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author | patacongo <patacongo@7fd9a85b-ad96-42d3-883c-3090e2eb8679> | 2012-09-04 00:54:09 +0000 |
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committer | patacongo <patacongo@7fd9a85b-ad96-42d3-883c-3090e2eb8679> | 2012-09-04 00:54:09 +0000 |
commit | d593a95d5adc05bbe11cc0b6d84132be2bbc70e5 (patch) | |
tree | 7bfc2aaf9a03320f24991b54a67a1db24e05f100 /nuttx/include | |
parent | 612735d392e7eab30237e67e5b0c55d2ea24cdcc (diff) | |
download | px4-firmware-d593a95d5adc05bbe11cc0b6d84132be2bbc70e5.tar.gz px4-firmware-d593a95d5adc05bbe11cc0b6d84132be2bbc70e5.tar.bz2 px4-firmware-d593a95d5adc05bbe11cc0b6d84132be2bbc70e5.zip |
Add support for multiple work queues
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@5081 7fd9a85b-ad96-42d3-883c-3090e2eb8679
Diffstat (limited to 'nuttx/include')
-rw-r--r-- | nuttx/include/nuttx/wqueue.h | 84 |
1 files changed, 76 insertions, 8 deletions
diff --git a/nuttx/include/nuttx/wqueue.h b/nuttx/include/nuttx/wqueue.h index dfd424c8d..644585c56 100644 --- a/nuttx/include/nuttx/wqueue.h +++ b/nuttx/include/nuttx/wqueue.h @@ -50,6 +50,75 @@ /**************************************************************************** * Pre-Processor Definitions ****************************************************************************/ +/* Configuration ************************************************************/ +/* CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to + * handle delayed processing from interrupt handlers. This feature + * is required for some drivers but, if there are not complaints, + * can be safely disabled. The worker thread also performs + * garbage collection -- completing any delayed memory deallocations + * from interrupt handlers. If the worker thread is disabled, + * then that clean will be performed by the IDLE thread instead + * (which runs at the lowest of priority and may not be appropriate + * if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE + * is enabled, then the following options can also be used: + * CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker + * thread. Default: 192 + * CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for + * work in units of microseconds. Default: 50*1000 (50 MS). + * CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker + * thread. Default: CONFIG_IDLETHREAD_STACKSIZE. + * CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up + * the worker thread. Default: 4 + * + * CONFIG_SCHED_LPWORK. If CONFIG_SCHED_WORKQUEUE is defined, then a single + * work queue is created by default. If CONFIG_SCHED_LPWORK is also defined + * then an additional, lower-priority work queue will also be created. This + * lower priority work queue is better suited for more extended processing + * (such as file system clean-up operations) + * CONFIG_SCHED_LPWORKPRIORITY - The execution priority of the lower priority + * worker thread. Default: 50 + * CONFIG_SCHED_LPWORKPERIOD - How often the lower priority worker thread + * checks for work in units of microseconds. Default: 50*1000 (50 MS). + * CONFIG_SCHED_LPWORKSTACKSIZE - The stack size allocated for the lower + * priority worker thread. Default: CONFIG_IDLETHREAD_STACKSIZE. + */ + +#ifndef CONFIG_SCHED_WORKPRIORITY +# define CONFIG_SCHED_WORKPRIORITY 192 +#endif + +#ifndef CONFIG_SCHED_WORKPERIOD +# define CONFIG_SCHED_WORKPERIOD (50*1000) /* 50 milliseconds */ +#endif + +#ifndef CONFIG_SCHED_WORKSTACKSIZE +# define CONFIG_SCHED_WORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE +#endif + +#ifdef CONFIG_SCHED_LPWORK +# ifndef CONFIG_SCHED_LPWORKPRIORITY +# define CONFIG_SCHED_LPWORKPRIORITY 50 +# endif + +# ifndef CONFIG_SCHED_LPWORKPERIOD +# define CONFIG_SCHED_LPWORKPERIOD (50*1000) /* 50 milliseconds */ +# endif + +# ifndef CONFIG_SCHED_LPWORKSTACKSIZE +# define CONFIG_SCHED_LPWORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE +# endif +#endif + +/* Work queue IDs (indices). These are both zero if there is only one work + * queue. + */ + +#define HPWORK 0 +#ifdef CONFIG_SCHED_LPWORK +# define LPWORK 1 +#else +# define LPWORK HPWORK +#endif /**************************************************************************** * Public Types @@ -86,10 +155,6 @@ extern "C" { #define EXTERN extern #endif -/* The task ID of the worker thread */ - -EXTERN pid_t g_worker; - /**************************************************************************** * Public Function Prototypes ****************************************************************************/ @@ -109,6 +174,7 @@ EXTERN pid_t g_worker; * and remove it from the work queue. * * Input parameters: + * qid - The work queue ID * work - The work structure to queue * worker - The worker callback to be invoked. The callback will invoked * on the worker thread of execution. @@ -122,7 +188,8 @@ EXTERN pid_t g_worker; * ****************************************************************************/ -EXTERN int work_queue(struct work_s *work, worker_t worker, FAR void *arg, uint32_t delay); +EXTERN int work_queue(int qid, FAR struct work_s *work, worker_t worker, + FAR void *arg, uint32_t delay); /**************************************************************************** * Name: work_cancel @@ -133,6 +200,7 @@ EXTERN int work_queue(struct work_s *work, worker_t worker, FAR void *arg, uint3 * again. * * Input parameters: + * qid - The work queue ID * work - The previously queue work structure to cancel * * Returned Value: @@ -140,7 +208,7 @@ EXTERN int work_queue(struct work_s *work, worker_t worker, FAR void *arg, uint3 * ****************************************************************************/ -EXTERN int work_cancel(struct work_s *work); +EXTERN int work_cancel(int qid, FAR struct work_s *work); /**************************************************************************** * Name: work_signal @@ -151,14 +219,14 @@ EXTERN int work_cancel(struct work_s *work); * user to force an immediate re-assessment of pending work. * * Input parameters: - * None + * qid - The work queue ID * * Returned Value: * Zero on success, a negated errno on failure * ****************************************************************************/ -#define work_signal() kill(g_worker, SIGWORK) +EXTERN int work_signal(int qid); /**************************************************************************** * Name: work_available |