mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-09-25 03:38:22 +08:00
39eae27610
* fix(uavcan): apply UAVCAN_BITRATE on FlexCAN again58dfff0de7turned the SIOCSCANBITRATE path off for i.MX RT, S32K and Kinetis, which is every board in the tree that builds SocketCAN, so UAVCAN_BITRATE stopped doing anything at all. It was written beforedb6f7ec304, and the crash it works around is that commit's bug: the driver reports bit/s on NuttX 12 and the caller still divided by 1000, so a 1 Mbit/s board asked its controller for 1000 bit/s on every boot. Benched on an ARK FMU-v6XRT with the gate removed: 1 Mbit/s -> 500 kbit/s -> 1 Mbit/s round-trips with both DroneCAN nodes coming back OPERAT, buses error-active, no fault. Requesting a rate the controller cannot reach is also survivable now -- it is reported and the configured rate is kept, where before a negative return from here made CanDriver::init() give up and DroneCAN never started. The %u for a uint32_t is fixed as well; nothing compiled this branch while the gate was in place. * fix(work_queue): size the uavcan and TTY work queues for NuttX 12 NuttX 12.12 costs a few hundred bytes of stack on the paths that go through the file layer, and that is more than these two defaults left spare. Measured against the same PX4 tree on 10.3.0: wq:uavcan 2860/3728 -> 3184/3736 (ARK FMU-v6X, two DroneCAN GNSS nodes) wq:ttyS4 1088/1704 -> 1432/1712 (ARK FMU-v6XRT, crsf_rc) load_mon reports wq:ttyS4 low on stack with 280 bytes left, and wq:uavcan sits at 85 % of its own. 4096 and 2048 restore the margin the 10.3.0 figures had.
332 lines
7.0 KiB
Plaintext
332 lines
7.0 KiB
Plaintext
#
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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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config WQ_VTE_STACKSIZE
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int "Stack size for vte"
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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 the vte work queue.
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config WQ_VTE_PRIORITY
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int "Relative priority for vte"
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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 vte 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 4096
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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 2048
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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
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Sets the relative priority for the ttyUnknown work queue.
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endmenu # TTY Bus Work Queues
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config WQ_LP_DEFAULT_STACKSIZE
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int "Stack size for lp_default"
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default 3500
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range 1000 10000
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help
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Sets the stack size for the lp_default work queue.
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config WQ_LP_DEFAULT_PRIORITY
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int "Relative priority for wq:lp_default"
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default -50
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range -255 0
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help
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Sets the relative priority for the lp_default work queue.
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endmenu # Work Queue Configuration
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