mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2025-12-06 17:26:32 +08:00
[work_queue] Configure stack size and priority via KConfig (#25406)
This commit is contained in:
Niklas Hauser
GitHub
@@ -2,6 +2,4 @@ if PLATFORM_NUTTX
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rsource "nuttx/Kconfig"
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endif
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if PLATFORM_POSIX || PLATFORM_QURT
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rsource "common/Kconfig"
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endif
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@@ -34,6 +34,7 @@
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#pragma once
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#include <stdint.h>
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#include <px4_boardconfig.h>
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namespace px4
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{
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@@ -48,52 +49,55 @@ struct wq_config_t {
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namespace wq_configurations
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{
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static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3150, 0}; // PX4 inner loop highest priority
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// All values are now configured via KConfig options.
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// The CONFIG_ macros are generated by the build system.
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static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", CONFIG_WQ_RATE_CTRL_STACKSIZE, (int8_t)CONFIG_WQ_RATE_CTRL_PRIORITY};
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static constexpr wq_config_t SPI0{"wq:SPI0", 2392, -1};
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static constexpr wq_config_t SPI1{"wq:SPI1", 2392, -2};
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static constexpr wq_config_t SPI2{"wq:SPI2", 2392, -3};
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static constexpr wq_config_t SPI3{"wq:SPI3", 2392, -4};
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static constexpr wq_config_t SPI4{"wq:SPI4", 2392, -5};
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static constexpr wq_config_t SPI5{"wq:SPI5", 2392, -6};
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static constexpr wq_config_t SPI6{"wq:SPI6", 2392, -7};
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static constexpr wq_config_t SPI0{"wq:SPI0", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI0_PRIORITY};
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static constexpr wq_config_t SPI1{"wq:SPI1", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI1_PRIORITY};
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static constexpr wq_config_t SPI2{"wq:SPI2", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI2_PRIORITY};
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static constexpr wq_config_t SPI3{"wq:SPI3", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI3_PRIORITY};
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static constexpr wq_config_t SPI4{"wq:SPI4", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI4_PRIORITY};
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static constexpr wq_config_t SPI5{"wq:SPI5", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI5_PRIORITY};
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static constexpr wq_config_t SPI6{"wq:SPI6", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI6_PRIORITY};
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static constexpr wq_config_t I2C0{"wq:I2C0", 2336, -8};
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static constexpr wq_config_t I2C1{"wq:I2C1", 2336, -9};
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static constexpr wq_config_t I2C2{"wq:I2C2", 2336, -10};
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static constexpr wq_config_t I2C3{"wq:I2C3", 2336, -11};
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static constexpr wq_config_t I2C4{"wq:I2C4", 2336, -12};
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static constexpr wq_config_t I2C0{"wq:I2C0", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C0_PRIORITY};
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static constexpr wq_config_t I2C1{"wq:I2C1", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C1_PRIORITY};
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static constexpr wq_config_t I2C2{"wq:I2C2", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C2_PRIORITY};
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static constexpr wq_config_t I2C3{"wq:I2C3", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C3_PRIORITY};
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static constexpr wq_config_t I2C4{"wq:I2C4", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C4_PRIORITY};
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// PX4 att/pos controllers, highest priority after sensors.
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static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 2240, -13};
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static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", CONFIG_WQ_NAV_AND_CONTROLLERS_STACKSIZE, (int8_t)CONFIG_WQ_NAV_AND_CONTROLLERS_PRIORITY};
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static constexpr wq_config_t INS0{"wq:INS0", 6000, -14};
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static constexpr wq_config_t INS1{"wq:INS1", 6000, -15};
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static constexpr wq_config_t INS2{"wq:INS2", 6000, -16};
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static constexpr wq_config_t INS3{"wq:INS3", 6000, -17};
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static constexpr wq_config_t INS0{"wq:INS0", CONFIG_WQ_INS_STACKSIZE, (int8_t)CONFIG_WQ_INS0_PRIORITY};
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static constexpr wq_config_t INS1{"wq:INS1", CONFIG_WQ_INS_STACKSIZE, (int8_t)CONFIG_WQ_INS1_PRIORITY};
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static constexpr wq_config_t INS2{"wq:INS2", CONFIG_WQ_INS_STACKSIZE, (int8_t)CONFIG_WQ_INS2_PRIORITY};
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static constexpr wq_config_t INS3{"wq:INS3", CONFIG_WQ_INS_STACKSIZE, (int8_t)CONFIG_WQ_INS3_PRIORITY};
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static constexpr wq_config_t hp_default{"wq:hp_default", 2800, -18};
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static constexpr wq_config_t hp_default{"wq:hp_default", CONFIG_WQ_HP_DEFAULT_STACKSIZE, (int8_t)CONFIG_WQ_HP_DEFAULT_PRIORITY};
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static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19};
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static constexpr wq_config_t uavcan{"wq:uavcan", CONFIG_WQ_UAVCAN_STACKSIZE, (int8_t)CONFIG_WQ_UAVCAN_PRIORITY};
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static constexpr wq_config_t ttyS0{"wq:ttyS0", 1728, -21};
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static constexpr wq_config_t ttyS1{"wq:ttyS1", 1728, -22};
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static constexpr wq_config_t ttyS2{"wq:ttyS2", 1728, -23};
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static constexpr wq_config_t ttyS3{"wq:ttyS3", 1728, -24};
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static constexpr wq_config_t ttyS4{"wq:ttyS4", 1728, -25};
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static constexpr wq_config_t ttyS5{"wq:ttyS5", 1728, -26};
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static constexpr wq_config_t ttyS6{"wq:ttyS6", 1728, -27};
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static constexpr wq_config_t ttyS7{"wq:ttyS7", 1728, -28};
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static constexpr wq_config_t ttyS8{"wq:ttyS8", 1728, -29};
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static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
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static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
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static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};
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static constexpr wq_config_t ttyS0{"wq:ttyS0", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S0_PRIORITY};
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static constexpr wq_config_t ttyS1{"wq:ttyS1", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S1_PRIORITY};
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static constexpr wq_config_t ttyS2{"wq:ttyS2", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S2_PRIORITY};
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static constexpr wq_config_t ttyS3{"wq:ttyS3", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S3_PRIORITY};
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static constexpr wq_config_t ttyS4{"wq:ttyS4", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S4_PRIORITY};
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static constexpr wq_config_t ttyS5{"wq:ttyS5", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S5_PRIORITY};
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static constexpr wq_config_t ttyS6{"wq:ttyS6", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S6_PRIORITY};
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static constexpr wq_config_t ttyS7{"wq:ttyS7", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S7_PRIORITY};
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static constexpr wq_config_t ttyS8{"wq:ttyS8", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S8_PRIORITY};
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static constexpr wq_config_t ttyS9{"wq:ttyS9", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S9_PRIORITY};
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static constexpr wq_config_t ttyACM0{"wq:ttyACM0", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_ACM0_PRIORITY};
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static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_UNKNOWN_PRIORITY};
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static constexpr wq_config_t lp_default{"wq:lp_default", 3500, -50};
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static constexpr wq_config_t lp_default{"wq:lp_default", CONFIG_WQ_LP_DEFAULT_STACKSIZE, (int8_t)CONFIG_WQ_LP_DEFAULT_PRIORITY};
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static constexpr wq_config_t test1{"wq:test1", 2000, 0};
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static constexpr wq_config_t test2{"wq:test2", 2000, 0};
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} // namespace wq_configurations
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/**
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317
platforms/common/px4_work_queue/Kconfig
Normal file
317
platforms/common/px4_work_queue/Kconfig
Normal file
@@ -0,0 +1,317 @@
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#
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# Work Queue Configuration
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#
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menu "Work Queue Configuration"
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config WQ_RATE_CTRL_STACKSIZE
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int "Stack size for wq:rate_ctrl"
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default 3150
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range 1000 10000
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help
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Sets the stack size in bytes for the rate_ctrl work queue.
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config WQ_RATE_CTRL_PRIORITY
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int "Relative priority for wq:rate_ctrl"
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default 0
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range -255 0
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help
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Sets the relative priority for the rate_ctrl work queue.
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menu "SPI Bus Work Queues"
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config WQ_SPI_STACKSIZE
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int "Stack size for SPI work queues"
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default 2392
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range 1000 10000
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help
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Sets the stack size for all SPI work queues (SPI0-SPI6).
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config WQ_SPI0_PRIORITY
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int "Relative priority for wq:SPI0"
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default -1
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range -255 0
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help
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Sets the relative priority for the SPI0 work queue.
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config WQ_SPI1_PRIORITY
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int "Relative priority for wq:SPI1"
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default -2
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range -255 0
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help
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Sets the relative priority for the SPI1 work queue.
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config WQ_SPI2_PRIORITY
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int "Relative priority for wq:SPI2"
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default -3
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range -255 0
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help
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Sets the relative priority for the SPI2 work queue.
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config WQ_SPI3_PRIORITY
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int "Relative priority for wq:SPI3"
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default -4
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range -255 0
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help
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Sets the relative priority for the SPI3 work queue.
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config WQ_SPI4_PRIORITY
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int "Relative priority for wq:SPI4"
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default -5
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range -255 0
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help
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Sets the relative priority for the SPI4 work queue.
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config WQ_SPI5_PRIORITY
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int "Relative priority for wq:SPI5"
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default -6
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range -255 0
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help
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Sets the relative priority for the SPI5 work queue.
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config WQ_SPI6_PRIORITY
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int "Relative priority for wq:SPI6"
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default -7
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range -255 0
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help
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Sets the relative priority for the SPI6 work queue.
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endmenu # SPI Bus Work Queues
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menu "I2C Bus Work Queues"
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config WQ_I2C_STACKSIZE
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int "Stack size for I2C work queues"
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default 2336
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range 1000 10000
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help
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Sets the stack size for all I2C work queues (I2C0-I2C4).
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config WQ_I2C0_PRIORITY
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int "Relative priority for wq:I2C0"
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default -8
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range -255 0
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help
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Sets the relative priority for the I2C0 work queue.
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config WQ_I2C1_PRIORITY
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int "Relative priority for wq:I2C1"
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default -9
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range -255 0
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help
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Sets the relative priority for the I2C1 work queue.
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config WQ_I2C2_PRIORITY
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int "Relative priority for wq:I2C2"
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default -10
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range -255 0
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help
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Sets the relative priority for the I2C2 work queue.
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config WQ_I2C3_PRIORITY
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int "Relative priority for wq:I2C3"
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default -11
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range -255 0
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help
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Sets the relative priority for the I2C3 work queue.
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config WQ_I2C4_PRIORITY
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int "Relative priority for wq:I2C4"
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default -12
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range -255 0
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help
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Sets the relative priority for the I2C4 work queue.
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endmenu # I2C Bus Work Queues
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config WQ_NAV_AND_CONTROLLERS_STACKSIZE
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int "Stack size for nav_and_controllers"
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default 2240
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range 1000 10000
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help
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Sets the stack size for the nav_and_controllers work queue.
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config WQ_NAV_AND_CONTROLLERS_PRIORITY
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int "Relative priority for nav_and_controllers"
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default -13
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range -255 0
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help
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Sets the relative priority for the nav_and_controllers work queue.
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menu "INS Work Queues"
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config WQ_INS_STACKSIZE
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int "Stack size for INS work queues"
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default 6000
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range 1000 10000
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help
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Sets the stack size for all INS work queues (INS0-INS3).
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config WQ_INS0_PRIORITY
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int "Relative priority for wq:INS0"
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default -14
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range -255 0
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help
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Sets the relative priority for the INS0 work queue.
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config WQ_INS1_PRIORITY
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int "Relative priority for wq:INS1"
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default -15
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range -255 0
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help
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Sets the relative priority for the INS1 work queue.
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config WQ_INS2_PRIORITY
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int "Relative priority for wq:INS2"
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default -16
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range -255 0
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help
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Sets the relative priority for the INS2 work queue.
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config WQ_INS3_PRIORITY
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int "Relative priority for wq:INS3"
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default -17
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range -255 0
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help
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Sets the relative priority for the INS3 work queue.
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endmenu # INS Work Queues
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config WQ_HP_DEFAULT_STACKSIZE
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int "Stack size for hp_default"
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default 2800
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range 1000 10000
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help
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Sets the stack size for the hp_default work queue.
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config WQ_HP_DEFAULT_PRIORITY
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int "Relative priority for hp_default"
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default -18
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range -255 0
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help
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Sets the relative priority for the hp_default work queue.
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config WQ_UAVCAN_STACKSIZE
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int "Stack size for uavcan"
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default 3624
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range 1000 10000
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help
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Sets the stack size for the uavcan work queue.
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config WQ_UAVCAN_PRIORITY
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int "Relative priority for wq:uavcan"
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default -19
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range -255 0
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help
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Sets the relative priority for the uavcan work queue.
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menu "TTY Bus Work Queues"
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config WQ_TTY_STACKSIZE
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int "Stack size for TTY work queues"
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default 1728
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range 1000 10000
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help
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Sets the stack size for all TTY work queues.
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config WQ_TTY_S0_PRIORITY
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int "Relative priority for wq:ttyS0"
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default -21
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range -255 0
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help
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Sets the relative priority for the ttyS0 work queue.
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config WQ_TTY_S1_PRIORITY
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int "Relative priority for wq:ttyS1"
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default -22
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range -255 0
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help
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Sets the relative priority for the ttyS1 work queue.
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config WQ_TTY_S2_PRIORITY
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int "Relative priority for wq:ttyS2"
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default -23
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range -255 0
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help
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Sets the relative priority for the ttyS2 work queue.
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config WQ_TTY_S3_PRIORITY
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int "Relative priority for wq:ttyS3"
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default -24
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range -255 0
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help
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Sets the relative priority for the ttyS3 work queue.
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config WQ_TTY_S4_PRIORITY
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int "Relative priority for wq:ttyS4"
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default -25
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range -255 0
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help
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Sets the relative priority for the ttyS4 work queue.
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config WQ_TTY_S5_PRIORITY
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int "Relative priority for wq:ttyS5"
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default -26
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range -255 0
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help
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Sets the relative priority for the ttyS5 work queue.
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config WQ_TTY_S6_PRIORITY
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int "Relative priority for wq:ttyS6"
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default -27
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range -255 0
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help
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Sets the relative priority for the ttyS6 work queue.
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config WQ_TTY_S7_PRIORITY
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int "Relative priority for wq:ttyS7"
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default -28
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range -255 0
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help
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Sets the relative priority for the ttyS7 work queue.
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config WQ_TTY_S8_PRIORITY
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int "Relative priority for wq:ttyS8"
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default -29
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range -255 0
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help
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Sets the relative priority for the ttyS8 work queue.
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config WQ_TTY_S9_PRIORITY
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int "Relative priority for wq:ttyS9"
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default -30
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range -255 0
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help
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Sets the relative priority for the ttyS9 work queue.
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config WQ_TTY_ACM0_PRIORITY
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int "Relative priority for wq:ttyACM0"
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default -31
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range -255 0
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help
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Sets the relative priority for the ttyACM0 work queue.
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config WQ_TTY_UNKNOWN_PRIORITY
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int "Relative priority for wq:ttyUnknown"
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default -32
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range -255 0
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||||
help
|
||||
Sets the relative priority for the ttyUnknown work queue.
|
||||
|
||||
endmenu # TTY Bus Work Queues
|
||||
|
||||
config WQ_LP_DEFAULT_STACKSIZE
|
||||
int "Stack size for lp_default"
|
||||
default 3500
|
||||
range 1000 10000
|
||||
help
|
||||
Sets the stack size for the lp_default work queue.
|
||||
|
||||
config WQ_LP_DEFAULT_PRIORITY
|
||||
int "Relative priority for wq:lp_default"
|
||||
default -50
|
||||
range -255 0
|
||||
help
|
||||
Sets the relative priority for the lp_default work queue.
|
||||
|
||||
endmenu # Work Queue Configuration
|
||||
Reference in New Issue
Block a user