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author | Julian Oes <julian@oes.ch> | 2013-07-08 10:31:32 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-07-08 10:31:32 +0200 |
commit | 88389ea2554c6f56a4fdd86cdd86a1e7b6affc21 (patch) | |
tree | 3ef98ded43e5f3a2cdc30a836a3a7329fe5757bb /nuttx/mm/mm_granalloc.c | |
parent | 76346bfe19c816491a6982abfa10f48cd9d258f6 (diff) | |
parent | cf2dbdf9a1ae06c7d0e0a7963916a3709a1bc075 (diff) | |
download | px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.tar.gz px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.tar.bz2 px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.zip |
Merge branch 'master' into new_state_machine
compiling again
Conflicts:
src/modules/fixedwing_att_control/fixedwing_att_control_att.c
src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
src/modules/mavlink/orb_listener.c
src/modules/multirotor_att_control/multirotor_attitude_control.c
src/modules/multirotor_att_control/multirotor_rate_control.c
src/modules/systemlib/pid/pid.c
src/modules/systemlib/pid/pid.h
src/modules/uORB/objects_common.cpp
Diffstat (limited to 'nuttx/mm/mm_granalloc.c')
-rw-r--r-- | nuttx/mm/mm_granalloc.c | 358 |
1 files changed, 0 insertions, 358 deletions
diff --git a/nuttx/mm/mm_granalloc.c b/nuttx/mm/mm_granalloc.c deleted file mode 100644 index e95709b31..000000000 --- a/nuttx/mm/mm_granalloc.c +++ /dev/null @@ -1,358 +0,0 @@ -/**************************************************************************** - * mm/mm_granalloc.c - * - * Copyright (C) 2012 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <gnutt@nuttx.org> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include <nuttx/config.h> - -#include <assert.h> - -#include <nuttx/gran.h> - -#include "mm_gran.h" - -#ifdef CONFIG_GRAN - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Name: gran_common_alloc - * - * Description: - * Allocate memory from the granule heap. - * - * Input Parameters: - * priv - The granule heap state structure. - * alloc - The adress of the allocation. - * ngranules - The number of granules allocated - * - * Returned Value: - * None - * - ****************************************************************************/ - -static inline void gran_mark_allocated(FAR struct gran_s *priv, - uintptr_t alloc, - unsigned int ngranules) -{ - unsigned int granno; - unsigned int gatidx; - unsigned int gatbit; - unsigned int avail; - uint32_t gatmask; - - /* Determine the granule number of the allocation */ - - granno = (alloc - priv->heapstart) >> priv->log2gran; - - /* Determine the GAT table index associated with the allocation */ - - gatidx = granno >> 5; - gatbit = granno & 31; - - /* Mark bits in the GAT entry or entries */ - - avail = 32 - gatbit; - if (ngranules > avail) - { - /* Mark bits in the first GAT entry */ - - gatmask =0xffffffff << gatbit; - DEBUGASSERT((priv->gat[gatidx] & gatmask) == 0); - - priv->gat[gatidx] |= gatmask; - ngranules -= avail; - - /* Mark bits in the second GAT entry */ - - gatmask = 0xffffffff >> (32 - ngranules); - DEBUGASSERT((priv->gat[gatidx+1] & gatmask) == 0); - - priv->gat[gatidx+1] |= gatmask; - } - - /* Handle the case where where all of the granules come from one entry */ - - else - { - /* Mark bits in a single GAT entry */ - - gatmask = 0xffffffff >> (32 - ngranules); - gatmask <<= gatbit; - DEBUGASSERT((priv->gat[gatidx] & gatmask) == 0); - - priv->gat[gatidx] |= gatmask; - return; - } - -} - -/**************************************************************************** - * Name: gran_common_alloc - * - * Description: - * Allocate memory from the granule heap. - * - * Input Parameters: - * priv - The granule heap state structure. - * size - The size of the memory region to allocate. - * - * Returned Value: - * On success, a non-NULL pointer to the allocated memory is returned. - * - ****************************************************************************/ - -static inline FAR void *gran_common_alloc(FAR struct gran_s *priv, size_t size) -{ - unsigned int ngranules; - size_t tmpmask; - uintptr_t alloc; - uint32_t curr; - uint32_t next; - uint32_t mask; - int granidx; - int gatidx; - int bitidx; - int shift; - - DEBUGASSERT(priv && size <= 32 * (1 << priv->log2gran)); - - if (priv && size > 0) - { - /* Get exclusive access to the GAT */ - - gran_enter_critical(priv); - - /* How many contiguous granules we we need to find? */ - - tmpmask = (1 << priv->log2gran) - 1; - ngranules = (size + tmpmask) >> priv->log2gran; - - /* Then create mask for that number of granules */ - - DEBUGASSERT(ngranules <= 32); - mask = 0xffffffff >> (32 - ngranules); - - /* Now search the granule allocation table for that number of contiguous */ - - alloc = priv->heapstart; - - for (granidx = 0; granidx < priv->ngranules; granidx += 32) - { - /* Get the GAT index associated with the granule table entry */ - - gatidx = granidx >> 5; - curr = priv->gat[gatidx]; - - /* Handle the case where there are no free granules in the entry */ - - if (curr == 0xffffffff) - { - alloc += (32 << priv->log2gran); - continue; - } - - /* Get the next entry from the GAT to support a 64 bit shift */ - - if (granidx < priv->ngranules) - { - next = priv->gat[gatidx + 1]; - } - - /* Use all ones when are at the last entry in the GAT (meaning - * nothing can be allocated. - */ - - else - { - next = 0xffffffff; - } - - /* Search through the allocations in the 'curr' GAT entry - * to see if we can satisfy the allocation starting in that - * entry. - * - * This loop continues until either all of the bits have been - * examined (bitidx >= 32), or until there are insufficient - * granules left to satisfy the allocation. - */ - - for (bitidx = 0; - bitidx < 32 && (granidx + bitidx + ngranules) <= priv->ngranules; - ) - { - /* Break out if there are no further free bits in 'curr'. - * All of the zero bits might have gotten shifted out. - */ - - if (curr == 0xffffffff) - { - break; - } - - /* Check for the first zero bit in the lower or upper 16-bits. - * From the test above, we know that at least one of the 32- - * bits in 'curr' is zero. - */ - - else if ((curr & 0x0000ffff) == 0x0000ffff) - { - /* Not in the lower 16 bits. The first free bit must be - * in the upper 16 bits. - */ - - shift = 16; - } - - /* We know that the first free bit is now within the lower 16 - * bits of 'curr'. Is it in the upper or lower byte? - */ - - else if ((curr & 0x0000ff) == 0x000000ff) - { - /* Not in the lower 8 bits. The first free bit must be in - * the upper 8 bits. - */ - - shift = 8; - } - - /* We know that the first free bit is now within the lower 4 - * bits of 'curr'. Is it in the upper or lower nibble? - */ - - else if ((curr & 0x00000f) == 0x0000000f) - { - /* Not in the lower 4 bits. The first free bit must be in - * the upper 4 bits. - */ - - shift = 4; - } - - /* We know that the first free bit is now within the lower 4 bits - * of 'curr'. Is it in the upper or lower pair? - */ - - else if ((curr & 0x000003) == 0x00000003) - { - /* Not in the lower 2 bits. The first free bit must be in - * the upper 2 bits. - */ - - shift = 2; - } - - /* We know that the first free bit is now within the lower 4 bits - * of 'curr'. Check if we have the allocation at this bit position. - */ - - else if ((curr & mask) == 0) - { - /* Yes.. mark these granules allocated */ - - gran_mark_allocated(priv, alloc, ngranules); - - /* And return the allocation address */ - - gran_leave_critical(priv); - return (FAR void *)alloc; - } - - /* The free allocation does not start at this position */ - - else - { - shift = 1; - } - - /* Set up for the next time through the loop. Perform a 64 - * bit shift to move to the next gram position andi ncrement - * to the next candidate allocation address. - */ - - alloc += (shift << priv->log2gran); - curr = (curr >> shift) | (next << (32 - shift)); - next >>= shift; - bitidx += shift; - } - } - } - - gran_leave_critical(priv); - return NULL; -} - -/**************************************************************************** - * Global Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: gran_alloc - * - * Description: - * Allocate memory from the granule heap. - * - * NOTE: The current implementation also restricts the maximum allocation - * size to 32 granules. That restriction could be eliminated with some - * additional coding effort. - * - * Input Parameters: - * handle - The handle previously returned by gran_initialize - * size - The size of the memory region to allocate. - * - * Returned Value: - * On success, either a non-NULL pointer to the allocated memory (if - * CONFIG_GRAN_SINGLE) or zero (if !CONFIG_GRAN_SINGLE) is returned. - * - ****************************************************************************/ - -#ifdef CONFIG_GRAN_SINGLE -FAR void *gran_alloc(size_t size) -{ - return gran_common_alloc(g_graninfo, size); -} -#else -FAR void *gran_alloc(GRAN_HANDLE handle, size_t size) -{ - return gran_common_alloc((FAR struct gran_s *)handle, size); -} -#endif - -#endif /* CONFIG_GRAN */ |