FreeRTOS到内存管理机制

最新推荐文章于 2024-08-11 17:11:54 发布
最新推荐文章于 2024-08-11 17:11:54 发布
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分类专栏： 笔记 文章标签： FreeRTOS
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本文链接：https://blog.csdn.net/moge19/article/details/90170971
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1、heap_1
动态内存管理一旦申请相应内存后，是不允许释放的。

void *pvPortMalloc( size_t xWantedSize )
{
void *pvReturn = NULL;
static uint8_t *pucAlignedHeap = NULL;

	/* Ensure that blocks are always aligned to the required number of bytes. */
	#if( portBYTE_ALIGNMENT != 1 )
	{
		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
		{
			/* Byte alignment required. */
			xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
		}
	}
	#endif

	vTaskSuspendAll();
	{
		if( pucAlignedHeap == NULL )
		{
			/* Ensure the heap starts on a correctly aligned boundary. */
			pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
		}

		/* Check there is enough room left for the allocation. */
		if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
		{
			/* Return the next free byte then increment the index past this
			block. */
			pvReturn = pucAlignedHeap + xNextFreeByte;
			xNextFreeByte += xWantedSize;
		}

		traceMALLOC( pvReturn, xWantedSize );
	}
	( void ) xTaskResumeAll();

	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
	{
		if( pvReturn == NULL )
		{
			extern void vApplicationMallocFailedHook( void );
			vApplicationMallocFailedHook();
		}
	}
	#endif

	return pvReturn;
}
/*-----------------------------------------------------------*/

void vPortFree( void *pv )
{
	/* Memory cannot be freed using this scheme.  See heap_2.c, heap_3.c and
	heap_4.c for alternative implementations, and the memory management pages of
	http://www.FreeRTOS.org for more information. */
	( void ) pv;

	/* Force an assert as it is invalid to call this function. */
	configASSERT( pv == NULL );
}
/*-----------------------------------------------------------*/

2、heap_2
利用最适应算法，支持内存释放。

void *pvPortMalloc( size_t xWantedSize )
{
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
static BaseType_t xHeapHasBeenInitialised = pdFALSE;
void *pvReturn = NULL;

	vTaskSuspendAll();
	{
		/* If this is the first call to malloc then the heap will require
		initialisation to setup the list of free blocks. */
		if( xHeapHasBeenInitialised == pdFALSE )//�����һ�������ڴ棬��Ҫ��ʼ���ڴ��
		{
			prvHeapInit();
			xHeapHasBeenInitialised = pdTRUE;
		}

		/* The wanted size is increased so it can contain a BlockLink_t
		structure in addition to the requested amount of bytes. */
		//�ڴ��ֽڴ�С����
		if( xWantedSize > 0 )
		{
			xWantedSize += heapSTRUCT_SIZE;

			/* Ensure that blocks are always aligned to the required number of bytes. */
			if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0 )
			{
				/* Byte alignment required. */
				xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
			}
		}

		if( ( xWantedSize > 0 ) && ( xWantedSize < configADJUSTED_HEAP_SIZE ) )
		{
			/* Blocks are stored in byte order - traverse the list from the start
			(smallest) block until one of adequate size is found. */
			pxPreviousBlock = &xStart;
			pxBlock = xStart.pxNextFreeBlock;
			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
			{
				pxPreviousBlock = pxBlock;
				pxBlock = pxBlock->pxNextFreeBlock;
			}

			/* If we found the end marker then a block of adequate size was not found. */
			if( pxBlock != &xEnd )
			{
				/* Return the memory space - jumping over the BlockLink_t structure
				at its start. */
				pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );

				/* This block is being returned for use so must be taken out of the
				list of free blocks. */
				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;

				/* If the block is larger than required it can be split into two. */
				if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
				{
					/* This block is to be split into two.  Create a new block
					following the number of bytes requested. The void cast is
					used to prevent byte alignment warnings from the compiler. */
					pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );

					/* Calculate the sizes of two blocks split from the single
					block. */
					pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
					pxBlock->xBlockSize = xWantedSize;

					/* Insert the new block into the list of free blocks. */
					prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
				}

				xFreeBytesRemaining -= pxBlock->xBlockSize;
			}
		}

		traceMALLOC( pvReturn, xWantedSize );
	}
	( void ) xTaskResumeAll();

	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
	{
		if( pvReturn == NULL )
		{
			extern void vApplicationMallocFailedHook( void );
			vApplicationMallocFailedHook();
		}
	}
	#endif

	return pvReturn;
}
/*-----------------------------------------------------------*/

void vPortFree( void *pv )
{
uint8_t *puc = ( uint8_t * ) pv;
BlockLink_t *pxLink;

	if( pv != NULL )
	{
		/* The memory being freed will have an BlockLink_t structure immediately
		before it. */
		puc -= heapSTRUCT_SIZE;

		/* This unexpected casting is to keep some compilers from issuing
		byte alignment warnings. */
		pxLink = ( void * ) puc;

		vTaskSuspendAll();
		{
			/* Add this block to the list of free blocks. */
			prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
			xFreeBytesRemaining += pxLink->xBlockSize;
			traceFREE( pv, pxLink->xBlockSize );
		}
		( void ) xTaskResumeAll();
	}
}
/*-----------------------------------------------------------*/

3、heap_3
对编译器提供的malloc和free进行封装，保证任务安全。

void *pvPortMalloc( size_t xWantedSize )
{
void *pvReturn;

	vTaskSuspendAll();
	{
		pvReturn = malloc( xWantedSize );
		traceMALLOC( pvReturn, xWantedSize );
	}
	( void ) xTaskResumeAll();

	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
	{
		if( pvReturn == NULL )
		{
			extern void vApplicationMallocFailedHook( void );
			vApplicationMallocFailedHook();
		}
	}
	#endif

	return pvReturn;
}
/*-----------------------------------------------------------*/

void vPortFree( void *pv )
{
	if( pv )
	{
		vTaskSuspendAll();
		{
			free( pv );
			traceFREE( pv, 0 );
		}
		( void ) xTaskResumeAll();
	}
}

4、heap_4
利用最适应算法，支持内存-碎片回收

void *pvPortMalloc( size_t xWantedSize )
{
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
void *pvReturn = NULL;

	vTaskSuspendAll();
	{
		/* If this is the first call to malloc then the heap will require
		initialisation to setup the list of free blocks. */
		if( pxEnd == NULL )
		{
			prvHeapInit();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

		/* Check the requested block size is not so large that the top bit is
		set.  The top bit of the block size member of the BlockLink_t structure
		is used to determine who owns the block - the application or the
		kernel, so it must be free. */
		if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
		{
			/* The wanted size is increased so it can contain a BlockLink_t
			structure in addition to the requested amount of bytes. */
			if( xWantedSize > 0 )
			{
				xWantedSize += xHeapStructSize;

				/* Ensure that blocks are always aligned to the required number
				of bytes. */
				if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
				{
					/* Byte alignment required. */
					xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
					configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 );
				}
				else
				{
					mtCOVERAGE_TEST_MARKER();
				}
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}

			if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
			{
				/* Traverse the list from the start	(lowest address) block until
				one	of adequate size is found. */
				pxPreviousBlock = &xStart;
				pxBlock = xStart.pxNextFreeBlock;
				while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
				{
					pxPreviousBlock = pxBlock;
					pxBlock = pxBlock->pxNextFreeBlock;
				}

				/* If the end marker was reached then a block of adequate size
				was	not found. */
				if( pxBlock != pxEnd )
				{
					/* Return the memory space pointed to - jumping over the
					BlockLink_t structure at its start. */
					pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );

					/* This block is being returned for use so must be taken out
					of the list of free blocks. */
					pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;

					/* If the block is larger than required it can be split into
					two. */
					if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
					{
						/* This block is to be split into two.  Create a new
						block following the number of bytes requested. The void
						cast is used to prevent byte alignment warnings from the
						compiler. */
						pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
						configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 );

						/* Calculate the sizes of two blocks split from the
						single block. */
						pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
						pxBlock->xBlockSize = xWantedSize;

						/* Insert the new block into the list of free blocks. */
						prvInsertBlockIntoFreeList( pxNewBlockLink );
					}
					else
					{
						mtCOVERAGE_TEST_MARKER();
					}

					xFreeBytesRemaining -= pxBlock->xBlockSize;

					if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
					{
						xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
					}
					else
					{
						mtCOVERAGE_TEST_MARKER();
					}

					/* The block is being returned - it is allocated and owned
					by the application and has no "next" block. */
					pxBlock->xBlockSize |= xBlockAllocatedBit;
					pxBlock->pxNextFreeBlock = NULL;
				}
				else
				{
					mtCOVERAGE_TEST_MARKER();
				}
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

		traceMALLOC( pvReturn, xWantedSize );
	}
	( void ) xTaskResumeAll();

	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
	{
		if( pvReturn == NULL )
		{
			extern void vApplicationMallocFailedHook( void );
			vApplicationMallocFailedHook();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}
	#endif

	configASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) portBYTE_ALIGNMENT_MASK ) == 0 );
	return pvReturn;
}
/*-----------------------------------------------------------*/

void vPortFree( void *pv )
{
uint8_t *puc = ( uint8_t * ) pv;
BlockLink_t *pxLink;

	if( pv != NULL )
	{
		/* The memory being freed will have an BlockLink_t structure immediately
		before it. */
		puc -= xHeapStructSize;

		/* This casting is to keep the compiler from issuing warnings. */
		pxLink = ( void * ) puc;

		/* Check the block is actually allocated. */
		configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
		configASSERT( pxLink->pxNextFreeBlock == NULL );

		if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
		{
			if( pxLink->pxNextFreeBlock == NULL )
			{
				/* The block is being returned to the heap - it is no longer
				allocated. */
				pxLink->xBlockSize &= ~xBlockAllocatedBit;

				vTaskSuspendAll();
				{
					/* Add this block to the list of free blocks. */
					xFreeBytesRemaining += pxLink->xBlockSize;
					traceFREE( pv, pxLink->xBlockSize );
					prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
				}
				( void ) xTaskResumeAll();
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}
}

5、heap_5
在heap_4上支持动态内存设置在不连续区域上。

void *pvPortMalloc( size_t xWantedSize )
{
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
void *pvReturn = NULL;

	/* The heap must be initialised before the first call to
	prvPortMalloc(). */
	configASSERT( pxEnd );

	vTaskSuspendAll();
	{
		/* Check the requested block size is not so large that the top bit is
		set.  The top bit of the block size member of the BlockLink_t structure
		is used to determine who owns the block - the application or the
		kernel, so it must be free. */
		if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
		{
			/* The wanted size is increased so it can contain a BlockLink_t
			structure in addition to the requested amount of bytes. */
			if( xWantedSize > 0 )
			{
				xWantedSize += xHeapStructSize;

				/* Ensure that blocks are always aligned to the required number
				of bytes. */
				if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
				{
					/* Byte alignment required. */
					xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
				}
				else
				{
					mtCOVERAGE_TEST_MARKER();
				}
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}

			if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
			{
				/* Traverse the list from the start	(lowest address) block until
				one	of adequate size is found. */
				pxPreviousBlock = &xStart;
				pxBlock = xStart.pxNextFreeBlock;
				while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
				{
					pxPreviousBlock = pxBlock;
					pxBlock = pxBlock->pxNextFreeBlock;
				}

				/* If the end marker was reached then a block of adequate size
				was	not found. */
				if( pxBlock != pxEnd )
				{
					/* Return the memory space pointed to - jumping over the
					BlockLink_t structure at its start. */
					pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );

					/* This block is being returned for use so must be taken out
					of the list of free blocks. */
					pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;

					/* If the block is larger than required it can be split into
					two. */
					if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
					{
						/* This block is to be split into two.  Create a new
						block following the number of bytes requested. The void
						cast is used to prevent byte alignment warnings from the
						compiler. */
						pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );

						/* Calculate the sizes of two blocks split from the
						single block. */
						pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
						pxBlock->xBlockSize = xWantedSize;

						/* Insert the new block into the list of free blocks. */
						prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
					}
					else
					{
						mtCOVERAGE_TEST_MARKER();
					}

					xFreeBytesRemaining -= pxBlock->xBlockSize;

					if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
					{
						xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
					}
					else
					{
						mtCOVERAGE_TEST_MARKER();
					}

					/* The block is being returned - it is allocated and owned
					by the application and has no "next" block. */
					pxBlock->xBlockSize |= xBlockAllocatedBit;
					pxBlock->pxNextFreeBlock = NULL;
				}
				else
				{
					mtCOVERAGE_TEST_MARKER();
				}
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

		traceMALLOC( pvReturn, xWantedSize );
	}
	( void ) xTaskResumeAll();

	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
	{
		if( pvReturn == NULL )
		{
			extern void vApplicationMallocFailedHook( void );
			vApplicationMallocFailedHook();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}
	#endif

	return pvReturn;
}
/*-----------------------------------------------------------*/

void vPortFree( void *pv )
{
uint8_t *puc = ( uint8_t * ) pv;
BlockLink_t *pxLink;

	if( pv != NULL )
	{
		/* The memory being freed will have an BlockLink_t structure immediately
		before it. */
		puc -= xHeapStructSize;

		/* This casting is to keep the compiler from issuing warnings. */
		pxLink = ( void * ) puc;

		/* Check the block is actually allocated. */
		configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
		configASSERT( pxLink->pxNextFreeBlock == NULL );

		if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
		{
			if( pxLink->pxNextFreeBlock == NULL )
			{
				/* The block is being returned to the heap - it is no longer
				allocated. */
				pxLink->xBlockSize &= ~xBlockAllocatedBit;

				vTaskSuspendAll();
				{
					/* Add this block to the list of free blocks. */
					xFreeBytesRemaining += pxLink->xBlockSize;
					traceFREE( pv, pxLink->xBlockSize );
					prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
				}
				( void ) xTaskResumeAll();
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}
}
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综上所述，实现NXP i.MX RT1052上的FreeRTOS内存管理涉及了对FreeRTOS内存管理机制的理解，对硬件特性的掌握，以及高效的驱动程序开发。通过深入学习和实践，我们可以充分利用FreeRTOS和i.MX RT1052的优势，构建高效...
【FreeRTOS】FreeRTOS内存管理的五种方式
Hanrui的博客
05-07 3455
内存管理 1. FreeRTOS为什么要实现自己的内存管理 内存的动态管理是C语言程序的知识范围，并不属于FreeRTOS的知识范畴，但是它跟FreeRTOS关系是如此紧密。 在C语言的库函数中，有mallc、free等函数，但是在FreeRTOS中，它们不适用： 不适合用在资源紧缺的嵌入式系统中 这些函数的实现过于复杂、占据的代码空间太大 并非线程安全的(thread-safe) 运行有不确定性：每次调用这些函数时花费的时间可能都不相同 内存碎片化 使用不同的编译器时，需要进行复杂的配置 有时候难以调试
free-RTOS的内存管理机制
最新发布
嘉禾天成‘s Blog
08-11 69
freeRTOS内存管理机制及STM32适用方法。
FreeRTOS 内存管理
Bit_Dong的博客
05-07 3119
FreeRTOS 创建任务、队列、信号量等的时候有两种方法，一种是动态的申请所需的 RAM。一种是由用户自行定义所需的 RAM，这种方法也叫静态方法，使用静态方法的函数一般以“Static”结尾，比如任务创建函数 xTaskCreateStatic()，使用此函数创建任务的时候需要由用户定义任务堆栈，本章我们不讨论这种静态方法。使用动态内存管理的时候 FreeRTOS 内核在创建任务、队列、信号量的时候会动态的申请RAM。
【FreeRtos内存管理】
boybs的博客
05-18 1120
FreeRtos内存管理 文章目录FreeRtos内存管理前言一、内存管理介绍1.1 内存认识1.2 内存碎片二、内存分配5种方式2.1 heap_1内存分配方式2.2 heap_2内存分配方式2.3 heap_3内存分配方式2.4 heap_4内存分配方式2.5 heap_5内存分配方式三、实验演示3.1 实验需求3.2 实验结果 前言 本次进行分享的是FreeRtos中的内存管理，通过此篇的学习，对内存的使用会有新的认识，也会对FreeRtos下的5中内存的分配方式有一定的路径，自己在实际运用中根
FreeRTOS - 内存管理
欢迎光临
02-27 729
内存管理一般就是指动态内存分配和回收，Java、C#这样的语言有很“傻瓜式”的内存管理方式，无需手动分配内存并回收，但是对于C语言来说，分配内存就像进行整形数据转字符串操作一样，需要程序员“手动”进行转换，而不是简单的调用“.toString()”。C语言库函数里面的内存分配和回收函数是 malloc() 和 free() ，但是这两个函数并不适合用于嵌入式系统中，原因如下： 1、在小型嵌入式...
FreeRTOS学习-内存管理
Duran.L的专栏
11-06 2847
虽然从v9.0.0后，FreeRTOS开始支持内核对象的静态分配方式，因此，内存管理库可以被裁剪。但在大多数嵌入式应用中，堆的使用还是非常常见的。因此，还是有必要研究一下FreeRTOS的内存管理。本文介绍了如何使用FreeRTOS的内存管理接口，并分别介绍了FreeRTOS对他们的5种实现。
freertos自动内存管理
08-07
对于内存管理，Freertos并不直接提供自动内存分配的功能，类似于C标准库中的`malloc`和`free`那样。它采用一种更保守的策略，即静态内存分配和堆栈管理。 1. **静态内存分配**：Freertos中的任务通常分配固定的大小...
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