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https://github.com/ArduPilot/ardupilot
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eec4a12cc2
this uses SRAM1 and SRAM2 for main memory, which enables the use of the data cache for faster operation, and using DTCM for all DMA operations.
149 lines
3.4 KiB
C
149 lines
3.4 KiB
C
/*
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* Copyright (C) Siddharth Bharat Purohit 2017
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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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wrappers for allocation functions
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Relies on linker wrap options
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Note that not all functions that have been wrapped are implemented
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here. The others are wrapped to ensure the function is not used
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without an implementation. If we need them then we can implement as
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needed.
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*/
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#include <stdio.h>
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#include <string.h>
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#include <hal.h>
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#include <chheap.h>
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#include <stdarg.h>
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#define MIN_ALIGNMENT 8
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#if defined(CCM_RAM_SIZE)
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#ifndef CCM_BASE_ADDRESS
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#define CCM_BASE_ADDRESS 0x10000000
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#endif
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static memory_heap_t ccm_heap;
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static bool ccm_heap_initialised = false;
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#endif
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#if defined(DTCM_RAM_SIZE) && defined(DTCM_BASE_ADDRESS)
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static memory_heap_t dtcm_heap;
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static bool dtcm_heap_initialised = false;
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#endif
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void *malloc_ccm(size_t size)
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{
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void *p = NULL;
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#if defined(CCM_RAM_SIZE)
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if (!ccm_heap_initialised) {
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ccm_heap_initialised = true;
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chHeapObjectInit(&ccm_heap, (void *)CCM_BASE_ADDRESS, CCM_RAM_SIZE*1024);
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}
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p = chHeapAllocAligned(&ccm_heap, size, CH_HEAP_ALIGNMENT);
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if (p != NULL) {
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memset(p, 0, size);
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}
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#else
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(void)size;
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#endif
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return p;
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}
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void *malloc_dtcm(size_t size)
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{
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void *p = NULL;
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#if defined(DTCM_RAM_SIZE)
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if (!dtcm_heap_initialised) {
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dtcm_heap_initialised = true;
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chHeapObjectInit(&dtcm_heap, (void *)DTCM_BASE_ADDRESS, DTCM_RAM_SIZE*1024);
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}
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p = chHeapAllocAligned(&dtcm_heap, size, CH_HEAP_ALIGNMENT);
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if (p != NULL) {
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memset(p, 0, size);
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}
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#else
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(void)size;
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#endif
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return p;
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}
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void *malloc(size_t size)
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{
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if (size == 0) {
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return NULL;
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}
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void *p = chHeapAllocAligned(NULL, size, MIN_ALIGNMENT);
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if (p) {
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memset(p, 0, size);
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return p;
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}
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if (!p) {
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// fall back to CCM memory
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p = malloc_ccm(size);
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if (p) {
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return p;
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}
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}
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if (!p) {
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// fall back to DTCM memory
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p = malloc_dtcm(size);
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if (p) {
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return p;
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}
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}
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return NULL;
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}
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void *calloc(size_t nmemb, size_t size)
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{
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return malloc(nmemb * size);
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}
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void free(void *ptr)
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{
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if(ptr != NULL) {
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chHeapFree(ptr);
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}
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}
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/*
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return total available memory in bytes
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*/
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size_t mem_available(void)
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{
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size_t totalp = 0;
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// get memory available on main heap
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chHeapStatus(NULL, &totalp, NULL);
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// we also need to add in memory that is not yet allocated to the heap
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totalp += chCoreGetStatusX();
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#if defined(CCM_RAM_SIZE)
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size_t ccm_available = 0;
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chHeapStatus(&ccm_heap, &ccm_available, NULL);
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totalp += ccm_available;
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#endif
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#if defined(DTCM_RAM_SIZE) && defined(DTCM_BASE_ADDRESS)
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size_t dtcm_available = 0;
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chHeapStatus(&dtcm_heap, &dtcm_available, NULL);
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totalp += dtcm_available;
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#endif
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return totalp;
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}
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