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Allow configuration of heap size for o1heap #63

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merged 5 commits into from
Jan 2, 2021
Merged

Allow configuration of heap size for o1heap #63

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61f33d5
Changing ArduinoO1Heap into a template class with a template paramete…
aentinger Jan 2, 2021
03f56e1
Removing unnecessary compilation of ArduinoO1Heap.cpp since this file…
aentinger Jan 2, 2021
b2d2955
Deleting ArduinoO1Heap.h/.cpp as they are replaced by hpp/ipp.
aentinger Jan 2, 2021
540921d
Configuration of required o1heap size for libcanard can now take plac…
aentinger Jan 2, 2021
377c04f
Providing typedef to save typing of 'ArduinoO1Heap<LIBCANARD_O1HEAP_S…
aentinger Jan 2, 2021
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1 change: 0 additions & 1 deletion extras/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,6 @@ set(TEST_SRCS
../../src/types/uavcan/node/ExecuteCommand.1.0.Response.cpp
../../src/types/uavcan/node/Heartbeat.1.0.cpp
../../src/utility/CritSec-host.cpp
../../src/ArduinoO1Heap.cpp
../../src/ArduinoUAVCAN.cpp
)

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15 changes: 10 additions & 5 deletions src/ArduinoO1Heap.h → src/ArduinoO1Heap.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@
* Contributors: https://github.com/107-systems/107-Arduino-UAVCAN/graphs/contributors.
*/

#ifndef ARDUINO_O1_HEAP_H_
#define ARDUINO_O1_HEAP_H_
#ifndef ARDUINO_O1_HEAP_HPP_
#define ARDUINO_O1_HEAP_HPP_

/**************************************************************************************
* INCLUDE
Expand All @@ -18,6 +18,7 @@
* CLASS DECLARATION
**************************************************************************************/

template <size_t HEAP_SIZE>
class ArduinoO1Heap
{
public:
Expand All @@ -31,11 +32,15 @@ class ArduinoO1Heap

private:

static size_t constexpr HEAP_SIZE = 4096;

uint8_t _base[HEAP_SIZE] __attribute__ ((aligned (O1HEAP_ALIGNMENT)));
O1HeapInstance * _o1heap_ins;

};

#endif /* ARDUINO_O1_HEAP_H_ */
/**************************************************************************************
* TEMPLATE SOURCE
**************************************************************************************/

#include "ArduinoO1Heap.ipp"

#endif /* ARDUINO_O1_HEAP_HPP_ */
15 changes: 6 additions & 9 deletions src/ArduinoO1Heap.cpp → src/ArduinoO1Heap.ipp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,17 +5,12 @@
* Contributors: https://github.com/107-systems/107-Arduino-UAVCAN/graphs/contributors.
*/

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include "ArduinoO1Heap.h"

/**************************************************************************************
* CTOR/DTOR
**************************************************************************************/

ArduinoO1Heap::ArduinoO1Heap()
template <size_t HEAP_SIZE>
ArduinoO1Heap<HEAP_SIZE>::ArduinoO1Heap()
: _o1heap_ins{o1heapInit(_base, HEAP_SIZE, nullptr, nullptr)}
{

Expand All @@ -25,12 +20,14 @@ ArduinoO1Heap::ArduinoO1Heap()
* PUBLIC MEMBER FUNCTIONS
**************************************************************************************/

void * ArduinoO1Heap::allocate(size_t const amount)
template <size_t HEAP_SIZE>
void * ArduinoO1Heap<HEAP_SIZE>::allocate(size_t const amount)
{
return o1heapAllocate(_o1heap_ins, amount);
}

void ArduinoO1Heap::free(void * const pointer)
template <size_t HEAP_SIZE>
void ArduinoO1Heap<HEAP_SIZE>::free(void * const pointer)
{
o1heapFree(_o1heap_ins, pointer);
}
4 changes: 2 additions & 2 deletions src/ArduinoUAVCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,13 +85,13 @@ bool ArduinoUAVCAN::transmitCanFrame()

void * ArduinoUAVCAN::o1heap_allocate(CanardInstance * const ins, size_t const amount)
{
ArduinoO1Heap * o1heap = reinterpret_cast<ArduinoO1Heap *>(ins->user_reference);
O1HeapLibcanard * o1heap = reinterpret_cast<O1HeapLibcanard*>(ins->user_reference);
return o1heap->allocate(amount);
}

void ArduinoUAVCAN::o1heap_free(CanardInstance * const ins, void * const pointer)
{
ArduinoO1Heap * o1heap = reinterpret_cast<ArduinoO1Heap *>(ins->user_reference);
O1HeapLibcanard * o1heap = reinterpret_cast<O1HeapLibcanard*>(ins->user_reference);
o1heap->free(pointer);
}

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7 changes: 5 additions & 2 deletions src/ArduinoUAVCAN.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
#include <memory>
#include <functional>

#include "ArduinoO1Heap.h"
#include "ArduinoO1Heap.hpp"
#include "ArduinoUAVCANTypes.h"

#include "libcanard/canard.h"
Expand Down Expand Up @@ -71,13 +71,16 @@ class ArduinoUAVCAN

private:

static size_t constexpr LIBCANARD_O1HEAP_SIZE = 4096;
typedef ArduinoO1Heap<LIBCANARD_O1HEAP_SIZE> O1HeapLibcanard;

typedef struct
{
CanardRxSubscription canard_rx_sub;
OnTransferReceivedFunc transfer_complete_callback;
} RxTransferData;

ArduinoO1Heap _o1heap;
O1HeapLibcanard _o1heap;
CanardInstance _canard_ins;
CanFrameTransmitFunc _transmit_func;
std::map<CanardPortID, RxTransferData> _rx_transfer_map;
Expand Down