内存管理介绍
在ANSI C中可以用malloc()和free()两个函数动态地分配内存和释放内存。但是，在嵌入式实时操作系统中，多次这样做会把原来很大的一块连续内存区域，逐渐地分割成许多非常小而且彼此又不相邻的内存区域，也就是内存碎片。由于这些碎片的大量存在，使得程序到后来连非常小的内存也分配不到。另外，由于内存管理算法的原因，malloc()和free()函数执行时间是不确定的。
在μC/OS-II中，操作系统把连续的大块内存按分区来管理。每个分区中包含有整数个大小相同的内存块。利用这种机制，μC/OS-II 对malloc()和free()函数进行了改进，使得它们可以分配和释放固定大小的内存块。这样一来，malloc()和free()函数的执行时间也是固定的了。
在一个系统中可以有多个内存分区。这样，用户的应用程序就可以从不同的内存分区中得到不同大小的内存块。但是，特定的内存块在释放时必须重新放回它以前所属于的内存分区。显然，采用这样的内存管理算法，上面的内存碎片问题就得到了解决。
为了便于内存的管理，在μC/OS-II中使用内存控制块（memory control blocks）的数据结构来跟踪每一个内存分区，系统中的每个内存分区都有它自己的内存控制块。
内存控制块的定义如下：
typedef struct {
void *OSMemAddr; //指向内存分区起始地址的指针
void *OSMemFreeList; //是指向下一个空闲内存控制块或者下一个空闲的内存块的指针
INT32U OSMemBlkSize; //是内存分区中内存块的大小
INT32U OSMemNBlks; //内存分区中总的内存块数量
INT32U OSMemNFree; //内存分区中当前可以得空闲内存块数量
} OS_MEM;
如果要在μC/OS-II中使用内存管理，需要在OS_CFG.H文件中将开关量OS_MEM_EN设置为1。这样μC/OS-II 在启动时就会对内存管理器进行初始化[由OSInit()调用OSMemInit()实现]。常数OS_MAX_MEM_PART（见文件OS_CFG.H）定义了最大的内存分区数，该常数值最小应为2。
注意的事项
使用内存管理模块需要做的工作还有：
1．打开配置文件OS_CFG.H，将开关量OS_MEM_EN设置为1：
#define OS_MEM_EN 0
2．打开配置文件OS_CFG.H，设置系统要建立的任务分区的数量：
#define OS_MAX_MEM_PART 2
OSMemCreate()内存块创建函数
1 主要作用： 该函数建立并初始化一个用于动态内存分配的区域，该内存区域包含指定数目的、大小确定的内存块。应用可以动态申请这些内存块并在用完后将其释放回这个内存区域。该函数的返回值就是指向这个内存区域控制块的指针，并作为OSMemGet()，OSMemPut()，OSMemQuery() 等相关调用的参数。
2函数原型：OS_MEM *OSMemCreate( void *addr, INT32U nblks, INT32U blksize, INT8U *err );
3参数说明：addr 建立的内存区域的起始地址。可以使用静态数组或在系统初始化时使用 malloc() 函数来分配这个区域的空间。
nblks 内存块的数目。每一个内存区域最少需要定义两个内存块。
blksize 每个内存块的大小，最小应该能够容纳一个指针变量。
err 是指向包含错误码的变量的指针。Err可能是如下几种情况：
OS_NO_ERR ：成功建立内存区域。
OS_MEM_INVALID_ADDR ：非法地址，即地址为空指针。
OS_MEM_INVALID_PART ：没有空闲的内存区域。
OS_MEM_INVALID_BLKS ：没有为内存区域建立至少两个内存块。
OS_MEM_INVALID_SIZE ：内存块大小不足以容纳一个指针变量。
5、函数主体在os_men.c中
4返回值说明：
OSMemCreate() 函数返回指向所创建的内存区域控制块的指针。如果创建失败，函数返回空指针。
OSMemGet()函数
1 主要作用： 该函数用于从内存区域分配一个内存块。用户程序必须知道所建立的内存块的大小，并必须在使用完内存块后释放它。可以多次调用 OSMemGet() 函数。它的返回值就是指向所分配内存块的指针，并作为 OSMemPut() 函数的参数。
2函数原型：void *OSMemGet(OS_MEM *pmem, INT8U *err);
3参数说明：pmem 是指向内存区域控制块的指针，可以从 OSMemCreate() 函数的返回值中得到。
err 是指向包含错误码的变量的指针。Err可能是如下情况：
OS_NO_ERR ：成功得到一个内存块。
OS_MEM_NO_FREE_BLKS ：内存区域中已经没有足够的内存块。
4返回值说明：
OSMemGet() 函数返回指向所分配内存块的指针。如果没有可分配的内存块，OSMemGet() 函数返回空指针。
5、函数主体在os_men.c中
OSMemPut()
1 主要作用：该函数用于释放一个内存块，内存块必须释放回它原先所在的内存区域，否则会造成系统错误。
2函数原型：INT8U OSMemPut (OS_MEM *pmem, void *pblk);
3参数说明：pmem 是指向内存区域控制块的指针，可以从 OSMemCreate() 函数的返回值中得到。
pblk 是指向将被释放的内存块的指针。
4返回值说明：
OSMemPut() 函数的返回值为下述之一：
OS_NO_ERR ：成功释放内存块
OS_MEM_FULL ：内存区域已满，不能再接受更多释放的内存块。这种情况说明用户程序出现了错误，释放了多于用 OSMemGet() 函数得到的内存块。
5、函数主体在os_men.c中
OSMemQuery()
1 主要作用：该函数用于得到内存区域的信息。
2函数原型：INT8U OSMemQuery(OS_MEM *pmem, OS_MEM_DATA pdata);
3参数说明：pmem 是指向内存区域控制块的指针，可以从 OSMemCreate() 函数的返回值中得到。
pdata 是一个指向 OS_MEM_DATA 数据结构的指针，该数据结构包含了以下的域：
void OSAddr; / 指向内存区域起始地址的指针 /
void OSFreeList; / 指向空闲内存块列表起始地址的指针 /
INT32U OSBlkSize; / 每个内存块的大小 /
INT32U OSNBlks; / 该内存区域中的内存块总数 /
INT32U OSNFree; / 空闲的内存块数目 /
INT32U OSNUsed; / 已使用的内存块数目 */
4返回值说明：函数返回值总是OS_NO_ERR。
5、函数主体在os_men.c中
附os_men.c代码
/*
-
uC/OS-II -
The Real-Time Kernel -
MEMORY MANAGEMENT -
(c) Copyright 1992-2013, Micrium, Weston, FL -
All Rights Reserved - File : OS_MEM.C
- By : Jean J. Labrosse
- Version : V2.92.08
- LICENSING TERMS:
-
- uC/OS-II is provided in source form for FREE evaluation, for educational use or for peaceful research.
- If you plan on using uC/OS-II in a commercial product you need to contact Micrium to properly license
- its use in your product. We provide ALL the source code for your convenience and to help you experience
- uC/OS-II. The fact that the source is provided does NOT mean that you can use it without paying a
- licensing fee.
*/
#define MICRIUM_SOURCE
#ifndef OS_MASTER_FILE
#include <ucos_ii.h>
#endif
#if (OS_MEM_EN > 0u) && (OS_MAX_MEM_PART > 0u)
/*
-
CREATE A MEMORY PARTITION - Description : Create a fixed-sized memory partition that will be managed by uC/OS-II.
- Arguments : addr is the starting address of the memory partition
-
nblks is the number of memory blocks to create from the partition. -
blksize is the size (in bytes) of each block in the memory partition. -
perr is a pointer to a variable containing an error message which will be set by -
this function to either: -
OS_ERR_NONE if the memory partition has been created correctly. -
OS_ERR_MEM_INVALID_ADDR if you are specifying an invalid address for the memory -
storage of the partition or, the block does not align -
on a pointer boundary -
OS_ERR_MEM_INVALID_PART no free partitions available -
OS_ERR_MEM_INVALID_BLKS user specified an invalid number of blocks (must be >= 2) -
OS_ERR_MEM_INVALID_SIZE user specified an invalid block size -
- must be greater than the size of a pointer -
- must be able to hold an integral number of pointers - Returns : != (OS_MEM *)0 is the partition was created
-
== (OS_MEM *)0 if the partition was not created because of invalid arguments or, no -
free partition is available.
*/
OS_MEM *OSMemCreate (void *addr,
INT32U nblks,
INT32U blksize,
INT8U *perr)
{
OS_MEM *pmem;
INT8U *pblk;
void *plink;
INT32U loops;
INT32U i;
#if OS_CRITICAL_METHOD == 3u / Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return ((OS_MEM *)0);
}
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
if (OSSafetyCriticalStartFlag == OS_TRUE) {
OS_SAFETY_CRITICAL_EXCEPTION();
return ((OS_MEM *)0);
}
#endif
#if OS_ARG_CHK_EN > 0u
if (addr == (void )0) { / Must pass a valid address for the memory part.*/
*perr = OS_ERR_MEM_INVALID_ADDR;
return ((OS_MEM *)0);
}
if (((INT32U)addr & (sizeof(void ) - 1u)) != 0u){ / Must be pointer size aligned */
*perr = OS_ERR_MEM_INVALID_ADDR;
return ((OS_MEM )0);
}
if (nblks < 2u) { / Must have at least 2 blocks per partition */
*perr = OS_ERR_MEM_INVALID_BLKS;
return ((OS_MEM *)0);
}
if (blksize < sizeof(void )) { / Must contain space for at least a pointer */
*perr = OS_ERR_MEM_INVALID_SIZE;
return ((OS_MEM )0);
}
#endif
OS_ENTER_CRITICAL();
pmem = OSMemFreeList; / Get next free memory partition */
if (OSMemFreeList != (OS_MEM )0) { / See if pool of free partitions was empty */
OSMemFreeList = (OS_MEM *)OSMemFreeList->OSMemFreeList;
}
OS_EXIT_CRITICAL();
if (pmem == (OS_MEM )0) { / See if we have a memory partition */
*perr = OS_ERR_MEM_INVALID_PART;
return ((OS_MEM *)0);
}
plink = (void *)addr; / Create linked list of free memory blocks */
pblk = (INT8U )addr;
loops = nblks - 1u;
for (i = 0u; i < loops; i++) {
pblk += blksize; / Point to the FOLLOWING block */
*plink = (void )pblk; / Save pointer to NEXT block in CURRENT block */
plink = (void *)pblk; / Position to NEXT block */
}
plink = (void )0; / Last memory block points to NULL /
pmem->OSMemAddr = addr; / Store start address of memory partition /
pmem->OSMemFreeList = addr; / Initialize pointer to pool of free blocks /
pmem->OSMemNFree = nblks; / Store number of free blocks in MCB /
pmem->OSMemNBlks = nblks;
pmem->OSMemBlkSize = blksize; / Store block size of each memory blocks /
perr = OS_ERR_NONE;
return (pmem);
}
/$PAGE/
/
-
GET A MEMORY BLOCK - Description : Get a memory block from a partition
- Arguments : pmem is a pointer to the memory partition control block
-
perr is a pointer to a variable containing an error message which will be set by this -
function to either: -
OS_ERR_NONE if the memory partition has been created correctly. -
OS_ERR_MEM_NO_FREE_BLKS if there are no more free memory blocks to allocate to caller -
OS_ERR_MEM_INVALID_PMEM if you passed a NULL pointer for 'pmem' - Returns : A pointer to a memory block if no error is detected
-
A pointer to NULL if an error is detected
*/
void *OSMemGet (OS_MEM *pmem,
INT8U *perr)
{
void pblk;
#if OS_CRITICAL_METHOD == 3u / Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return ((void *)0);
}
#endif
#if OS_ARG_CHK_EN > 0u
if (pmem == (OS_MEM )0) { / Must point to a valid memory partition */
*perr = OS_ERR_MEM_INVALID_PMEM;
return ((void )0);
}
#endif
OS_ENTER_CRITICAL();
if (pmem->OSMemNFree > 0u) { / See if there are any free memory blocks /
pblk = pmem->OSMemFreeList; / Yes, point to next free memory block */
pmem->OSMemFreeList = *(void *)pblk; / Adjust pointer to new free list /
pmem->OSMemNFree–; / One less memory block in this partition */
OS_EXIT_CRITICAL();
perr = OS_ERR_NONE; / No error /
return (pblk); / Return memory block to caller /
}
OS_EXIT_CRITICAL();
perr = OS_ERR_MEM_NO_FREE_BLKS; / No, Notify caller of empty memory partition /
return ((void )0); / Return NULL pointer to caller /
}
/$PAGE/
/
-
GET THE NAME OF A MEMORY PARTITION - Description: This function is used to obtain the name assigned to a memory partition.
- Arguments : pmem is a pointer to the memory partition
-
pname is a pointer to a pointer to an ASCII string that will receive the name of the memory partition. -
perr is a pointer to an error code that can contain one of the following values: -
OS_ERR_NONE if the name was copied to 'pname' -
OS_ERR_MEM_INVALID_PMEM if you passed a NULL pointer for 'pmem' -
OS_ERR_PNAME_NULL You passed a NULL pointer for 'pname' -
OS_ERR_NAME_GET_ISR You called this function from an ISR - Returns : The length of the string or 0 if ‘pmem’ is a NULL pointer.
*/
#if OS_MEM_NAME_EN > 0u
INT8U OSMemNameGet (OS_MEM *pmem,
INT8U **pname,
INT8U perr)
{
INT8U len;
#if OS_CRITICAL_METHOD == 3u / Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return (0u);
}
#endif
#if OS_ARG_CHK_EN > 0u
if (pmem == (OS_MEM )0) { / Is ‘pmem’ a NULL pointer? */
*perr = OS_ERR_MEM_INVALID_PMEM;
return (0u);
}
if (pname == (INT8U *)0) { / Is ‘pname’ a NULL pointer? */
perr = OS_ERR_PNAME_NULL;
return (0u);
}
#endif
if (OSIntNesting > 0u) { / See if trying to call from an ISR */
*perr = OS_ERR_NAME_GET_ISR;
return (0u);
}
OS_ENTER_CRITICAL();
*pname = pmem->OSMemName;
len = OS_StrLen(*pname);
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
return (len);
}
#endif
/$PAGE/
/*
-
ASSIGN A NAME TO A MEMORY PARTITION - Description: This function assigns a name to a memory partition.
- Arguments : pmem is a pointer to the memory partition
-
pname is a pointer to an ASCII string that contains the name of the memory partition. -
perr is a pointer to an error code that can contain one of the following values: -
OS_ERR_NONE if the name was copied to 'pname' -
OS_ERR_MEM_INVALID_PMEM if you passed a NULL pointer for 'pmem' -
OS_ERR_PNAME_NULL You passed a NULL pointer for 'pname' -
OS_ERR_MEM_NAME_TOO_LONG if the name doesn't fit in the storage area -
OS_ERR_NAME_SET_ISR if you called this function from an ISR - Returns : None
*/
#if OS_MEM_NAME_EN > 0u
void OSMemNameSet (OS_MEM *pmem,
INT8U *pname,
INT8U perr)
{
#if OS_CRITICAL_METHOD == 3u / Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if OS_ARG_CHK_EN > 0u
if (pmem == (OS_MEM )0) { / Is ‘pmem’ a NULL pointer? */
*perr = OS_ERR_MEM_INVALID_PMEM;
return;
}
if (pname == (INT8U )0) { / Is ‘pname’ a NULL pointer? */
perr = OS_ERR_PNAME_NULL;
return;
}
#endif
if (OSIntNesting > 0u) { / See if trying to call from an ISR */
*perr = OS_ERR_NAME_SET_ISR;
return;
}
OS_ENTER_CRITICAL();
pmem->OSMemName = pname;
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
}
#endif
/$PAGE/
/*
-
RELEASE A MEMORY BLOCK - Description : Returns a memory block to a partition
- Arguments : pmem is a pointer to the memory partition control block
-
pblk is a pointer to the memory block being released. - Returns : OS_ERR_NONE if the memory block was inserted into the partition
-
OS_ERR_MEM_FULL if you are returning a memory block to an already FULL memory -
partition (You freed more blocks than you allocated!) -
OS_ERR_MEM_INVALID_PMEM if you passed a NULL pointer for 'pmem' -
OS_ERR_MEM_INVALID_PBLK if you passed a NULL pointer for the block to release.
*/
INT8U OSMemPut (OS_MEM *pmem,
void pblk)
{
#if OS_CRITICAL_METHOD == 3u / Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#if OS_ARG_CHK_EN > 0u
if (pmem == (OS_MEM )0) { / Must point to a valid memory partition */
return (OS_ERR_MEM_INVALID_PMEM);
}
if (pblk == (void )0) { / Must release a valid block /
return (OS_ERR_MEM_INVALID_PBLK);
}
#endif
OS_ENTER_CRITICAL();
if (pmem->OSMemNFree >= pmem->OSMemNBlks) { / Make sure all blocks not already returned */
OS_EXIT_CRITICAL();
return (OS_ERR_MEM_FULL);
}
(void )pblk = pmem->OSMemFreeList; / Insert released block into free block list /
pmem->OSMemFreeList = pblk;
pmem->OSMemNFree++; / One more memory block in this partition /
OS_EXIT_CRITICAL();
return (OS_ERR_NONE); / Notify caller that memory block was released /
}
/$PAGE/
/
-
QUERY MEMORY PARTITION - Description : This function is used to determine the number of free memory blocks and the number of
-
used memory blocks from a memory partition. - Arguments : pmem is a pointer to the memory partition control block
-
p_mem_data is a pointer to a structure that will contain information about the memory -
partition. - Returns : OS_ERR_NONE if no errors were found.
-
OS_ERR_MEM_INVALID_PMEM if you passed a NULL pointer for 'pmem' -
OS_ERR_MEM_INVALID_PDATA if you passed a NULL pointer to the data recipient.
*/
#if OS_MEM_QUERY_EN > 0u
INT8U OSMemQuery (OS_MEM *pmem,
OS_MEM_DATA p_mem_data)
{
#if OS_CRITICAL_METHOD == 3u / Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#if OS_ARG_CHK_EN > 0u
if (pmem == (OS_MEM )0) { / Must point to a valid memory partition /
return (OS_ERR_MEM_INVALID_PMEM);
}
if (p_mem_data == (OS_MEM_DATA )0) { / Must release a valid storage area for the data /
return (OS_ERR_MEM_INVALID_PDATA);
}
#endif
OS_ENTER_CRITICAL();
p_mem_data->OSAddr = pmem->OSMemAddr;
p_mem_data->OSFreeList = pmem->OSMemFreeList;
p_mem_data->OSBlkSize = pmem->OSMemBlkSize;
p_mem_data->OSNBlks = pmem->OSMemNBlks;
p_mem_data->OSNFree = pmem->OSMemNFree;
OS_EXIT_CRITICAL();
p_mem_data->OSNUsed = p_mem_data->OSNBlks - p_mem_data->OSNFree;
return (OS_ERR_NONE);
}
#endif / OS_MEM_QUERY_EN /
/$PAGE/
/*
-
INITIALIZE MEMORY PARTITION MANAGER - Description : This function is called by uC/OS-II to initialize the memory partition manager. Your
-
application MUST NOT call this function. - Arguments : none
- Returns : none
- Note(s) : This function is INTERNAL to uC/OS-II and your application should not call it.
*/
void OS_MemInit (void)
{
#if OS_MAX_MEM_PART == 1u
OS_MemClr((INT8U )&OSMemTbl[0], sizeof(OSMemTbl)); / Clear the memory partition table */
OSMemFreeList = (OS_MEM )&OSMemTbl[0]; / Point to beginning of free list */
#if OS_MEM_NAME_EN > 0u
OSMemFreeList->OSMemName = (INT8U )"?"; / Unknown name */
#endif
#endif
#if OS_MAX_MEM_PART >= 2u
OS_MEM *pmem;
INT16U i;
OS_MemClr((INT8U *)&OSMemTbl[0], sizeof(OSMemTbl)); /* Clear the memory partition table */
for (i = 0u; i < (OS_MAX_MEM_PART - 1u); i++) { /* Init. list of free memory partitions */
pmem = &OSMemTbl[i]; /* Point to memory control block (MCB) */
pmem->OSMemFreeList = (void *)&OSMemTbl[i + 1u]; /* Chain list of free partitions */
#if OS_MEM_NAME_EN > 0u
pmem->OSMemName = (INT8U *)(void *)"?";
#endif
}
pmem = &OSMemTbl[i];
pmem->OSMemFreeList = (void )0; / Initialize last node */
#if OS_MEM_NAME_EN > 0u
pmem->OSMemName = (INT8U *)(void *)"?";
#endif
OSMemFreeList = &OSMemTbl[0]; /* Point to beginning of free list */
#endif
}
#endif /* OS_MEM_EN */
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