mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.5 KiB
C
61 lines
1.5 KiB
C
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/*
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based on dynamic_memory.hpp which is:
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Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include "AP_UAVCAN.h"
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#ifndef UAVCAN_NODE_POOL_BLOCK_SIZE
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#if HAL_CANFD_SUPPORTED
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#define UAVCAN_NODE_POOL_BLOCK_SIZE 128
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#else
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#define UAVCAN_NODE_POOL_BLOCK_SIZE 64
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#endif
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#endif
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class AP_PoolAllocator : public uavcan::IPoolAllocator
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{
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public:
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AP_PoolAllocator(uint16_t _pool_size);
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bool init(void);
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void *allocate(std::size_t size) override;
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void deallocate(const void* ptr) override;
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uint16_t getBlockCapacity() const override {
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return num_blocks;
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}
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private:
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const uint16_t num_blocks;
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union Node {
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uint8_t data[UAVCAN_NODE_POOL_BLOCK_SIZE];
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Node* next;
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};
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Node *free_list;
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Node *pool_nodes;
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HAL_Semaphore sem;
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uint16_t used;
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uint16_t max_used;
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};
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