mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.7 KiB
C++
71 lines
1.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* note that we use a 32 bit sentinel to reduce the chance
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* of false positives with uninitialised stack variables
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*/
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#include <stdlib.h>
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#include <stdint.h>
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#include <AP_HAL_Boards.h>
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static const uint32_t *stack_low;
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extern unsigned __brkval;
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#define STACK_OFFSET 2
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#define SENTINEL 0x28021967
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/*
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* return the current stack pointer
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*/
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static __attribute__((noinline)) const uint32_t *current_stackptr(void)
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{
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return (const uint32_t *)__builtin_frame_address(0);
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}
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/*
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* this can be added in deeply nested code to ensure we catch
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* deep stack usage. It should be caught by the sentinel, but this
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* is an added protection
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*/
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void memcheck_update_stackptr(void)
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{
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if (current_stackptr() < stack_low) {
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uintptr_t s = (uintptr_t)(current_stackptr() - STACK_OFFSET);
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stack_low = (uint32_t *)(s & ~3);
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}
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}
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/*
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* initialise memcheck, setting up the sentinels
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*/
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void memcheck_init(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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uint32_t *p;
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free(malloc(1)); // ensure heap is initialised
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stack_low = current_stackptr();
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memcheck_update_stackptr();
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for (p=(uint32_t *)(stack_low-1); p>(uint32_t *)__brkval; p--) {
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*p = SENTINEL;
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}
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#endif
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}
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/*
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* this returns the real amount of free memory by looking for
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* overwrites of the stack sentinel values
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*/
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unsigned memcheck_available_memory(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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memcheck_update_stackptr();
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while (*stack_low != SENTINEL && stack_low > (const uint32_t *)__brkval) {
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stack_low--;
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}
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return (uintptr_t)(stack_low) - __brkval;
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#else
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return 0x1000;
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#endif
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}
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