added chmemcore patch

Author: tinito

Makefile

@@ -90,30 +90,24 @@ CSRC = $(PORTSRC) \
 CPPSRC = $(R2PSRC)
 
 ifeq ($(TEST),debug_test)
-  CPPSRC += DebugTransport.cpp DebugPublisher.cpp DebugSubscriber.cpp \
-         chnew.cpp main_debug_test.cpp
+  CPPSRC += chnew.cpp main_debug_test.cpp
 endif
 
 ifeq ($(TEST),rtcan_pub_test)
-  CPPSRC += DebugTransport.cpp DebugPublisher.cpp DebugSubscriber.cpp \
-         RTCANTransport.cpp RTCANPublisher.cpp RTCANSubscriber.cpp \
-         chnew.cpp main_rtcan_pub_test.cpp
+  CPPSRC += chnew.cpp main_rtcan_pub_test.cpp
 #  UDEFS = -DRTCAN_ISMASTER
 endif
 
 ifeq ($(TEST),rtcan_sub_test)
-  CPPSRC += DebugTransport.cpp DebugPublisher.cpp DebugSubscriber.cpp \
-         RTCANTransport.cpp RTCANPublisher.cpp RTCANSubscriber.cpp \
-         chnew.cpp main_rtcan_sub_test.cpp
+  CPPSRC += chnew.cpp main_rtcan_sub_test.cpp
 endif
 
 ifeq ($(TEST),pubsub_test)
   CPPSRC += main_pubsub_test.cpp chnew.cpp
 endif
 
 ifeq ($(TEST),)
-  CPPSRC += DebugTransport.cpp DebugPublisher.cpp DebugSubscriber.cpp \
-            main.cpp chnew.cpp
+  CPPSRC += main.cpp chnew.cpp
 endif
 
 # C sources to be compiled in ARM mode regardless of the global setting.

apps/pub_led/pub_led.cpp

@@ -1,7 +1,10 @@
-#include "common.hpp"
+#include <r2p/Middleware.hpp>
+#include "LedMsg.hpp"
 
-using namespace r2p;
+#include "ch.h"
+#include "hal.h"
 
+using namespace r2p;
 
 struct AppConfig {
     char        led_topic_name[NamingTraits<Topic>::MAX_LENGTH + 1];
@@ -14,7 +17,7 @@ const AppConfig app_config R2P_APP_CONFIG = {
     "LED",
     "LED_PUB",
     200,
-    1
+    LED2
 };
 
 
@@ -35,10 +38,10 @@ void app_main(void) {
             if (pub.publish(*msgp)) {
                 was_on = !was_on;
             } else {
-                palTogglePad(LED_GPIO, LED3);
+                palTogglePad(LED_GPIO, LED4);
             }
         } else {
-            palTogglePad(LED_GPIO, LED3);
+            palTogglePad(LED_GPIO, LED4);
         }
         r2p::Thread::sleep(Time::ms(app_config.loop_delay_ms));
     }

apps/sub_led/sub_led.cpp

@@ -1,4 +1,9 @@
-#include "common.hpp"
+#include <r2p/Middleware.hpp>
+#include "LedMsg.hpp"
+
+#include "ch.h"
+#include "hal.h"
+
 
 using namespace r2p;
 
@@ -19,12 +24,10 @@ const AppConfig app_config R2P_APP_CONFIG = {
 
 static bool led_callback(const LedMsg &msg) {
 
-    unsigned led_pin_id = led2pin(msg.id);
-    
     if (msg.on) {
-        palClearPad(LED_GPIO, led_pin_id);
+        palClearPad(LED_GPIO, msg.id);
     } else {
-        palSetPad(LED_GPIO, led_pin_id);
+        palSetPad(LED_GPIO, msg.id);
     }
     return true;
 }

chmemcore.c

@@ -0,0 +1,176 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+                 2011,2012,2013 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT 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/RT 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/>.
+*/
+
+/**
+ * @file    chmemcore.c
+ * @brief   Core memory manager code.
+ *
+ * @addtogroup memcore
+ * @details Core Memory Manager related APIs and services.
+ *          <h2>Operation mode</h2>
+ *          The core memory manager is a simplified allocator that only
+ *          allows to allocate memory blocks without the possibility to
+ *          free them.<br>
+ *          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.<br>
+ *          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_USE_MEMCORE
+ *          option must be enabled in @p chconf.h.
+ * @{
+ */
+
+#include "ch.h"
+
+#if CH_USE_MEMCORE || defined(__DOXYGEN__)
+
+static uint8_t *nextmem;
+static uint8_t *endmem;
+static uint8_t *realendmem;
+
+/**
+ * @brief   Low level memory manager initialization.
+ *
+ * @notapi
+ */
+void _core_init(void) {
+#if CH_MEMCORE_SIZE == 0
+  extern uint8_t __heap_base__[];
+  extern uint8_t __heap_end__[];
+  nextmem = (uint8_t *)MEM_ALIGN_NEXT(__heap_base__);
+  endmem = (uint8_t *)MEM_ALIGN_PREV(__heap_end__);
+#else
+  static stkalign_t buffer[MEM_ALIGN_NEXT(CH_MEMCORE_SIZE)/MEM_ALIGN_SIZE];
+  nextmem = (uint8_t *)&buffer[0];
+  endmem = (uint8_t *)&buffer[MEM_ALIGN_NEXT(CH_MEMCORE_SIZE)/MEM_ALIGN_SIZE];
+#endif
+  realendmem = endmem;
+}
+
+/**
+ * @brief   Allocates a memory block.
+ * @details The size of the returned block is aligned to the alignment
+ *          type so it is not possible to allocate less
+ *          than <code>MEM_ALIGN_SIZE</code>.
+ *
+ * @param[in] size      the size of the block to be allocated
+ * @return              A pointer to the allocated memory block.
+ * @retval NULL         allocation failed, core memory exhausted.
+ *
+ * @api
+ */
+void *chCoreAlloc(size_t size) {
+  void *p;
+
+  chSysLock();
+  p = chCoreAllocI(size);
+  chSysUnlock();
+  return p;
+}
+
+/**
+ * @brief   Allocates a memory block.
+ * @details The size of the returned block is aligned to the alignment
+ *          type so it is not possible to allocate less than
+ *          <code>MEM_ALIGN_SIZE</code>.
+ *
+ * @param[in] size      the size of the block to be allocated.
+ * @return              A pointer to the allocated memory block.
+ * @retval NULL         allocation failed, core memory exhausted.
+ *
+ * @iclass
+ */
+void *chCoreAllocI(size_t size) {
+  void *p;
+
+  chDbgCheckClassI();
+
+  size = MEM_ALIGN_NEXT(size);
+  if ((size_t)(endmem - nextmem) < size)
+    return NULL;
+  p = nextmem;
+  nextmem += size;
+  return p;
+}
+
+/**
+ * @brief   Core memory status.
+ *
+ * @return              The size, in bytes, of the free core memory.
+ *
+ * @api
+ */
+size_t chCoreStatus(void) {
+
+  return (size_t)(endmem - nextmem);
+}
+
+
+
+void *chCoreReserve(size_t size) {
+  void *p;
+
+  chSysLock();
+  p = chCoreReserveI(size);
+  chSysUnlock();
+  return p;
+}
+
+void *chCoreReserveI(size_t size) {
+
+  chDbgCheckClassI();
+
+  size = MEM_ALIGN_NEXT(size);
+  if ((size_t)(endmem - nextmem) < size)
+    return NULL;
+  endmem -= size;
+  return endmem;
+}
+
+void *chCoreUnreserve(size_t size) {
+  void *p;
+
+  chSysLock();
+  p = chCoreUnreserveI(size);
+  chSysUnlock();
+  return p;
+}
+
+void *chCoreUnreserveI(size_t size) {
+
+  chDbgCheckClassI();
+
+  size = MEM_ALIGN_NEXT(size);
+  if ((size_t)(realendmem - endmem) < size)
+    return NULL;
+  endmem += size;
+  return endmem;
+}
+
+#endif /* CH_USE_MEMCORE */
+
+/** @} */

chmemcore.h

@@ -0,0 +1,92 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+                 2011,2012,2013 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT 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/RT 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/>.
+*/
+
+/**
+ * @file    chmemcore.h
+ * @brief   Core memory manager macros and structures.
+ *
+ * @addtogroup memcore
+ * @{
+ */
+
+#ifndef _CHMEMCORE_H_
+#define _CHMEMCORE_H_
+
+/**
+ * @brief   Memory get function.
+ * @note    This type must be assignment compatible with the @p chMemAlloc()
+ *          function.
+ */
+typedef void *(*memgetfunc_t)(size_t size);
+
+/**
+ * @name    Alignment support macros
+ */
+/**
+ * @brief   Alignment size constant.
+ */
+#define MEM_ALIGN_SIZE      sizeof(stkalign_t)
+
+/**
+ * @brief   Alignment mask constant.
+ */
+#define MEM_ALIGN_MASK      (MEM_ALIGN_SIZE - 1)
+
+/**
+ * @brief   Alignment helper macro.
+ */
+#define MEM_ALIGN_PREV(p)   ((size_t)(p) & ~MEM_ALIGN_MASK)
+
+/**
+ * @brief   Alignment helper macro.
+ */
+#define MEM_ALIGN_NEXT(p)   MEM_ALIGN_PREV((size_t)(p) + MEM_ALIGN_MASK)
+
+/**
+ * @brief   Returns whatever a pointer or memory size is aligned to
+ *          the type @p align_t.
+ */
+#define MEM_IS_ALIGNED(p)   (((size_t)(p) & MEM_ALIGN_MASK) == 0)
+/** @} */
+
+#if CH_USE_MEMCORE || defined(__DOXYGEN__)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void _core_init(void);
+  void *chCoreAlloc(size_t size);
+  void *chCoreAllocI(size_t size);
+  size_t chCoreStatus(void);
+
+  void *chCoreReserve(size_t size);
+  void *chCoreReserveI(size_t size);
+  void *chCoreUnreserve(size_t size);
+  void *chCoreUnreserveI(size_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CH_USE_MEMCORE */
+
+#endif /* _CHMEMCORE_H_ */
+
+/** @} */

main.cpp

@@ -11,7 +11,7 @@
 #include <r2p/Mutex.hpp>
 #include <r2p/NamingTraits.hpp>
 #include <r2p/Bootloader.hpp>
-#include "DebugTransport.hpp"
+#include "r2p/transport/DebugTransport.hpp"
 
 #include <cstdio>
 #include <cstdlib>