From 641f2c372605cf405f0dda8536b45a78e0e5e2e2 Mon Sep 17 00:00:00 2001 From: Giovanni Di Sirio Date: Tue, 16 Feb 2016 09:59:21 +0000 Subject: Tree reorganization. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8899 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/common/oslib/src/chdynamic.c | 150 ++++++++++++++ os/common/oslib/src/chheap.c | 383 ++++++++++++++++++++++++++++++++++ os/common/oslib/src/chmboxes.c | 435 +++++++++++++++++++++++++++++++++++++++ os/common/oslib/src/chmemcore.c | 166 +++++++++++++++ os/common/oslib/src/chmempools.c | 203 ++++++++++++++++++ 5 files changed, 1337 insertions(+) create mode 100644 os/common/oslib/src/chdynamic.c create mode 100644 os/common/oslib/src/chheap.c create mode 100644 os/common/oslib/src/chmboxes.c create mode 100644 os/common/oslib/src/chmemcore.c create mode 100644 os/common/oslib/src/chmempools.c (limited to 'os/common/oslib/src') diff --git a/os/common/oslib/src/chdynamic.c b/os/common/oslib/src/chdynamic.c new file mode 100644 index 000000000..7d8b609be --- /dev/null +++ b/os/common/oslib/src/chdynamic.c @@ -0,0 +1,150 @@ +/* + ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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. + + ChibiOS 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 . +*/ + +/** + * @file chdynamic.c + * @brief Dynamic threads code. + * + * @addtogroup dynamic_threads + * @details Dynamic threads related APIs and services. + * @note Compatible with RT only. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__) +/** + * @brief Creates a new thread allocating the memory from the heap. + * @pre The configuration options @p CH_CFG_USE_DYNAMIC and + * @p CH_CFG_USE_HEAP must be enabled in order to use this function. + * @note A thread can terminate by calling @p chThdExit() or by simply + * returning from its main function. + * @note The memory allocated for the thread is not released automatically, + * it is responsibility of the creator thread to call @p chThdWait() + * and then release the allocated memory. + * + * @param[in] heapp heap from which allocate the memory or @p NULL for the + * default heap + * @param[in] size size of the working area to be allocated + * @param[in] prio the priority level for the new thread + * @param[in] pf the thread function + * @param[in] arg an argument passed to the thread function. It can be + * @p NULL. + * @return The pointer to the @p thread_t structure allocated for + * the thread into the working space area. + * @retval NULL if the memory cannot be allocated. + * + * @api + */ +thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size, + tprio_t prio, tfunc_t pf, void *arg) { + void *wsp; + + wsp = chHeapAllocAligned(heapp, size, PORT_WORKING_AREA_ALIGN); + if (wsp == NULL) { + return NULL; + } + +#if CH_DBG_FILL_THREADS == TRUE + _thread_memfill((uint8_t *)wsp, + (uint8_t *)wsp + size, + CH_DBG_STACK_FILL_VALUE); +#endif + + return chThdCreateStatic(wsp, size, prio, pf, arg); +} +#endif /* CH_CFG_USE_HEAP == TRUE */ + +#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__) +/** + * @brief Creates a new thread allocating the memory from the specified + * memory pool. + * @pre The configuration options @p CH_CFG_USE_DYNAMIC and + * @p CH_CFG_USE_MEMPOOLS must be enabled in order to use this + * function. + * @pre The pool must be initialized to contain only objects with + * alignment @p PORT_WORKING_AREA_ALIGN. + * @note A thread can terminate by calling @p chThdExit() or by simply + * returning from its main function. + * @note The memory allocated for the thread is not released automatically, + * it is responsibility of the creator thread to call @p chThdWait() + * and then release the allocated memory. + * + * @param[in] mp pointer to the memory pool object + * @param[in] prio the priority level for the new thread + * @param[in] pf the thread function + * @param[in] arg an argument passed to the thread function. It can be + * @p NULL. + * @return The pointer to the @p thread_t structure allocated for + * the thread into the working space area. + * @retval NULL if the memory pool is empty. + * + * @api + */ +thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, tprio_t prio, + tfunc_t pf, void *arg) { + void *wsp; + + chDbgCheck(mp != NULL); + + wsp = chPoolAlloc(mp); + if (wsp == NULL) { + return NULL; + } + +#if CH_DBG_FILL_THREADS == TRUE + _thread_memfill((uint8_t *)wsp, + (uint8_t *)wsp + mp->object_size, + CH_DBG_STACK_FILL_VALUE); +#endif + + return chThdCreateStatic(wsp, mp->object_size, prio, pf, arg); +} +#endif /* CH_CFG_USE_MEMPOOLS == TRUE */ + +#endif /* CH_CFG_USE_DYNAMIC == TRUE */ + +/** @} */ diff --git a/os/common/oslib/src/chheap.c b/os/common/oslib/src/chheap.c new file mode 100644 index 000000000..a35b646ba --- /dev/null +++ b/os/common/oslib/src/chheap.c @@ -0,0 +1,383 @@ +/* + ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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. + + ChibiOS 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 . +*/ + +/** + * @file chheap.c + * @brief Heaps code. + * + * @addtogroup heaps + * @details Heap Allocator related APIs. + *

Operation mode

+ * The heap allocator implements a first-fit strategy and its APIs + * are functionally equivalent to the usual @p malloc() and @p free() + * library functions. The main difference is that the OS heap APIs + * are guaranteed to be thread safe and there is the ability to + * return memory blocks aligned to arbitrary powers of two.
+ * @pre In order to use the heap APIs the @p CH_CFG_USE_HEAP option must + * be enabled in @p chconf.h. + * @note Compatible with RT and NIL. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/* + * Defaults on the best synchronization mechanism available. + */ +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) +#define H_LOCK(h) chMtxLock(&(h)->mtx) +#define H_UNLOCK(h) chMtxUnlock(&(h)->mtx) +#else +#define H_LOCK(h) (void) chSemWait(&(h)->sem) +#define H_UNLOCK(h) chSemSignal(&(h)->sem) +#endif + +#define H_BLOCK(hp) ((hp) + 1U) + +#define H_LIMIT(hp) (H_BLOCK(hp) + H_PAGES(hp)) + +#define H_NEXT(hp) ((hp)->free.next) + +#define H_PAGES(hp) ((hp)->free.pages) + +#define H_HEAP(hp) ((hp)->used.heap) + +#define H_SIZE(hp) ((hp)->used.size) + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/** + * @brief Default heap descriptor. + */ +static memory_heap_t default_heap; + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes the default heap. + * + * @notapi + */ +void _heap_init(void) { + + default_heap.provider = chCoreAllocAligned; + H_NEXT(&default_heap.header) = NULL; + H_PAGES(&default_heap.header) = 0; +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) + chMtxObjectInit(&default_heap.mtx); +#else + chSemObjectInit(&default_heap.sem, (cnt_t)1); +#endif +} + +/** + * @brief Initializes a memory heap from a static memory area. + * @pre Both the heap buffer base and the heap size must be aligned to + * the @p heap_header_t type size. + * + * @param[out] heapp pointer to the memory heap descriptor to be initialized + * @param[in] buf heap buffer base + * @param[in] size heap size + * + * @init + */ +void chHeapObjectInit(memory_heap_t *heapp, void *buf, size_t size) { + heap_header_t *hp = buf; + + chDbgCheck((heapp != NULL) && (size > 0U) && + MEM_IS_ALIGNED(buf, CH_HEAP_ALIGNMENT) && + MEM_IS_ALIGNED(size, CH_HEAP_ALIGNMENT)); + + heapp->provider = NULL; + H_NEXT(&heapp->header) = hp; + H_PAGES(&heapp->header) = 0; + H_NEXT(hp) = NULL; + H_PAGES(hp) = (size - sizeof (heap_header_t)) / CH_HEAP_ALIGNMENT; +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) + chMtxObjectInit(&heapp->mtx); +#else + chSemObjectInit(&heapp->sem, (cnt_t)1); +#endif +} + +/** + * @brief Allocates a block of memory from the heap by using the first-fit + * algorithm. + * @details The allocated block is guaranteed to be properly aligned to the + * specified alignment. + * + * @param[in] heapp pointer to a heap descriptor or @p NULL in order to + * access the default heap. + * @param[in] size the size of the block to be allocated. Note that the + * allocated block may be a bit bigger than the requested + * size for alignment and fragmentation reasons. + * @param[in] align desired memory alignment + * @return A pointer to the aligned allocated block. + * @retval NULL if the block cannot be allocated. + * + * @api + */ +void *chHeapAllocAligned(memory_heap_t *heapp, size_t size, unsigned align) { + heap_header_t *qp, *hp; + size_t pages; + + chDbgCheck((size > 0U) && MEM_IS_VALID_ALIGNMENT(align)); + + /* If an heap is not specified then the default system header is used.*/ + if (heapp == NULL) { + heapp = &default_heap; + } + + /* Minimum alignment is constrained by the heap header structure size.*/ + if (align < CH_HEAP_ALIGNMENT) { + align = CH_HEAP_ALIGNMENT; + } + + /* Size is converted in number of elementary allocation units.*/ + pages = MEM_ALIGN_NEXT(size, CH_HEAP_ALIGNMENT) / CH_HEAP_ALIGNMENT; + + /* Taking heap mutex/semaphore.*/ + H_LOCK(heapp); + + /* Start of the free blocks list.*/ + qp = &heapp->header; + while (H_NEXT(qp) != NULL) { + heap_header_t *ahp; + + /* Next free block.*/ + hp = H_NEXT(qp); + + /* Pointer aligned to the requested alignment.*/ + ahp = (heap_header_t *)MEM_ALIGN_NEXT(H_BLOCK(hp), align) - 1U; + + if ((ahp < H_LIMIT(hp)) && (pages <= (size_t)(H_LIMIT(hp) - 1U - ahp))) { + /* The block is large enough to contain a correctly aligned area + of sufficient size.*/ + + if (ahp > hp) { + /* The block is not properly aligned, must split it.*/ + size_t bpages; + + bpages = H_LIMIT(hp) - H_BLOCK(ahp); + H_PAGES(hp) = ahp - H_BLOCK(hp); + if (bpages > pages) { + /* The block is bigger than required, must split the excess.*/ + heap_header_t *fp; + + /* Creating the excess block.*/ + fp = H_BLOCK(ahp) + pages; + H_PAGES(fp) = bpages - pages - 1U; + + /* Linking the excess block.*/ + H_NEXT(fp) = H_NEXT(hp); + H_NEXT(hp) = fp; + } + + hp = ahp; + } + else { + /* The block is already properly aligned.*/ + + if (H_PAGES(hp) == pages) { + /* Exact size, getting the whole block.*/ + H_NEXT(qp) = H_NEXT(hp); + } + else { + /* The block is bigger than required, must split the excess.*/ + heap_header_t *fp; + + fp = H_BLOCK(hp) + pages; + H_NEXT(fp) = H_NEXT(hp); + H_PAGES(fp) = H_LIMIT(hp) - H_BLOCK(fp); + H_NEXT(qp) = fp; + } + } + + /* Setting in the block owner heap and size.*/ + H_SIZE(hp) = size; + H_HEAP(hp) = heapp; + + /* Releasing heap mutex/semaphore.*/ + H_UNLOCK(heapp); + + /*lint -save -e9087 [11.3] Safe cast.*/ + return (void *)H_BLOCK(hp); + /*lint -restore*/ + } + + /* Next in the free blocks list.*/ + qp = hp; + } + + /* Releasing heap mutex/semaphore.*/ + H_UNLOCK(heapp); + + /* More memory is required, tries to get it from the associated provider + else fails.*/ + if (heapp->provider != NULL) { + hp = heapp->provider((pages + 1U) * CH_HEAP_ALIGNMENT, align); + if (hp != NULL) { + H_HEAP(hp) = heapp; + H_SIZE(hp) = size; + + /*lint -save -e9087 [11.3] Safe cast.*/ + return (void *)H_BLOCK(hp); + /*lint -restore*/ + } + } + + return NULL; +} + +/** + * @brief Frees a previously allocated memory block. + * + * @param[in] p pointer to the memory block to be freed + * + * @api + */ +void chHeapFree(void *p) { + heap_header_t *qp, *hp; + memory_heap_t *heapp; + + chDbgCheck((p != NULL) && MEM_IS_ALIGNED(p, CH_HEAP_ALIGNMENT)); + + /*lint -save -e9087 [11.3] Safe cast.*/ + hp = (heap_header_t *)p - 1U; + /*lint -restore*/ + heapp = H_HEAP(hp); + qp = &heapp->header; + + /* Size is converted in number of elementary allocation units.*/ + H_PAGES(hp) = MEM_ALIGN_NEXT(H_SIZE(hp), + CH_HEAP_ALIGNMENT) / CH_HEAP_ALIGNMENT; + + /* Taking heap mutex/semaphore.*/ + H_LOCK(heapp); + + while (true) { + chDbgAssert((hp < qp) || (hp >= H_LIMIT(qp)), "within free block"); + + if (((qp == &heapp->header) || (hp > qp)) && + ((H_NEXT(qp) == NULL) || (hp < H_NEXT(qp)))) { + /* Insertion after qp.*/ + H_NEXT(hp) = H_NEXT(qp); + H_NEXT(qp) = hp; + /* Verifies if the newly inserted block should be merged.*/ + if (H_LIMIT(hp) == H_NEXT(hp)) { + /* Merge with the next block.*/ + H_PAGES(hp) += H_PAGES(H_NEXT(hp)) + 1U; + H_NEXT(hp) = H_NEXT(H_NEXT(hp)); + } + if ((H_LIMIT(qp) == hp)) { + /* Merge with the previous block.*/ + H_PAGES(qp) += H_PAGES(hp) + 1U; + H_NEXT(qp) = H_NEXT(hp); + } + break; + } + qp = H_NEXT(qp); + } + + /* Releasing heap mutex/semaphore.*/ + H_UNLOCK(heapp); + + return; +} + +/** + * @brief Reports the heap status. + * @note This function is meant to be used in the test suite, it should + * not be really useful for the application code. + * + * @param[in] heapp pointer to a heap descriptor or @p NULL in order to + * access the default heap. + * @param[in] totalp pointer to a variable that will receive the total + * fragmented free space or @ NULL + * @param[in] largestp pointer to a variable that will receive the largest + * free free block found space or @ NULL + * @return The number of fragments in the heap. + * + * @api + */ +size_t chHeapStatus(memory_heap_t *heapp, size_t *totalp, size_t *largestp) { + heap_header_t *qp; + size_t n, tpages, lpages; + + if (heapp == NULL) { + heapp = &default_heap; + } + + H_LOCK(heapp); + tpages = 0U; + lpages = 0U; + n = 0U; + qp = &heapp->header; + while (H_NEXT(qp) != NULL) { + size_t pages = H_PAGES(H_NEXT(qp)); + + /* Updating counters.*/ + n++; + tpages += pages; + if (pages > lpages) { + lpages = pages; + } + + qp = H_NEXT(qp); + } + + /* Writing out fragmented free memory.*/ + if (totalp != NULL) { + *totalp = tpages * CH_HEAP_ALIGNMENT; + } + + /* Writing out unfragmented free memory.*/ + if (largestp != NULL) { + *largestp = lpages * CH_HEAP_ALIGNMENT; + } + H_UNLOCK(heapp); + + return n; +} + +#endif /* CH_CFG_USE_HEAP == TRUE */ + +/** @} */ diff --git a/os/common/oslib/src/chmboxes.c b/os/common/oslib/src/chmboxes.c new file mode 100644 index 000000000..bb75fee6c --- /dev/null +++ b/os/common/oslib/src/chmboxes.c @@ -0,0 +1,435 @@ +/* + ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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. + + ChibiOS 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 . +*/ + +/** + * @file chmboxes.c + * @brief Mailboxes code. + * + * @addtogroup mailboxes + * @details Asynchronous messages. + *

Operation mode

+ * A mailbox is an asynchronous communication mechanism.
+ * Operations defined for mailboxes: + * - Post: Posts a message on the mailbox in FIFO order. + * - Post Ahead: Posts a message on the mailbox with urgent + * priority. + * - Fetch: A message is fetched from the mailbox and removed + * from the queue. + * - Reset: The mailbox is emptied and all the stored messages + * are lost. + * . + * A message is a variable of type msg_t that is guaranteed to have + * the same size of and be compatible with (data) pointers (anyway an + * explicit cast is needed). + * If larger messages need to be exchanged then a pointer to a + * structure can be posted in the mailbox but the posting side has + * no predefined way to know when the message has been processed. A + * possible approach is to allocate memory (from a memory pool for + * example) from the posting side and free it on the fetching side. + * Another approach is to set a "done" flag into the structure pointed + * by the message. + * @pre In order to use the mailboxes APIs the @p CH_CFG_USE_MAILBOXES + * option must be enabled in @p chconf.h. + * @note Compatible with RT and NIL. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_MAILBOXES == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes a @p mailbox_t object. + * + * @param[out] mbp the pointer to the @p mailbox_t structure to be + * initialized + * @param[in] buf pointer to the messages buffer as an array of @p msg_t + * @param[in] n number of elements in the buffer array + * + * @init + */ +void chMBObjectInit(mailbox_t *mbp, msg_t *buf, cnt_t n) { + + chDbgCheck((mbp != NULL) && (buf != NULL) && (n > (cnt_t)0)); + + mbp->buffer = buf; + mbp->rdptr = buf; + mbp->wrptr = buf; + mbp->top = &buf[n]; + chSemObjectInit(&mbp->emptysem, n); + chSemObjectInit(&mbp->fullsem, (cnt_t)0); +} + +/** + * @brief Resets a @p mailbox_t object. + * @details All the waiting threads are resumed with status @p MSG_RESET and + * the queued messages are lost. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * + * @api + */ +void chMBReset(mailbox_t *mbp) { + + chSysLock(); + chMBResetI(mbp); + chSchRescheduleS(); + chSysUnlock(); +} + +/** + * @brief Resets a @p mailbox_t object. + * @details All the waiting threads are resumed with status @p MSG_RESET and + * the queued messages are lost. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * + * @api + */ +void chMBResetI(mailbox_t *mbp) { + + chDbgCheckClassI(); + chDbgCheck(mbp != NULL); + + mbp->wrptr = mbp->buffer; + mbp->rdptr = mbp->buffer; + chSemResetI(&mbp->emptysem, (cnt_t)(mbp->top - mbp->buffer)); + chSemResetI(&mbp->fullsem, (cnt_t)0); +} + +/** + * @brief Posts a message into a mailbox. + * @details The invoking thread waits until a empty slot in the mailbox becomes + * available or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset while waiting. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @api + */ +msg_t chMBPost(mailbox_t *mbp, msg_t msg, systime_t timeout) { + msg_t rdymsg; + + chSysLock(); + rdymsg = chMBPostS(mbp, msg, timeout); + chSysUnlock(); + + return rdymsg; +} + +/** + * @brief Posts a message into a mailbox. + * @details The invoking thread waits until a empty slot in the mailbox becomes + * available or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset while waiting. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @sclass + */ +msg_t chMBPostS(mailbox_t *mbp, msg_t msg, systime_t timeout) { + msg_t rdymsg; + + chDbgCheckClassS(); + chDbgCheck(mbp != NULL); + + rdymsg = chSemWaitTimeoutS(&mbp->emptysem, timeout); + if (rdymsg == MSG_OK) { + *mbp->wrptr++ = msg; + if (mbp->wrptr >= mbp->top) { + mbp->wrptr = mbp->buffer; + } + chSemSignalI(&mbp->fullsem); + chSchRescheduleS(); + } + + return rdymsg; +} + +/** + * @brief Posts a message into a mailbox. + * @details This variant is non-blocking, the function returns a timeout + * condition if the queue is full. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @return The operation status. + * @retval MSG_OK if a message has been correctly posted. + * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be + * posted. + * + * @iclass + */ +msg_t chMBPostI(mailbox_t *mbp, msg_t msg) { + + chDbgCheckClassI(); + chDbgCheck(mbp != NULL); + + if (chSemGetCounterI(&mbp->emptysem) <= (cnt_t)0) { + return MSG_TIMEOUT; + } + + chSemFastWaitI(&mbp->emptysem); + *mbp->wrptr++ = msg; + if (mbp->wrptr >= mbp->top) { + mbp->wrptr = mbp->buffer; + } + chSemSignalI(&mbp->fullsem); + + return MSG_OK; +} + +/** + * @brief Posts an high priority message into a mailbox. + * @details The invoking thread waits until a empty slot in the mailbox becomes + * available or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset while waiting. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @api + */ +msg_t chMBPostAhead(mailbox_t *mbp, msg_t msg, systime_t timeout) { + msg_t rdymsg; + + chSysLock(); + rdymsg = chMBPostAheadS(mbp, msg, timeout); + chSysUnlock(); + + return rdymsg; +} + +/** + * @brief Posts an high priority message into a mailbox. + * @details The invoking thread waits until a empty slot in the mailbox becomes + * available or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset while waiting. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @sclass + */ +msg_t chMBPostAheadS(mailbox_t *mbp, msg_t msg, systime_t timeout) { + msg_t rdymsg; + + chDbgCheckClassS(); + chDbgCheck(mbp != NULL); + + rdymsg = chSemWaitTimeoutS(&mbp->emptysem, timeout); + if (rdymsg == MSG_OK) { + if (--mbp->rdptr < mbp->buffer) { + mbp->rdptr = mbp->top - 1; + } + *mbp->rdptr = msg; + chSemSignalI(&mbp->fullsem); + chSchRescheduleS(); + } + + return rdymsg; +} + +/** + * @brief Posts an high priority message into a mailbox. + * @details This variant is non-blocking, the function returns a timeout + * condition if the queue is full. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @return The operation status. + * @retval MSG_OK if a message has been correctly posted. + * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be + * posted. + * + * @iclass + */ +msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) { + + chDbgCheckClassI(); + chDbgCheck(mbp != NULL); + + if (chSemGetCounterI(&mbp->emptysem) <= (cnt_t)0) { + return MSG_TIMEOUT; + } + chSemFastWaitI(&mbp->emptysem); + if (--mbp->rdptr < mbp->buffer) { + mbp->rdptr = mbp->top - 1; + } + *mbp->rdptr = msg; + chSemSignalI(&mbp->fullsem); + + return MSG_OK; +} + +/** + * @brief Retrieves a message from a mailbox. + * @details The invoking thread waits until a message is posted in the mailbox + * or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[out] msgp pointer to a message variable for the received message + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if a message has been correctly fetched. + * @retval MSG_RESET if the mailbox has been reset while waiting. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @api + */ +msg_t chMBFetch(mailbox_t *mbp, msg_t *msgp, systime_t timeout) { + msg_t rdymsg; + + chSysLock(); + rdymsg = chMBFetchS(mbp, msgp, timeout); + chSysUnlock(); + + return rdymsg; +} + +/** + * @brief Retrieves a message from a mailbox. + * @details The invoking thread waits until a message is posted in the mailbox + * or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[out] msgp pointer to a message variable for the received message + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if a message has been correctly fetched. + * @retval MSG_RESET if the mailbox has been reset while waiting. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @sclass + */ +msg_t chMBFetchS(mailbox_t *mbp, msg_t *msgp, systime_t timeout) { + msg_t rdymsg; + + chDbgCheckClassS(); + chDbgCheck((mbp != NULL) && (msgp != NULL)); + + rdymsg = chSemWaitTimeoutS(&mbp->fullsem, timeout); + if (rdymsg == MSG_OK) { + *msgp = *mbp->rdptr++; + if (mbp->rdptr >= mbp->top) { + mbp->rdptr = mbp->buffer; + } + chSemSignalI(&mbp->emptysem); + chSchRescheduleS(); + } + + return rdymsg; +} + +/** + * @brief Retrieves a message from a mailbox. + * @details This variant is non-blocking, the function returns a timeout + * condition if the queue is empty. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[out] msgp pointer to a message variable for the received message + * @return The operation status. + * @retval MSG_OK if a message has been correctly fetched. + * @retval MSG_TIMEOUT if the mailbox is empty and a message cannot be + * fetched. + * + * @iclass + */ +msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp) { + + chDbgCheckClassI(); + chDbgCheck((mbp != NULL) && (msgp != NULL)); + + if (chSemGetCounterI(&mbp->fullsem) <= (cnt_t)0) { + return MSG_TIMEOUT; + } + chSemFastWaitI(&mbp->fullsem); + *msgp = *mbp->rdptr++; + if (mbp->rdptr >= mbp->top) { + mbp->rdptr = mbp->buffer; + } + chSemSignalI(&mbp->emptysem); + + return MSG_OK; +} +#endif /* CH_CFG_USE_MAILBOXES == TRUE */ + +/** @} */ diff --git a/os/common/oslib/src/chmemcore.c b/os/common/oslib/src/chmemcore.c new file mode 100644 index 000000000..a665b07b2 --- /dev/null +++ b/os/common/oslib/src/chmemcore.c @@ -0,0 +1,166 @@ +/* + ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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. + + ChibiOS 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 . +*/ + +/** + * @file chmemcore.c + * @brief Core memory manager code. + * + * @addtogroup memcore + * @details Core Memory Manager related APIs and services. + *

Operation mode

+ * The core memory manager is a simplified allocator that only + * allows to allocate memory blocks without the possibility to + * free them.
+ * This allocator is meant as a memory blocks provider for the + * other allocators such as: + * - C-Runtime allocator (through a compiler specific adapter module). + * - Heap allocator (see @ref heaps). + * - Memory pools allocator (see @ref pools). + * . + * By having a centralized memory provider the various allocators + * can coexist and share the main memory.
+ * This allocator, alone, is also useful for very simple + * applications that just require a simple way to get memory + * blocks. + * @pre In order to use the core memory manager APIs the @p CH_CFG_USE_MEMCORE + * option must be enabled in @p chconf.h. + * @note Compatible with RT and NIL. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_MEMCORE == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +static uint8_t *nextmem; +static uint8_t *endmem; + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level memory manager initialization. + * + * @notapi + */ +void _core_init(void) { +#if CH_CFG_MEMCORE_SIZE == 0 + extern uint8_t __heap_base__[]; + extern uint8_t __heap_end__[]; + + /*lint -save -e9033 [10.8] Required cast operations.*/ + nextmem = (uint8_t *)MEM_ALIGN_NEXT(__heap_base__, PORT_NATURAL_ALIGN); + endmem = (uint8_t *)MEM_ALIGN_PREV(__heap_end__, PORT_NATURAL_ALIGN); + /*lint restore*/ +#else + static stkalign_t buffer[MEM_ALIGN_NEXT(CH_CFG_MEMCORE_SIZE) / + PORT_NATURAL_ALIGN]; + + nextmem = (uint8_t *)&buffer[0]; + endmem = (uint8_t *)&buffer[MEM_ALIGN_NEXT(CH_CFG_MEMCORE_SIZE) / + PORT_NATURAL_ALIGN]; +#endif +} + +/** + * @brief Allocates a memory block. + * @details The allocated block is guaranteed to be properly aligned to the + * specified alignment. + * + * @param[in] size the size of the block to be allocated. + * @param[in] align desired memory alignment + * @return A pointer to the allocated memory block. + * @retval NULL allocation failed, core memory exhausted. + * + * @iclass + */ +void *chCoreAllocAlignedI(size_t size, unsigned align) { + uint8_t *p; + + chDbgCheckClassI(); + chDbgCheck(MEM_IS_VALID_ALIGNMENT(align)); + + size = MEM_ALIGN_NEXT(size, align); + p = (uint8_t *)MEM_ALIGN_NEXT(nextmem, align); + + /* ---????? lint -save -e9033 [10.8] The cast is safe.*/ + if ((size_t)(endmem - p) < size) { + /* ---????? lint -restore*/ + return NULL; + } + nextmem = p + size; + + return p; +} + +/** + * @brief Allocates a memory block. + * @details The allocated block is guaranteed to be properly aligned to the + * specified alignment. + * + * @param[in] size the size of the block to be allocated + * @param[in] align desired memory alignment + * @return A pointer to the allocated memory block. + * @retval NULL allocation failed, core memory exhausted. + * + * @api + */ +void *chCoreAllocAligned(size_t size, unsigned align) { + void *p; + + chSysLock(); + p = chCoreAllocAlignedI(size, align); + chSysUnlock(); + + return p; +} + +/** + * @brief Core memory status. + * + * @return The size, in bytes, of the free core memory. + * + * @xclass + */ +size_t chCoreGetStatusX(void) { + + /*lint -save -e9033 [10.8] The cast is safe.*/ + return (size_t)(endmem - nextmem); + /*lint -restore*/ +} +#endif /* CH_CFG_USE_MEMCORE == TRUE */ + +/** @} */ diff --git a/os/common/oslib/src/chmempools.c b/os/common/oslib/src/chmempools.c new file mode 100644 index 000000000..c29fde8f4 --- /dev/null +++ b/os/common/oslib/src/chmempools.c @@ -0,0 +1,203 @@ +/* + ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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. + + ChibiOS 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 . +*/ + +/** + * @file chmempools.c + * @brief Memory Pools code. + * + * @addtogroup pools + * @details Memory Pools related APIs and services. + *

Operation mode

+ * The Memory Pools APIs allow to allocate/free fixed size objects in + * constant time and reliably without memory fragmentation + * problems.
+ * Memory Pools do not enforce any alignment constraint on the + * contained object however the objects must be properly aligned + * to contain a pointer to void. + * @pre In order to use the memory pools APIs the @p CH_CFG_USE_MEMPOOLS option + * must be enabled in @p chconf.h. + * @note Compatible with RT and NIL. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an empty memory pool. + * + * @param[out] mp pointer to a @p memory_pool_t structure + * @param[in] size the size of the objects contained in this memory pool, + * the minimum accepted size is the size of a pointer to + * void. + * @param[in] provider memory provider function for the memory pool or + * @p NULL if the pool is not allowed to grow + * automatically + * + * @init + */ +void chPoolObjectInit(memory_pool_t *mp, size_t size, memgetfunc_t provider) { + + chDbgCheck((mp != NULL) && (size >= sizeof(void *))); + + mp->next = NULL; + mp->object_size = size; + mp->provider = provider; +} + +/** + * @brief Loads a memory pool with an array of static objects. + * @pre The memory pool must be already been initialized. + * @pre The array elements must be of the right size for the specified + * memory pool. + * @post The memory pool contains the elements of the input array. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @param[in] p pointer to the array first element + * @param[in] n number of elements in the array + * + * @api + */ +void chPoolLoadArray(memory_pool_t *mp, void *p, size_t n) { + + chDbgCheck((mp != NULL) && (n != 0U)); + + while (n != 0U) { + chPoolAdd(mp, p); + /*lint -save -e9087 [11.3] Safe cast.*/ + p = (void *)(((uint8_t *)p) + mp->object_size); + /*lint -restore*/ + n--; + } +} + +/** + * @brief Allocates an object from a memory pool. + * @pre The memory pool must be already been initialized. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @return The pointer to the allocated object. + * @retval NULL if pool is empty. + * + * @iclass + */ +void *chPoolAllocI(memory_pool_t *mp) { + void *objp; + + chDbgCheckClassI(); + chDbgCheck(mp != NULL); + + objp = mp->next; + /*lint -save -e9013 [15.7] There is no else because it is not needed.*/ + if (objp != NULL) { + mp->next = mp->next->next; + } + else if (mp->provider != NULL) { + objp = mp->provider(mp->object_size, PORT_NATURAL_ALIGN); /* TODO: Alignment is not properly handled */ + } + /*lint -restore*/ + + return objp; +} + +/** + * @brief Allocates an object from a memory pool. + * @pre The memory pool must be already been initialized. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @return The pointer to the allocated object. + * @retval NULL if pool is empty. + * + * @api + */ +void *chPoolAlloc(memory_pool_t *mp) { + void *objp; + + chSysLock(); + objp = chPoolAllocI(mp); + chSysUnlock(); + + return objp; +} + +/** + * @brief Releases an object into a memory pool. + * @pre The memory pool must be already been initialized. + * @pre The freed object must be of the right size for the specified + * memory pool. + * @pre The object must be properly aligned to contain a pointer to void. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @param[in] objp the pointer to the object to be released + * + * @iclass + */ +void chPoolFreeI(memory_pool_t *mp, void *objp) { + struct pool_header *php = objp; + + chDbgCheckClassI(); + chDbgCheck((mp != NULL) && (objp != NULL)); + + php->next = mp->next; + mp->next = php; +} + +/** + * @brief Releases an object into a memory pool. + * @pre The memory pool must be already been initialized. + * @pre The freed object must be of the right size for the specified + * memory pool. + * @pre The object must be properly aligned to contain a pointer to void. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @param[in] objp the pointer to the object to be released + * + * @api + */ +void chPoolFree(memory_pool_t *mp, void *objp) { + + chSysLock(); + chPoolFreeI(mp, objp); + chSysUnlock(); +} + +#endif /* CH_CFG_USE_MEMPOOLS == TRUE */ + +/** @} */ -- cgit v1.2.3