by the work logic but could also be used by the
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* user to force an immediate re-assessment of pending work.
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*
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* Input parameters:
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* qid - The work queue ID
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*
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* Returned Value:
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* Zero on success, a negated errno on failure
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*
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****************************************************************************/
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int work_signal(int qid);
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/****************************************************************************
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* Name: work_available
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*
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* Description:
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* Check if the work structure is available.
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*
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* Input parameters:
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* work - The work queue structure to check.
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* None
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*
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* Returned Value:
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* true if available; false if busy (i.e., there is still pending work).
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*
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****************************************************************************/
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#define work_available(work) ((work)->worker == NULL)
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/****************************************************************************
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* Name: lpwork_boostpriority
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*
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* Description:
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* Called by the work queue client to assure that the priority of the low-
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* priority worker thread is at least at the requested level, reqprio. This
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* function would normally be called just before calling work_queue().
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*
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* Parameters:
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* reqprio - Requested minimum worker thread priority
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*
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* Return Value:
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* None
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*
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****************************************************************************/
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#if defined(CONFIG_SCHED_LPWORK) && defined(CONFIG_PRIORITY_INHERITANCE)
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void lpwork_boostpriority(uint8_t reqprio);
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#endif
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/****************************************************************************
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* Name: lpwork_restorepriority
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*
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* Description:
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* This function is called to restore the priority after it was previously
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* boosted. This is often done by client logic on the worker thread when
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* the scheduled work completes. It will check if we need to drop the
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* priority of the worker thread.
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*
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* Parameters:
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* reqprio - Previously requested minimum worker thread priority to be
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* "unboosted"
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*
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* Return Value:
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* None
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*
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****************************************************************************/
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#if defined(CONFIG_SCHED_LPWORK) && defined(CONFIG_PRIORITY_INHERITANCE)
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void lpwork_restorepriority(uint8_t reqprio);
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#endif
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* CONFIG_SCHED_WORKQUEUE || CONFIG_LIB_USRWORK */
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#endif /* __INCLUDE_NUTTX_WQUEUE_H */
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