git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@412 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/ARM7-AT91SAM7X-GCC/chconf.h

@@ -137,14 +137,26 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+//#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
 #define CH_USE_MEMPOOLS
 
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-#define CH_MEMPOOLS_PROVIDE_SBRK
-
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
 #define CH_FREQUENCY 1000

demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h

@@ -137,14 +137,26 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+//#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
 #define CH_USE_MEMPOOLS
 
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-#define CH_MEMPOOLS_PROVIDE_SBRK
-
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
 #define CH_FREQUENCY 1000

demos/ARM7-LPC214x-G++/chconf.h

@@ -137,14 +137,26 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
 #define CH_USE_MEMPOOLS
 
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-#define CH_MEMPOOLS_PROVIDE_SBRK
-
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
 #define CH_FREQUENCY 1000

demos/ARM7-LPC214x-GCC-minimal/chconf.h

@@ -137,14 +137,26 @@
  *  are included in the kernel.*/
 //#define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+//#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+//#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
 //#define CH_USE_MEMPOOLS
 
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-//#define CH_MEMPOOLS_PROVIDE_SBRK
-
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
 #define CH_FREQUENCY 1000

demos/ARM7-LPC214x-GCC/chconf.h

@@ -137,14 +137,26 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+//#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
 #define CH_USE_MEMPOOLS
 
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-#define CH_MEMPOOLS_PROVIDE_SBRK
-
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
 #define CH_FREQUENCY 1000

demos/ARMCM3-STM32F103-GCC/chconf.h

@@ -137,14 +137,26 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+//#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
 #define CH_USE_MEMPOOLS
 
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-#define CH_MEMPOOLS_PROVIDE_SBRK
-
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
 #define CH_FREQUENCY 1000

demos/AVR-AT90CANx-GCC/chconf.h

@@ -137,13 +137,25 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
-//#define CH_USE_MEMPOOLS
+#define CH_USE_MEMPOOLS
-
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-//#define CH_MEMPOOLS_PROVIDE_SBRK
 
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/

demos/AVR-ATmega128-GCC/chconf.h

@@ -137,13 +137,25 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
-//#define CH_USE_MEMPOOLS
+#define CH_USE_MEMPOOLS
-
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-//#define CH_MEMPOOLS_PROVIDE_SBRK
 
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/

demos/MSP430-MSP430x1611-GCC/chconf.h

@@ -138,13 +138,25 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
-//#define CH_USE_MEMPOOLS
+#define CH_USE_MEMPOOLS
-
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-//#define CH_MEMPOOLS_PROVIDE_SBRK
 
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/

demos/Win32-MinGW/chconf.h

@@ -142,14 +142,26 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 16384
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+//#define CH_USE_MALLOC_HEAP
+
 /** Configuration option: if specified then the memory pools allocator APIs
  *  are included in the kernel.*/
 #define CH_USE_MEMPOOLS
 
-/** Configuration option: if specified then the memory pools allocator
-    provides an implementation of the sbrk() function.*/
-#define CH_MEMPOOLS_PROVIDE_SBRK
-
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
 #define CH_FREQUENCY 1000

readme.txt

@@ -75,15 +75,21 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 *****************************************************************************
 
 *** 0.7.0 ***
+- NEW: Memory Heap Allocator functionality added. The allocator implements a
+  first-fit strategy but there is an option that allow it to wrap the compiler
+  provided malloc() that may implement a different strategy. The heap
+  allocator is entirely thread-safe and can use both a mutex or a semaphores
+  as internal synchronization primitive.
 - NEW: Memory Pools functionality added, this mechanism allows constant-time
-  allocation/freeing of constant size objects. It can be used to dynamically
+  allocation/freeing of constant-size objects. It can be used to dynamically
-  allocate kernel objects like Semaphores, Mutexes, Threads etc, of course it
+  allocate kernel objects like Semaphores, Mutexes, Threads etc fully in real
-  is also possible to handle application-defined objects. The allocator is
+  time, of course it is also possible to manage application-defined objects.
-  thread-safe.
+  The pool allocator is entirely thread-safe.
-- NEW: Kernel-provided sbrk() function, it is used internally by the Memory
+  It is worth remember that the kernel is still entirely static, it does not
-  Pools but can also be used by the C runtime. There is also an option to
+  use the allocation services internally, it is up to the application code
-  meke the Memory Pools use an user-provided sbrk() function.
+  to use the allocators in order to use dynamic system objects.
-- Added a Memory Pools test case to the test suite.
+  Both the allocators can be disabled and removed from the memory image.
+- Added new test cases to the test suite.
 
 *** 0.6.10 ***
 - FIX: Fixed a case-sensitiveness error in lpc214x_ssp.c, it affected only

src/chheap.c

@@ -0,0 +1,231 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 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/>.
+*/
+
+/**
+ * @addtogroup Memory
+ * @{
+ */
+
+#include <ch.h>
+
+#ifdef CH_USE_HEAP
+
+#ifndef CH_USE_MALLOC_HEAP
+
+#define MAGIC 0xF5A0
+#define ALIGN_TYPE      void *
+#define ALIGN_MASK      (sizeof(ALIGN_TYPE) - 1)
+#define ALIGN_SIZE(p)   (((size_t)(p) + ALIGN_MASK) & ~ALIGN_MASK)
+
+struct header {
+  union {
+    struct header       *h_next;
+    size_t              h_magic;
+  };
+  size_t                h_size;
+};
+
+static struct {
+  struct header         free;   /* Guaranteed to be not adjacent to the heap */
+#if defined(CH_USE_MUTEXES)
+#define H_LOCK()        chMtxLock(&heap.hmtx)
+#define H_UNLOCK()      chMtxLock(&heap.hmtx)
+  Mutex                 hmtx;
+#elif defined(CH_USE_SEMAPHORES)
+#define H_LOCK()        chSemWait(&heap.hsem)
+#define H_UNLOCK()      chMtxSignal(&heap.hsem)
+  Semaphore             hsem;
+#else
+#error "The heap allocator requires mutexes or semaphores to be enabled"
+#endif
+#if CH_HEAP_SIZE > 0
+  union {
+    ALIGN_TYPE          alignment;
+    char                buffer[ALIGN_SIZE(CH_HEAP_SIZE)];
+  };
+#endif
+} heap;
+
+/**
+ * Initializes the allocator subsystem.
+ * @note It is internally invoked, this function should not normally be
+ *       invoked from the user code.
+ */
+void chHeapInit(void) {
+  struct header *hp;
+
+#if CH_HEAP_SIZE == 0
+  extern char __heap_base__;
+  extern char __heap_end__;
+
+  hp = (void *)&__heap_base__;
+  hp->h_size = &__heap_end__ - &__heap_base__ - sizeof(struct header);
+#else
+  hp = (void *)&heap;
+  hp->h_size = (&heap.buffer[ALIGN_SIZE(CH_HEAP_SIZE)] - &heap.buffer[0]) -
+               sizeof(struct header);
+#endif
+  hp->h_next = NULL;
+  heap.free.h_next = hp;
+  heap.free.h_size = 0;
+#if defined(CH_USE_MUTEXES)
+  chMtxInit(&heap.hmtx);
+#else
+  chSemInit(&heap.hsem, 1);
+#endif
+}
+
+/**
+ * Allocates a block of memory from the heap by using the first-fit algorithm.
+ * The allocated block is guaranteed to be properly aligned for a pointer data
+ * type.
+ * @param size the size of the block to be allocated. Note that the allocated
+ *             block may be a bit bigger than the requested size for alignment
+ *             and fragmentation reasons.
+ * @return a pointer to the allocated block or \p NULL if the block cannot be
+ *         allocated.
+ */
+void *chHeapAlloc(size_t size) {
+  struct header *qp, *hp, *fp;
+
+  size = ALIGN_SIZE(size);
+  qp = &heap.free;
+  H_LOCK();
+
+  while (qp->h_next != NULL) {
+    hp = qp->h_next;
+    if (hp->h_size >= size) {
+      if (hp->h_size < size + sizeof(struct header)) {
+        /* Gets the whole block even if it is slightly bigger than the
+           requested size because the fragment would be too small to be
+           useful */
+        qp->h_next = hp->h_next;
+      }
+      else {
+        /* Block bigger enough, must split it */
+        fp = (void *)((char *)(hp) + sizeof(struct header) + size);
+        fp->h_next = qp->h_next;
+        fp->h_size = hp->h_size - sizeof(struct header) - size;
+        qp->h_next = fp;
+        hp->h_size = size;
+      }
+      hp->h_magic = MAGIC;
+
+      H_UNLOCK();
+      return (void *)(hp + 1);
+    }
+    qp = hp;
+  }
+
+  H_UNLOCK();
+  return NULL;
+}
+
+#define LIMIT(p) (struct header *)((char *)(p) + (p)->h_size)
+
+/**
+ * Frees a previously allocated memory block.
+ * @param p the memory block pointer
+ */
+void chHeapFree(void *p) {
+  struct header *qp, *hp;
+
+  hp = (struct header *)p - 1;
+
+  chDbgAssert(hp->h_magig == MAGIC, "chheap.c, chHeapFree() #1");
+
+  qp = &heap.free;
+  H_LOCK();
+
+  while (TRUE) {
+
+    chDbgAssert((hp < qp) && (hp >= LIMIT(qp)), "chheap.c, chHeapFree() #2");
+
+    if (((qp == &heap.free) || (hp > qp)) &&
+        ((qp->h_next == NULL) || (hp < qp->h_next))) {
+      /* Insertion after qp */
+      hp->h_next = qp->h_next;
+      qp->h_next = hp;
+      /* Verifies if the newly inserted block should be merged */
+      if (LIMIT(hp) == hp->h_next) {
+        /* Merge with the next block */
+        hp->h_size += hp->h_next->h_size + sizeof(struct header);
+        hp->h_next = hp->h_next->h_next;
+      }
+      if ((LIMIT(qp) == hp)) {          /* Cannot happen when qp == &heap.free */
+        /* Merge with the previous block */
+        qp->h_size += hp->h_size + sizeof(struct header);
+        qp->h_next = hp->h_next;
+      }
+
+      H_UNLOCK();
+      return;
+    }
+    qp = qp->h_next;
+  }
+}
+
+#else /* CH_USE_MALLOC_HEAP */
+
+#include <stdlib.h>
+
+#if defined(CH_USE_MUTEXES)
+#define H_LOCK()        chMtxLock(&hmtx)
+#define H_UNLOCK()      chMtxLock(&hmtx)
+static Mutex            hmtx;
+#elif defined(CH_USE_SEMAPHORES)
+#define H_LOCK()        chSemWait(&hsem)
+#define H_UNLOCK()      chMtxSignal(&hsem)
+static Semaphore        hsem;
+#else
+#error "The heap allocator requires mutexes or semaphores to be enabled"
+#endif
+
+void chHeapInit(void) {
+
+#if defined(CH_USE_MUTEXES)
+  chMtxInit(&hmtx);
+#else
+  chSemInit(&hsem, 1);
+#endif
+}
+
+void *chHeapAlloc(size_t size) {
+  void *p;
+
+  H_LOCK();
+
+  p = malloc(size);
+
+  H_UNLOCK();
+  return p;
+}
+
+void chHeapFree(void *p) {
+
+  H_LOCK();
+
+  free(p);
+
+  H_UNLOCK();
+}
+
+#endif /* CH_USE_MALLOC_HEAP */
+
+#endif /* CH_USE_HEAP */

src/chmempools.c

@@ -26,29 +26,6 @@
 
 #ifdef CH_USE_MEMPOOLS
 
-#ifndef CH_MEMPOOLS_PROVIDE_SBRK
-#include <unistd.h>
-#else
-/*
- * Optional internal sbrk() implementation, this code requires the linker to
- * provide two symbols: __heap_base__ and __heap_end__ that are the boundaries
- * of the free RAM space.
- */
-extern char __heap_base__;
-extern char __heap_end__;
-static char *current = &__heap_base__;
-
-void *sbrk(ptrdiff_t increment) {
-  char *cp;
-
-  if (current + increment >= &__heap_end__)
-    return (void *)-1;
-  cp = current;
-  current += increment;
-  return cp;
-}
-#endif /* CH_MEMPOOLS_PROVIDE_SBRK */
-
 /**
  * Initializes a memory pool.
  * @param mp pointer to a \p MemoryPool structure
@@ -67,7 +44,7 @@ void chPoolInit(MemoryPool *mp, size_t size) {
  * Allocates an object from a memory pool.
  * @param mp pointer to a \p MemoryPool structure
  * @param allow_growth if \p TRUE then the object is allocated by using
- *                     \p sbrk() in case the memory pool is empty
+ *                     \p chHeapAlloc() in case the memory pool is empty
  * @return the pointer to the allocated object or \p NULL if the memory is
  *         exhausted
  */
@@ -79,13 +56,13 @@ void *chPoolAlloc(MemoryPool *mp, bool_t allow_growth) {
   chSysLock();
 
   if (mp->mp_next == NULL) {
+#ifdef CH_USE_HEAP
     if (allow_growth) {
-      p = sbrk(mp->mp_object_size);
 
       chSysUnlock();
-      if (p != (void *)-1)
+      return chHeapAlloc(mp->mp_object_size);
-        return p;
     }
+#endif /* CH_USE_HEAP */
     return NULL;
   }
   p = mp->mp_next;
@@ -96,7 +73,7 @@ void *chPoolAlloc(MemoryPool *mp, bool_t allow_growth) {
 }
 
 /**
- * Releases (or adds) an object to a memory pool.
+ * Releases (or adds) an object into a memory pool.
  * @param mp pointer to a \p MemoryPool structure
  * @param objp the pointer to the object to be released or added
  * @note the object is assumed to be of the right size for the specified
@@ -116,6 +93,21 @@ void chPoolFree(MemoryPool *mp, void *objp) {
   chSysUnlock();
 }
 
+#ifdef CH_USE_HEAP
+/**
+ * Releases all the objects contained into a pool.
+ * @param mp pointer to a \p MemoryPool structure
+ * @note It is assumed that all the object are allocated using the heap
+ *       allocator, do not use this function if the pool contains other kind
+ *       of objects.
+ */
+void chPoolRelease(MemoryPool *mp) {
+
+  while (mp->mp_next)
+    chHeapFree(mp->mp_next);
+}
+#endif
+
 #endif /* CH_USE_MEMPOOLS */
 
 /** @} */

src/include/ch.h

@@ -42,6 +42,7 @@
 #include "sleep.h"
 #include "queues.h"
 #include "serial.h"
+#include "heap.h"
 #include "mempools.h"
 #include "debug.h"
 

src/include/heap.h

@@ -0,0 +1,40 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 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/>.
+*/
+
+/**
+ * @addtogroup Heap
+ * @{
+ */
+
+#ifndef _HEAP_H_
+#define _HEAP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void chHeapInit(void);
+  void *chHeapAlloc(size_t size);
+  void chHeapFree(void *p);
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* _HEAP_H_ */
+
+/** @} */

src/include/mempools.h

@@ -42,6 +42,9 @@ extern "C" {
   void chPoolInit(MemoryPool *mp, size_t size);
   void *chPoolAlloc(MemoryPool *mp, bool_t grow);
   void chPoolFree(MemoryPool *mp, void *objp);
+#ifdef CH_USE_HEAP
+  void chPoolRelease(MemoryPool *mp);
+#endif
 #ifdef __cplusplus
 }
 #endif

src/kernel.mk

@@ -6,4 +6,5 @@ KERNSRC = ../../src/chinit.c   ../../src/chdebug.c \
           ../../src/chsem.c    ../../src/chmtx.c \
           ../../src/chevents.c ../../src/chmsg.c \
           ../../src/chsleep.c  ../../src/chqueues.c \
-          ../../src/chserial.c ../../src/chmempools.c
+          ../../src/chserial.c ../../src/chheap.c \
+          ../../src/chmempools.c

src/templates/chconf.h

@@ -138,6 +138,26 @@
  *  are included in the kernel.*/
 #define CH_USE_SERIAL_HALFDUPLEX
 
+/** Configuration option: if specified then the memory heap allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_HEAP
+
+/** Configuration option: Number of RAM bytes to use as system heap. If set to
+ *  zero then the whole available RAM is used as system heap.
+ * @note In order to use the whole RAM as system heap the linker script must
+ *       provide the \p __heap_base__ and \p __heap_end__ symbols.
+ * @note requires \p CH_USE_HEAP.
+ */
+#define CH_HEAP_SIZE 0
+
+/** Configuration option: enforces the use of the C-runtime \p malloc() and
+ *  \p free() functions as backend for the system heap allocator.*/
+//#define CH_USE_MALLOC_HEAP
+
+/** Configuration option: if specified then the memory pools allocator APIs
+ *  are included in the kernel.*/
+#define CH_USE_MEMPOOLS
+
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
 #define CH_FREQUENCY 1000