mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-18 01:18:52 +08:00
Samuel Sadok
5661a3b5ed
Please see https://github.com/madcowswe/ODrive/issues/472 for a detailed description.
59 lines
1.8 KiB
C
59 lines
1.8 KiB
C
/**
|
|
******************************************************************************
|
|
* @file : syscalls.c
|
|
* @brief : This file implements printf functionality
|
|
******************************************************************************
|
|
*/
|
|
|
|
#include <sys/unistd.h>
|
|
#include <board.h>
|
|
|
|
|
|
//int _read(int file, char *data, int len) {}
|
|
//int _close(int file) {}
|
|
//int _lseek(int file, int ptr, int dir) {}
|
|
//int _fstat(int file, struct stat *st) {}
|
|
//int _isatty(int file) {}
|
|
|
|
extern char _end; // provided by the linker script: it's end of statically allocated section, which is where the heap starts.
|
|
extern char _heap_end_max; // provided by the linker script
|
|
void* _end_ptr = &_end;
|
|
void* _heap_end_max_ptr = &_heap_end_max;
|
|
void* heap_end_ptr = 0;
|
|
|
|
/* @brief Increments the program break (aka heap end)
|
|
*
|
|
* This is called internally by malloc once it runs out
|
|
* of heap space. Malloc might expect a contiguous heap,
|
|
* so we don't call the FreeRTOS pvPortMalloc here.
|
|
* If this function returns -1, malloc will return NULL.
|
|
* Note that if this function returns NULL, malloc does not
|
|
* consider this as an error and will return the pointer 0x8.
|
|
*
|
|
* You should still be careful with using malloc though,
|
|
* as it does not guarantee thread safety.
|
|
*
|
|
* @return A pointer to the newly allocated block on success
|
|
* or -1 otherwise.
|
|
*/
|
|
intptr_t _sbrk(size_t size) {
|
|
intptr_t ptr;
|
|
{
|
|
uint32_t mask = cpu_enter_critical();
|
|
if (!heap_end_ptr)
|
|
heap_end_ptr = _end_ptr;
|
|
if (heap_end_ptr + size > _heap_end_max_ptr) {
|
|
ptr = -1;
|
|
} else {
|
|
ptr = (intptr_t)heap_end_ptr;
|
|
heap_end_ptr += size;
|
|
}
|
|
cpu_exit_critical(mask);
|
|
}
|
|
return ptr;
|
|
}
|
|
|
|
// _write is defined in communication.cpp
|
|
|
|
|