/* | |
FreeRTOS V9.0.1 - Copyright (C) 2017 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. | |
*************************************************************************** | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
*************************************************************************** | |
FreeRTOS 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. Full license text is available on the following | |
link: http://www.freertos.org/a00114.html | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and commercial middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/* | |
* A sample implementation of pvPortMalloc() that allows the heap to be defined | |
* across multiple non-contigous blocks and combines (coalescences) adjacent | |
* memory blocks as they are freed. | |
* | |
* See heap_1.c, heap_2.c, heap_3.c and heap_4.c for alternative | |
* implementations, and the memory management pages of http://www.FreeRTOS.org | |
* for more information. | |
* | |
* Usage notes: | |
* | |
* vPortDefineHeapRegions() ***must*** be called before pvPortMalloc(). | |
* pvPortMalloc() will be called if any task objects (tasks, queues, event | |
* groups, etc.) are created, therefore vPortDefineHeapRegions() ***must*** be | |
* called before any other objects are defined. | |
* | |
* vPortDefineHeapRegions() takes a single parameter. The parameter is an array | |
* of HeapRegion_t structures. HeapRegion_t is defined in portable.h as | |
* | |
* typedef struct HeapRegion | |
* { | |
* uint8_t *pucStartAddress; << Start address of a block of memory that will be part of the heap. | |
* size_t xSizeInBytes; << Size of the block of memory. | |
* } HeapRegion_t; | |
* | |
* The array is terminated using a NULL zero sized region definition, and the | |
* memory regions defined in the array ***must*** appear in address order from | |
* low address to high address. So the following is a valid example of how | |
* to use the function. | |
* | |
* HeapRegion_t xHeapRegions[] = | |
* { | |
* { ( uint8_t * ) 0x80000000UL, 0x10000 }, << Defines a block of 0x10000 bytes starting at address 0x80000000 | |
* { ( uint8_t * ) 0x90000000UL, 0xa0000 }, << Defines a block of 0xa0000 bytes starting at address of 0x90000000 | |
* { NULL, 0 } << Terminates the array. | |
* }; | |
* | |
* vPortDefineHeapRegions( xHeapRegions ); << Pass the array into vPortDefineHeapRegions(). | |
* | |
* Note 0x80000000 is the lower address so appears in the array first. | |
* | |
*/ | |
#include <stdlib.h> | |
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining | |
all the API functions to use the MPU wrappers. That should only be done when | |
task.h is included from an application file. */ | |
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE | |
#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) | |
#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 | |
#endif | |
/* Block sizes must not get too small. */ | |
#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) | |
/* Assumes 8bit bytes! */ | |
#define heapBITS_PER_BYTE ( ( size_t ) 8 ) | |
/* Define the linked list structure. This is used to link free blocks in order | |
of their memory address. */ | |
typedef struct A_BLOCK_LINK | |
{ | |
struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */ | |
size_t xBlockSize; /*<< The size of the free block. */ | |
} BlockLink_t; | |
/*-----------------------------------------------------------*/ | |
/* | |
* Inserts a block of memory that is being freed into the correct position in | |
* the list of free memory blocks. The block being freed will be merged with | |
* the block in front it and/or the block behind it if the memory blocks are | |
* adjacent to each other. | |
*/ | |
static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ); | |
/*-----------------------------------------------------------*/ | |
/* The size of the structure placed at the beginning of each allocated memory | |
block must by correctly byte aligned. */ | |
static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); | |
/* Create a couple of list links to mark the start and end of the list. */ | |
static BlockLink_t xStart, *pxEnd = NULL; | |
/* Keeps track of the number of free bytes remaining, but says nothing about | |
fragmentation. */ | |
static size_t xFreeBytesRemaining = 0U; | |
static size_t xMinimumEverFreeBytesRemaining = 0U; | |
/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize | |
member of an BlockLink_t structure is set then the block belongs to the | |
application. When the bit is free the block is still part of the free heap | |
space. */ | |
static size_t xBlockAllocatedBit = 0; | |
/*-----------------------------------------------------------*/ | |
void *pvPortMalloc( size_t xWantedSize ) | |
{ | |
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink; | |
void *pvReturn = NULL; | |
/* The heap must be initialised before the first call to | |
prvPortMalloc(). */ | |
configASSERT( pxEnd ); | |
vTaskSuspendAll(); | |
{ | |
/* Check the requested block size is not so large that the top bit is | |
set. The top bit of the block size member of the BlockLink_t structure | |
is used to determine who owns the block - the application or the | |
kernel, so it must be free. */ | |
if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) | |
{ | |
/* The wanted size is increased so it can contain a BlockLink_t | |
structure in addition to the requested amount of bytes. */ | |
if( xWantedSize > 0 ) | |
{ | |
xWantedSize += xHeapStructSize; | |
/* Ensure that blocks are always aligned to the required number | |
of bytes. */ | |
if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 ) | |
{ | |
/* Byte alignment required. */ | |
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) | |
{ | |
/* Traverse the list from the start (lowest address) block until | |
one of adequate size is found. */ | |
pxPreviousBlock = &xStart; | |
pxBlock = xStart.pxNextFreeBlock; | |
while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) | |
{ | |
pxPreviousBlock = pxBlock; | |
pxBlock = pxBlock->pxNextFreeBlock; | |
} | |
/* If the end marker was reached then a block of adequate size | |
was not found. */ | |
if( pxBlock != pxEnd ) | |
{ | |
/* Return the memory space pointed to - jumping over the | |
BlockLink_t structure at its start. */ | |
pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); | |
/* This block is being returned for use so must be taken out | |
of the list of free blocks. */ | |
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; | |
/* If the block is larger than required it can be split into | |
two. */ | |
if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) | |
{ | |
/* This block is to be split into two. Create a new | |
block following the number of bytes requested. The void | |
cast is used to prevent byte alignment warnings from the | |
compiler. */ | |
pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); | |
/* Calculate the sizes of two blocks split from the | |
single block. */ | |
pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; | |
pxBlock->xBlockSize = xWantedSize; | |
/* Insert the new block into the list of free blocks. */ | |
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
xFreeBytesRemaining -= pxBlock->xBlockSize; | |
if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) | |
{ | |
xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
/* The block is being returned - it is allocated and owned | |
by the application and has no "next" block. */ | |
pxBlock->xBlockSize |= xBlockAllocatedBit; | |
pxBlock->pxNextFreeBlock = NULL; | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
traceMALLOC( pvReturn, xWantedSize ); | |
} | |
( void ) xTaskResumeAll(); | |
#if( configUSE_MALLOC_FAILED_HOOK == 1 ) | |
{ | |
if( pvReturn == NULL ) | |
{ | |
extern void vApplicationMallocFailedHook( void ); | |
vApplicationMallocFailedHook(); | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
} | |
#endif | |
return pvReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortFree( void *pv ) | |
{ | |
uint8_t *puc = ( uint8_t * ) pv; | |
BlockLink_t *pxLink; | |
if( pv != NULL ) | |
{ | |
/* The memory being freed will have an BlockLink_t structure immediately | |
before it. */ | |
puc -= xHeapStructSize; | |
/* This casting is to keep the compiler from issuing warnings. */ | |
pxLink = ( void * ) puc; | |
/* Check the block is actually allocated. */ | |
configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); | |
configASSERT( pxLink->pxNextFreeBlock == NULL ); | |
if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) | |
{ | |
if( pxLink->pxNextFreeBlock == NULL ) | |
{ | |
/* The block is being returned to the heap - it is no longer | |
allocated. */ | |
pxLink->xBlockSize &= ~xBlockAllocatedBit; | |
vTaskSuspendAll(); | |
{ | |
/* Add this block to the list of free blocks. */ | |
xFreeBytesRemaining += pxLink->xBlockSize; | |
traceFREE( pv, pxLink->xBlockSize ); | |
prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); | |
} | |
( void ) xTaskResumeAll(); | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
size_t xPortGetFreeHeapSize( void ) | |
{ | |
return xFreeBytesRemaining; | |
} | |
/*-----------------------------------------------------------*/ | |
size_t xPortGetMinimumEverFreeHeapSize( void ) | |
{ | |
return xMinimumEverFreeBytesRemaining; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ) | |
{ | |
BlockLink_t *pxIterator; | |
uint8_t *puc; | |
/* Iterate through the list until a block is found that has a higher address | |
than the block being inserted. */ | |
for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) | |
{ | |
/* Nothing to do here, just iterate to the right position. */ | |
} | |
/* Do the block being inserted, and the block it is being inserted after | |
make a contiguous block of memory? */ | |
puc = ( uint8_t * ) pxIterator; | |
if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) | |
{ | |
pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; | |
pxBlockToInsert = pxIterator; | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
/* Do the block being inserted, and the block it is being inserted before | |
make a contiguous block of memory? */ | |
puc = ( uint8_t * ) pxBlockToInsert; | |
if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) | |
{ | |
if( pxIterator->pxNextFreeBlock != pxEnd ) | |
{ | |
/* Form one big block from the two blocks. */ | |
pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; | |
pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; | |
} | |
else | |
{ | |
pxBlockToInsert->pxNextFreeBlock = pxEnd; | |
} | |
} | |
else | |
{ | |
pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; | |
} | |
/* If the block being inserted plugged a gab, so was merged with the block | |
before and the block after, then it's pxNextFreeBlock pointer will have | |
already been set, and should not be set here as that would make it point | |
to itself. */ | |
if( pxIterator != pxBlockToInsert ) | |
{ | |
pxIterator->pxNextFreeBlock = pxBlockToInsert; | |
} | |
else | |
{ | |
mtCOVERAGE_TEST_MARKER(); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) | |
{ | |
BlockLink_t *pxFirstFreeBlockInRegion = NULL, *pxPreviousFreeBlock; | |
size_t xAlignedHeap; | |
size_t xTotalRegionSize, xTotalHeapSize = 0; | |
BaseType_t xDefinedRegions = 0; | |
size_t xAddress; | |
const HeapRegion_t *pxHeapRegion; | |
/* Can only call once! */ | |
configASSERT( pxEnd == NULL ); | |
pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] ); | |
while( pxHeapRegion->xSizeInBytes > 0 ) | |
{ | |
xTotalRegionSize = pxHeapRegion->xSizeInBytes; | |
/* Ensure the heap region starts on a correctly aligned boundary. */ | |
xAddress = ( size_t ) pxHeapRegion->pucStartAddress; | |
if( ( xAddress & portBYTE_ALIGNMENT_MASK ) != 0 ) | |
{ | |
xAddress += ( portBYTE_ALIGNMENT - 1 ); | |
xAddress &= ~portBYTE_ALIGNMENT_MASK; | |
/* Adjust the size for the bytes lost to alignment. */ | |
xTotalRegionSize -= xAddress - ( size_t ) pxHeapRegion->pucStartAddress; | |
} | |
xAlignedHeap = xAddress; | |
/* Set xStart if it has not already been set. */ | |
if( xDefinedRegions == 0 ) | |
{ | |
/* xStart is used to hold a pointer to the first item in the list of | |
free blocks. The void cast is used to prevent compiler warnings. */ | |
xStart.pxNextFreeBlock = ( BlockLink_t * ) xAlignedHeap; | |
xStart.xBlockSize = ( size_t ) 0; | |
} | |
else | |
{ | |
/* Should only get here if one region has already been added to the | |
heap. */ | |
configASSERT( pxEnd != NULL ); | |
/* Check blocks are passed in with increasing start addresses. */ | |
configASSERT( xAddress > ( size_t ) pxEnd ); | |
} | |
/* Remember the location of the end marker in the previous region, if | |
any. */ | |
pxPreviousFreeBlock = pxEnd; | |
/* pxEnd is used to mark the end of the list of free blocks and is | |
inserted at the end of the region space. */ | |
xAddress = xAlignedHeap + xTotalRegionSize; | |
xAddress -= xHeapStructSize; | |
xAddress &= ~portBYTE_ALIGNMENT_MASK; | |
pxEnd = ( BlockLink_t * ) xAddress; | |
pxEnd->xBlockSize = 0; | |
pxEnd->pxNextFreeBlock = NULL; | |
/* To start with there is a single free block in this region that is | |
sized to take up the entire heap region minus the space taken by the | |
free block structure. */ | |
pxFirstFreeBlockInRegion = ( BlockLink_t * ) xAlignedHeap; | |
pxFirstFreeBlockInRegion->xBlockSize = xAddress - ( size_t ) pxFirstFreeBlockInRegion; | |
pxFirstFreeBlockInRegion->pxNextFreeBlock = pxEnd; | |
/* If this is not the first region that makes up the entire heap space | |
then link the previous region to this region. */ | |
if( pxPreviousFreeBlock != NULL ) | |
{ | |
pxPreviousFreeBlock->pxNextFreeBlock = pxFirstFreeBlockInRegion; | |
} | |
xTotalHeapSize += pxFirstFreeBlockInRegion->xBlockSize; | |
/* Move onto the next HeapRegion_t structure. */ | |
xDefinedRegions++; | |
pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] ); | |
} | |
xMinimumEverFreeBytesRemaining = xTotalHeapSize; | |
xFreeBytesRemaining = xTotalHeapSize; | |
/* Check something was actually defined before it is accessed. */ | |
configASSERT( xTotalHeapSize ); | |
/* Work out the position of the top bit in a size_t variable. */ | |
xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ); | |
} | |