mirror of https://github.com/ArduPilot/ardupilot
108 lines
2.5 KiB
C
108 lines
2.5 KiB
C
/*
|
|
* Copyright (C) Siddharth Bharat Purohit 2017
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
wrappers for allocation functions
|
|
|
|
Relies on linker wrap options
|
|
|
|
Note that not all functions that have been wrapped are implemented
|
|
here. The others are wrapped to ensure the function is not used
|
|
without an implementation. If we need them then we can implement as
|
|
needed.
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
#include <hal.h>
|
|
#include <chheap.h>
|
|
#include <stdarg.h>
|
|
|
|
#define MIN_ALIGNMENT 8
|
|
|
|
#if defined(CCM_RAM_SIZE)
|
|
#ifndef CCM_BASE_ADDRESS
|
|
#define CCM_BASE_ADDRESS 0x10000000
|
|
#endif
|
|
static memory_heap_t ccm_heap;
|
|
static bool ccm_heap_initialised = false;
|
|
#endif
|
|
|
|
void *malloc_ccm(size_t size)
|
|
{
|
|
void *p = NULL;
|
|
#if defined(CCM_RAM_SIZE)
|
|
if (!ccm_heap_initialised) {
|
|
ccm_heap_initialised = true;
|
|
chHeapObjectInit(&ccm_heap, (void *)CCM_BASE_ADDRESS, CCM_RAM_SIZE*1024);
|
|
}
|
|
p = chHeapAllocAligned(&ccm_heap, size, CH_HEAP_ALIGNMENT);
|
|
if (p != NULL) {
|
|
memset(p, 0, size);
|
|
}
|
|
#else
|
|
(void)size;
|
|
#endif
|
|
return p;
|
|
}
|
|
|
|
void *malloc(size_t size)
|
|
{
|
|
if (size == 0) {
|
|
return NULL;
|
|
}
|
|
void *p = chHeapAllocAligned(NULL, size, MIN_ALIGNMENT);
|
|
if (p) {
|
|
memset(p, 0, size);
|
|
} else {
|
|
// fall back to CCM memory when main memory full
|
|
p = malloc_ccm(size);
|
|
}
|
|
return p;
|
|
}
|
|
|
|
void *calloc(size_t nmemb, size_t size)
|
|
{
|
|
return malloc(nmemb * size);
|
|
}
|
|
|
|
void free(void *ptr)
|
|
{
|
|
if(ptr != NULL) {
|
|
chHeapFree(ptr);
|
|
}
|
|
}
|
|
|
|
/*
|
|
return total available memory in bytes
|
|
*/
|
|
size_t mem_available(void)
|
|
{
|
|
size_t totalp = 0;
|
|
// get memory available on main heap
|
|
chHeapStatus(NULL, &totalp, NULL);
|
|
|
|
// we also need to add in memory that is not yet allocated to the heap
|
|
totalp += chCoreGetStatusX();
|
|
|
|
#if defined(CCM_RAM_SIZE)
|
|
size_t ccm_available = 0;
|
|
chHeapStatus(&ccm_heap, &ccm_available, NULL);
|
|
totalp += ccm_available;
|
|
#endif
|
|
|
|
return totalp;
|
|
}
|