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LibrePilot/flight/pios/common/libraries/msheap/pios_msheap.c
2015-04-16 22:52:09 -07:00

173 lines
4.0 KiB
C

/* -*- Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- */
/*-
* PIOS interface shims for MSHEAP
*
* Copyright 2011 Michael Smith. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above
* copyright notice, this list of conditions and the following
* disclaimer.
*
* 2. Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials
* provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER ''AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*/
#include "msheap.h"
#include "pios_config.h"
#include "pios.h"
/*
* Symbols exported by the linker script telling us where the heap is.
*/
extern char _sheap;
extern char _eheap;
#ifdef PIOS_TARGET_PROVIDES_FAST_HEAP
extern char _sfastheap;
extern char _efastheap;
#define IS_FAST_HEAP_POINTER(x) (((void *)&_sfastheap < (void *)(x)) && ((void *)&_efastheap > (void *)(x)))
#else
#define IS_FAST_HEAP_POINTER(x) (false)
#endif
#if defined(PIOS_INCLUDE_FREERTOS)
/*
* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when
* task.h is included from an application file.
* */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
# include "FreeRTOS.h"
# include "task.h"
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
heap_handle_t sram_heap;
#if PIOS_TARGET_PROVIDES_FAST_HEAP
heap_handle_t fast_heap;
#else
#define fast_heap sram_heap
#endif
/*
* Optional callback for allocation failures.
*/
extern void vApplicationMallocFailedHook(void) __attribute__((weak));
void *
pios_general_malloc(void *ptr, size_t s, bool use_fast_heap)
{
void *p;
vPortEnterCritical();
if(use_fast_heap){
p = msheap_alloc(&fast_heap, ptr, s);
} else {
p = msheap_alloc(&sram_heap, ptr, s);
}
vPortExitCritical();
if (p == NULL && &vApplicationMallocFailedHook != NULL) {
vApplicationMallocFailedHook();
}
return p;
}
void *
pvPortMalloc(size_t s)
{
return pios_general_malloc(NULL, s, true);
}
void *
pvPortMallocStack(size_t s)
{
return pios_general_malloc(NULL, s, false);
}
void
vPortFree(void *p)
{
vPortEnterCritical();
if(IS_FAST_HEAP_POINTER(p)){
msheap_free(&fast_heap, p);
} else {
msheap_free(&sram_heap, p);
}
vPortExitCritical();
}
size_t
xPortGetFreeHeapSize(void)
{
#ifdef PIOS_TARGET_PROVIDES_FAST_HEAP
return msheap_free_space(&sram_heap) + msheap_free_space(&fast_heap);
#else
return msheap_free_space(&sram_heap);
#endif
}
void
vPortInitialiseBlocks(void)
{
msheap_init(&sram_heap, &_sheap, &_eheap);
#if PIOS_TARGET_PROVIDES_FAST_HEAP
msheap_init(&fast_heap, &_sfastheap, &_efastheap);
#endif
}
void
xPortIncreaseHeapSize(size_t bytes)
{
msheap_extend(&sram_heap, bytes);
}
#else /* !PIOS_INCLUDE_FREERTOS */
int heap_init_done;
void *
malloc(size_t size)
{
// static
if (!heap_init_done) {
msheap_init(sram_heap, &_sheap, &_eheap);
heap_init_done = 1;
}
return msheap_alloc(NULL, sram_heap, size);
}
void
free(void *p)
{
return msheap_free(sram_heap, p);
}
#endif /* PIOS_INCLUDE_FREERTOS */
void
msheap_panic(__attribute__((unused)) const char *reason)
{
//PIOS_DEBUG_Panic(reason);
}