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Tidy AP_DAL memory allocation and freeing #27962

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merged 3 commits into from
Sep 3, 2024
Merged

Tidy AP_DAL memory allocation and freeing #27962

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2c89c43
AP_DAL: use enum class for DAL MemoryType
peterbarker Aug 30, 2024
e7aa549
AP_NavEKF2: use enum class for DAL MemoryType
peterbarker Aug 30, 2024
2d9eb94
AP_NavEKF3: use enum class for DAL MemoryType
peterbarker Aug 30, 2024
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6 changes: 5 additions & 1 deletion libraries/AP_DAL/AP_DAL.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -272,10 +272,14 @@ int AP_DAL::snprintf(char* str, size_t size, const char *format, ...) const
return res;
}

void *AP_DAL::malloc_type(size_t size, Memory_Type mem_type) const
void *AP_DAL::malloc_type(size_t size, MemoryType mem_type) const
{
return hal.util->malloc_type(size, AP_HAL::Util::Memory_Type(mem_type));
}
void AP_DAL::free_type(void *ptr, size_t size, MemoryType mem_type) const
{
return hal.util->free_type(ptr, size, AP_HAL::Util::Memory_Type(mem_type));
}

// map core number for replay
uint8_t AP_DAL::logging_core(uint8_t c) const
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9 changes: 5 additions & 4 deletions libraries/AP_DAL/AP_DAL.h
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Expand Up @@ -121,11 +121,12 @@ class AP_DAL {
int snprintf(char* str, size_t size, const char *format, ...) const;

// copied in AP_HAL/Util.h
enum Memory_Type {
MEM_DMA_SAFE,
MEM_FAST
enum class MemoryType : uint8_t {
DMA_SAFE = 0,
FAST = 1,
};
void *malloc_type(size_t size, enum Memory_Type mem_type) const;
void *malloc_type(size_t size, MemoryType mem_type) const;
void free_type(void *ptr, size_t size, MemoryType memtype) const;

AP_DAL_InertialSensor &ins() { return _ins; }
AP_DAL_Baro &baro() { return _baro; }
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4 changes: 2 additions & 2 deletions libraries/AP_NavEKF2/AP_NavEKF2.cpp
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Expand Up @@ -675,7 +675,7 @@ bool NavEKF2::InitialiseFilter(void)
}

// try to allocate from CCM RAM, fallback to Normal RAM if not available or full
core = (NavEKF2_core*)AP::dal().malloc_type(sizeof(NavEKF2_core)*num_cores, AP_DAL::MEM_FAST);
core = (NavEKF2_core*)AP::dal().malloc_type(sizeof(NavEKF2_core)*num_cores, AP_DAL::MemoryType::FAST);
if (core == nullptr) {
initFailure = InitFailures::NO_MEM;
core_malloc_failed = true;
Expand All @@ -695,7 +695,7 @@ bool NavEKF2::InitialiseFilter(void)
if (_imuMask & (1U<<i)) {
if(!core[num_cores].setup_core(i, num_cores)) {
// if any core setup fails, free memory, zero the core pointer and abort
hal.util->free_type(core, sizeof(NavEKF2_core)*num_cores, AP_HAL::Util::MEM_FAST);
AP::dal().free_type(core, sizeof(NavEKF2_core)*num_cores, AP_DAL::MemoryType::FAST);
core = nullptr;
initFailure = InitFailures::NO_SETUP;
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "NavEKF2: core %d setup failed", num_cores);
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2 changes: 1 addition & 1 deletion libraries/AP_NavEKF3/AP_NavEKF3.cpp
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Expand Up @@ -816,7 +816,7 @@ bool NavEKF3::InitialiseFilter(void)
}

//try to allocate from CCM RAM, fallback to Normal RAM if not available or full
core = (NavEKF3_core*)dal.malloc_type(sizeof(NavEKF3_core)*num_cores, dal.MEM_FAST);
core = (NavEKF3_core*)dal.malloc_type(sizeof(NavEKF3_core)*num_cores, AP_DAL::MemoryType::FAST);
if (core == nullptr) {
_enable.set(0);
num_cores = 0;
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