mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.1 KiB
C
84 lines
2.1 KiB
C
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/*
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multiple heap interface, allowing for an allocator that uses
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multiple underlying heaps to cope with multiple memory regions on
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STM32 boards
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Util.h>
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#if ENABLE_HEAP
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#include <stdint.h>
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#include <stdbool.h>
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class MultiHeap {
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public:
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/*
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allocate/deallocate heaps
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*/
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bool create(uint32_t total_size, uint8_t max_heaps, bool allow_expansion, uint32_t reserve_size);
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void destroy(void);
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// return true if the heap is available for operations
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bool available(void) const;
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// allocate memory within heaps
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void *allocate(uint32_t size);
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void deallocate(void *ptr);
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// change allocated size of a pointer - this operates in a similar
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// fashion to realloc, but requires an (accurate!) old_size value
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// when ptr is not NULL. This is guaranteed by the lua scripting
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// allocation API
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void *change_size(void *ptr, uint32_t old_size, uint32_t new_size);
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/*
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get the size that we have expanded to. Used by error reporting in scripting
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*/
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uint32_t get_expansion_size(void) const {
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return expanded_to;
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}
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private:
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struct Heap {
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void *hp;
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};
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struct Heap *heaps;
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uint8_t num_heaps;
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bool allow_expansion;
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uint32_t reserve_size;
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uint32_t sum_size;
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uint32_t expanded_to;
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// we only do heap expansion if the last allocation failed this
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// encourages the lua scripting engine to garbage collect to
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// re-use memory when possible
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bool last_failed;
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/*
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low level allocation functions
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*/
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/*
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heap functions used by lua scripting
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*/
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// allocate a new heap
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void *heap_create(uint32_t size);
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// destroy a heap
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void heap_destroy(void *ptr);
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// allocate some memory on a specific heap
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void *heap_allocate(void *heap, uint32_t size);
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// free some memory that was allocated by heap_allocate. The implementation must
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// be able to determine which heap the allocation was from using the pointer
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void heap_free(void *ptr);
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};
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#endif // ENABLE_HEAP
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