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https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
141 lines
3.1 KiB
C
141 lines
3.1 KiB
C
/* -*- Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- */
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/*-
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* PIOS interface shims for MSHEAP
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*
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* Copyright 2011 Michael Smith. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above
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* copyright notice, this list of conditions and the following
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* disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials
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* provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER ''AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*/
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#include "msheap.h"
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#include "pios_config.h"
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#include "pios.h"
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/*
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* Symbols exported by the linker script telling us where the heap is.
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*/
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extern char _sheap;
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extern char _eheap;
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#if defined(PIOS_INCLUDE_FREERTOS)
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/*
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* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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* all the API functions to use the MPU wrappers. That should only be done when
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* task.h is included from an application file.
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* */
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#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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# include "FreeRTOS.h"
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# include "task.h"
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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/*
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* Optional callback for allocation failures.
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*/
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extern void vApplicationMallocFailedHook(void) __attribute__((weak));
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void *
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pvPortMalloc(size_t s)
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{
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void *p;
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vPortEnterCritical();
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p = msheap_alloc(s);
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vPortExitCritical();
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if (p == NULL && &vApplicationMallocFailedHook != NULL)
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vApplicationMallocFailedHook();
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return p;
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}
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void
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vPortFree(void *p)
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{
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vPortEnterCritical();
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msheap_free(p);
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vPortExitCritical();
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}
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size_t
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xPortGetFreeHeapSize(void)
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{
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return msheap_free_space();
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}
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void
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vPortInitialiseBlocks(void)
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{
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msheap_init(&_sheap, &_eheap);
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}
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void
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xPortIncreaseHeapSize(size_t bytes)
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{
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msheap_extend(bytes);
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}
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void *
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malloc(size_t size)
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{
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return pvPortMalloc(size);
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}
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void
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free(void *p)
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{
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return vPortFree(p);
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}
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#else /* !PIOS_INCLUDE_FREERTOS */
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int heap_init_done;
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void *
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malloc(size_t size)
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{
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// static
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if (!heap_init_done) {
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msheap_init(&_sheap, &_eheap);
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heap_init_done = 1;
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}
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return msheap_alloc(size);
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}
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void
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free(void *p)
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{
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return msheap_free(p);
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}
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#endif /* PIOS_INCLUDE_FREERTOS */
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void
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msheap_panic(__attribute__((unused)) const char *reason)
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{
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//PIOS_DEBUG_Panic(reason);
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}
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