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60 lines
1.5 KiB
60 lines
1.5 KiB
/* |
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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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/* |
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based on dynamic_memory.hpp which is: |
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Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com> |
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*/ |
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#pragma once |
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#include "AP_UAVCAN.h" |
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#ifndef UAVCAN_NODE_POOL_BLOCK_SIZE |
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#if HAL_CANFD_SUPPORTED |
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#define UAVCAN_NODE_POOL_BLOCK_SIZE 128 |
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#else |
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#define UAVCAN_NODE_POOL_BLOCK_SIZE 64 |
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#endif |
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#endif |
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class AP_PoolAllocator : public uavcan::IPoolAllocator |
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{ |
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public: |
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AP_PoolAllocator(uint16_t _pool_size); |
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bool init(void); |
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void *allocate(std::size_t size) override; |
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void deallocate(const void* ptr) override; |
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uint16_t getBlockCapacity() const override { |
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return num_blocks; |
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} |
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private: |
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const uint16_t num_blocks; |
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union Node { |
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uint8_t data[UAVCAN_NODE_POOL_BLOCK_SIZE]; |
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Node* next; |
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}; |
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Node *free_list; |
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Node *pool_nodes; |
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HAL_Semaphore sem; |
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uint16_t used; |
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uint16_t max_used; |
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};
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