AP_HAL_ChibiOS: add scripting heap

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -34,7 +34,6 @@ extern AP_IOMCU iomcu;
 extern const AP_HAL::HAL& hal;
 
 using namespace ChibiOS;
-
 #if CH_CFG_USE_HEAP == TRUE
 
 /**
@@ -79,6 +78,46 @@ void* Util::try_alloc_from_ccm_ram(size_t size)
     return ret;
 }
 
+#ifdef ENABLE_HEAP
+
+void *Util::allocate_heap_memory(size_t size)
+{
+    void *buf = malloc(size);
+    if (buf == nullptr) {
+        return nullptr;
+    }
+
+    memory_heap_t *heap = (memory_heap_t *)malloc(sizeof(memory_heap_t));
+    if (heap != nullptr) {
+        chHeapObjectInit(heap, buf, size);
+    }
+
+    return heap;
+}
+
+void *Util::heap_realloc(void *heap, void *ptr, size_t new_size)
+{
+    if (heap == nullptr) {
+        return nullptr;
+    }
+    if (new_size == 0) {
+        if (ptr != nullptr) {
+            chHeapFree(ptr);
+        }
+        return nullptr;
+    }
+    if (ptr == nullptr) {
+        return chHeapAlloc((memory_heap_t *)heap, new_size);
+    }
+    void *new_mem = chHeapAlloc((memory_heap_t *)heap, new_size);
+    if (new_mem != nullptr) {
+        memcpy(new_mem, ptr, chHeapGetSize(ptr) > new_size ? new_size : chHeapGetSize(ptr));
+        chHeapFree(ptr);
+    }
+    return new_mem;
+}
+#endif // ENABLE_HEAP
+
 #endif // CH_CFG_USE_HEAP
 
 /*

libraries/AP_HAL_ChibiOS/Util.h

@@ -19,6 +19,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_HAL_ChibiOS_Namespace.h"
 #include "AP_HAL_ChibiOS.h"
+#include <ch.h>
 
 class ChibiOS::Util : public AP_HAL::Util {
 public:
@@ -33,6 +34,12 @@ public:
     void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
     void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
 
+#ifdef ENABLE_HEAP
+    // heap functions, note that a heap once alloc'd cannot be dealloc'd
+    virtual void *allocate_heap_memory(size_t size);
+    virtual void *heap_realloc(void *heap, void *ptr, size_t new_size);
+#endif // ENABLE_HEAP
+
     /*
       return state of safety switch, if applicable
      */
@@ -93,4 +100,9 @@ private:
 #ifndef HAL_NO_FLASH_SUPPORT
     bool flash_bootloader() override;
 #endif
+
+#ifdef ENABLE_HEAP
+    static memory_heap_t scripting_heap;
+#endif // ENABLE_HEAP
+
 };

libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c

@@ -216,21 +216,4 @@ size_t mem_available(void)
     return totalp;
 }
 
-void *realloc(void *addr, size_t size)
-{
-    if (size == 0) {
-       free(addr);
-       return NULL;
-    }
-    if (addr == NULL) {
-        return malloc(size);
-    }
-    void *new_mem = malloc(size);
-    if (new_mem != NULL) {
-        memcpy(new_mem, addr, chHeapGetSize(addr) > size ? size : chHeapGetSize(addr));
-        free(addr);
-    }
-    return new_mem;
-}
-
 #endif // CH_CFG_USE_HEAP

libraries/AP_HAL_ChibiOS/hwdef/common/stdio.h

@@ -42,7 +42,6 @@ int vsscanf (const char *buf, const char *s, va_list ap);
 void *malloc(size_t size);
 void *calloc(size_t nmemb, size_t size);
 void free(void *ptr);
-void *realloc(void *ptr, size_t size);
 
 extern int (*vprintf_console_hook)(const char *fmt, va_list arg);