Priority scheduling of threads for applications sharing peripheral devices

A data processor comprising:

• a CPU;
• a plurality of peripheral devices;
• and
• a memory comprising:
• a plurality of device control threads for controlling operation of respective peripheral devices;
• a control thread including a plurality of processing parts associated with respective device control threads;
• a table storing configurations of a plurality of applications including application priority of respective applications, wherein each application includes an operation sequence of processing parts that constitute an application and a dependence relationship between the processing parts of the application, wherein the processing parts are prioritized such that processing part near end of the operation sequence is performed with higher priority than processing part near beginning of the operation sequence;
• a program, when executed by the CPU, executes the control thread to perform the method of:
• executing two or more of the applications sharing at least one peripheral device in parallel,
• wherein when an overlap between operation timings of respective processing parts of the two or more of the applications corresponding to a same peripheral device occurs, processing part with higher priority is executed before respective processing parts of other applications, wherein
• if priorities associated with the respective processing parts are the same, application priority of application associated with processing part that last executed is lowered such that processing part of the other application with higher priority is executed, and
• if each of the respective processing parts has no dependence relationship based on the configuration stored in the table, no priority is given to the respective processing parts such that the respective processing parts are executed in alternate manner.