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153 lines
4.8 KiB
Plaintext
153 lines
4.8 KiB
Plaintext
General guidelines for updating FreeRTOS
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This file will list the necessary modifications to FreeRTOS package to be used inside PiOS
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Brief list of modifications:
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*Add function to get task run time;
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*Modified heap_1.c to allow for different alignment for stack and generic malloc;
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*Allow heap_1.c for modification of max heap size at runtime;
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*use section ".heap" for heap.
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Memory manager now handles two different kind of alignments for F1, portBYTE_ALIGNMENT for standard mallocs, and portBYTE_HEAP_ALIGNMENT for stack(aligned) allocs
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- include/task.h
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add the following declaration:
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/**
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* task.h
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* <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
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*
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* Returns the run time of selected task
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*
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* @param xTask Handle of the task associated with the stack to be checked.
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* Set xTask to NULL to check the stack of the calling task.
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*
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* @return The run time of selected task
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*/
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unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
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it usually is added after the declaration of vTaskGetRunTimeStats.
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- task.c
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add the following function:
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#if ( INCLUDE_uxTaskGetRunTime == 1 )
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unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
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{
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unsigned long runTime;
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tskTCB *pxTCB;
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pxTCB = prvGetTCBFromHandle( xTask );
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runTime = pxTCB->ulRunTimeCounter;
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pxTCB->ulRunTimeCounter = 0;
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return runTime;
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}
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#endif
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/*----------------------------------------------------------*/
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it usually is added after the declaration of vTaskGetRunTimeStats.
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- STM32F1XX/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
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add the following define for
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#define portBYTE_HEAP_ALIGNMENT 4 // this value is used to allocate heap
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- portable/MemMang/heap_1.c
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following there is the modification done in this revision against the base heap_1.c
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The modifications add a currentTOTAL_HEAP_SIZE variable that hold the current heap size,
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used instead of the configTOTAL_HEAP_SIZE macro that can be changed by the added
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xPortIncreaseHeapSize function.
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Also it allows for configurable aligments for Heap and Stack allocations.
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--- ../op_evo/FreeRTOSV7.4.0/FreeRTOS/Source/portable/MemMang/heap_1.c 2013-04-06 15:04:22.760048534 +0200
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+++ ./flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_1.c 2013-04-08 02:23:01.649194752 +0200
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@@ -92,26 +92,30 @@
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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-/* A few bytes might be lost to byte aligning the heap start address. */
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-#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
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/* Allocate the memory for the heap. */
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-static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
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+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ] __attribute__ ((section (".heap")));
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static size_t xNextFreeByte = ( size_t ) 0;
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+static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
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+void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
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+
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+/* A few bytes might be lost to byte aligning the heap start address. */
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+#define configADJUSTED_HEAP_SIZE (currentTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT)
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+
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/*-----------------------------------------------------------*/
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-void *pvPortMalloc( size_t xWantedSize )
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+void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment)
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{
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void *pvReturn = NULL;
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static unsigned char *pucAlignedHeap = NULL;
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-
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+size_t mask = alignment-1;
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/* Ensure that blocks are always aligned to the required number of bytes. */
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#if portBYTE_ALIGNMENT != 1
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- if( xWantedSize & portBYTE_ALIGNMENT_MASK )
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+ if( xWantedSize & mask )
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{
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- /* Byte alignment required. */
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- xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
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+ /* Byte alignment required. */
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+ xWantedSize += ( alignment - ( xWantedSize & mask ) );
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}
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#endif
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@@ -120,7 +124,7 @@
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if( pucAlignedHeap == NULL )
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{
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/* Ensure the heap starts on a correctly aligned boundary. */
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- pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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+ pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ alignment ] ) & ( ( portPOINTER_SIZE_TYPE ) ~ mask ) );
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}
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/* Check there is enough room left for the allocation. */
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@@ -147,6 +151,11 @@
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return pvReturn;
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}
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+
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+void *pvPortMalloc( size_t xWantedSize){
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+ return pvPortMallocGeneric(xWantedSize, portBYTE_HEAP_ALIGNMENT);
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+}
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+
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/*-----------------------------------------------------------*/
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void vPortFree( void *pv )
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@@ -172,6 +181,12 @@
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{
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return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
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}
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+/*-----------------------------------------------------------*/
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-
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-
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+void xPortIncreaseHeapSize( size_t bytes )
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+{
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+ vTaskSuspendAll();
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+ currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
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+ xTaskResumeAll();
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+}
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+/*-----------------------------------------------------------*/
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