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Code Issues Releases Activity

OP-913: tweaked some UAVO related struct alignments to attempt to ensure that UAVO data fields end up being 4 byte aligned on the heap. Also fixed a memset issue in the initialisation code for multi-instance UAVOs .

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This commit is contained in:
Richard Flay (Hyper) 2013-04-14 11:52:56 +09:30
parent 273d6cb1d2
commit afb8a20b6f
2 changed files with 9 additions and 10 deletions
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2
flight/targets/UAVObjects/inc/uavobjectmanager.h
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@ -75,7 +75,7 @@ typedef enum {
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */

17
flight/targets/UAVObjects/uavobjectmanager.c
View File

@ -60,10 +60,10 @@ for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
typedef void* InstanceHandle;
struct ObjectEventEntry {
struct ObjectEventEntry * next;
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventEntry * next;
};
/*
@ -91,7 +91,6 @@ struct UAVOBase {
bool isSingle : 1;
bool isSettings : 1;
} flags;
} __attribute__((packed));
/* Augmented type for Meta UAVO */
@ -110,7 +109,7 @@ struct UAVOData {
*/
struct UAVOMeta metaObj;
uint16_t instance_size;
} __attribute__((packed));
} __attribute__((packed, aligned(4)));
/* Augmented type for Single Instance Data UAVO */
struct UAVOSingle {
@ -136,9 +135,8 @@ struct UAVOMultiInst {
/* Augmented type for Multi Instance Data UAVO */
struct UAVOMulti {
struct UAVOData uavo;
uint16_t num_instances;
struct UAVOMultiInst instance0;
struct UAVOMultiInst instance0 __attribute__((aligned(4)));
/*
* Additional space will be malloc'd here to hold the
* the data for instance 0.
@ -296,8 +294,8 @@ static struct UAVOData * UAVObjAllocMulti(uint32_t num_bytes)
/* Set up the type-specific part of the UAVO */
uavo_multi->num_instances = 1;
/* Clear the instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, num_bytes);
/* Clear the multi instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, sizeof(struct UAVOMultiInst) + num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_multi->uavo));
@ -1864,10 +1862,11 @@ static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId)
}
/* Create the actual instance */
instEntry = (struct UAVOMultiInst *) pvPortMalloc(sizeof(struct UAVOMultiInst)+obj->instance_size);
uint32_t size = sizeof(struct UAVOMultiInst) + obj->instance_size;
instEntry = (struct UAVOMultiInst *) pvPortMalloc(size);
if (!instEntry)
return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->instance_size);
memset(instEntry, 0, size);
LL_APPEND(( (struct UAVOMulti*)obj )->instance0.next, instEntry);
( (struct UAVOMulti*)obj )->num_instances++;