mirror of https://github.com/ArduPilot/ardupilot
48 lines
915 B
C++
48 lines
915 B
C++
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/*
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allocation backend functions using native ChibiOS chHeap API
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*/
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#include "AP_MultiHeap.h"
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#include <AP_HAL/AP_HAL_Boards.h>
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#if ENABLE_HEAP && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <ch.h>
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#include <hal.h>
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/*
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heap functions used by lua scripting
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*/
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void *MultiHeap::heap_create(uint32_t size)
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{
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memory_heap_t *heap = (memory_heap_t *)malloc(size + sizeof(memory_heap_t));
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if (heap == nullptr) {
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return nullptr;
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}
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chHeapObjectInit(heap, heap + 1U, size);
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return heap;
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}
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void MultiHeap::heap_destroy(void *ptr)
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{
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free(ptr);
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}
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void *MultiHeap::heap_allocate(void *heap, uint32_t size)
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{
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if (heap == nullptr) {
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return nullptr;
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}
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if (size == 0) {
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return nullptr;
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}
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return chHeapAlloc((memory_heap_t *)heap, size);
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}
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void MultiHeap::heap_free(void *ptr)
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{
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return chHeapFree(ptr);
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}
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#endif // ENABLE_HEAP && CONFIG_HAL_BOARD
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