introduce mem pool and heap

embedded-examples/stm32h7-rtic/.cargo/def_config.toml

@@ -9,6 +9,8 @@ rustflags = [
   # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
   # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
   "-C", "link-arg=--nmagic",
+  # Can be useful for debugging.
+  # "-Clink-args=-Map=app.map"
 ]
 
 [build]

embedded-examples/stm32h7-rtic/.gitignore

@@ -1,3 +1,4 @@
 /target
 /.cargo/config*
 /.vscode
+/app.map

embedded-examples/stm32h7-rtic/Cargo.lock

@@ -23,7 +23,7 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 dependencies = [
- "rustc_version",
+ "rustc_version 0.2.3",
 ]
 
 [[package]]
@@ -65,8 +65,7 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 [[package]]
 name = "cobs"
 version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
-checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
 
 [[package]]
 name = "cortex-m"
@@ -218,6 +217,16 @@ dependencies = [
  "syn 2.0.64",
 ]
 
+[[package]]
+name = "embedded-alloc"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ddae17915accbac2cfbc64ea0ae6e3b330e6ea124ba108dada63646fd3c6f815"
+dependencies = [
+ "critical-section",
+ "linked_list_allocator",
+]
+
 [[package]]
 name = "embedded-dma"
 version = "0.2.0"
@@ -294,6 +303,15 @@ version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
+[[package]]
+name = "hash32"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hash32"
 version = "0.3.1"
@@ -309,6 +327,19 @@ version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 
+[[package]]
+name = "heapless"
+version = "0.7.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
+dependencies = [
+ "atomic-polyfill",
+ "hash32 0.2.1",
+ "rustc_version 0.4.0",
+ "spin",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "heapless"
 version = "0.8.0"
@@ -316,7 +347,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
  "defmt",
- "hash32",
+ "hash32 0.3.1",
  "stable_deref_trait",
 ]
 
@@ -330,6 +361,22 @@ dependencies = [
  "hashbrown",
 ]
 
+[[package]]
+name = "linked_list_allocator"
+version = "0.10.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9afa463f5405ee81cdb9cc2baf37e08ec7e4c8209442b5d72c04cfb2cd6e6286"
+
+[[package]]
+name = "lock_api"
+version = "0.4.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
+dependencies = [
+ "autocfg",
+ "scopeguard",
+]
+
 [[package]]
 name = "managed"
 version = "0.8.0"
@@ -523,20 +570,28 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver",
+ "semver 0.9.0",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+dependencies = [
+ "semver 1.0.23",
 ]
 
 [[package]]
 name = "satrs"
 version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
 dependencies = [
  "cobs",
  "crc",
  "defmt",
  "delegate",
  "derive-new",
+ "heapless 0.7.17",
  "num-traits",
  "num_enum",
  "paste",
@@ -564,6 +619,7 @@ dependencies = [
  "defmt",
  "defmt-brtt",
  "defmt-test",
+ "embedded-alloc",
  "panic-probe",
  "rtic",
  "rtic-monotonics",
@@ -572,6 +628,12 @@ dependencies = [
  "stm32h7xx-hal",
 ]
 
+[[package]]
+name = "scopeguard"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
+
 [[package]]
 name = "semver"
 version = "0.9.0"
@@ -581,6 +643,12 @@ dependencies = [
  "semver-parser",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+
 [[package]]
 name = "semver-parser"
 version = "0.7.0"
@@ -603,7 +671,7 @@ dependencies = [
  "byteorder",
  "cfg-if",
  "defmt",
- "heapless",
+ "heapless 0.8.0",
  "managed",
 ]
 
@@ -621,6 +689,15 @@ dependencies = [
  "zerocopy",
 ]
 
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
+]
+
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"

embedded-examples/stm32h7-rtic/Cargo.toml

@@ -21,6 +21,7 @@ defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 cortex-m-semihosting = "0.5.0"
 stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
+embedded-alloc = "0.5"
 
 [dependencies.smoltcp]
 version = "0.11.0"
@@ -36,10 +37,10 @@ version = "1"
 features = ["cortex-m-systick"]
 
 [dependencies.satrs]
-# path = "satrs"
+path = "../../satrs"
 version = "0.2"
 default-features = false
-features = ["defmt"]
+features = ["defmt", "heapless"]
 
 [dev-dependencies]
 defmt-test = "0.3"

embedded-examples/stm32h7-rtic/src/main.rs

@@ -1,13 +1,18 @@
 #![no_main]
 #![no_std]
+extern crate alloc;
 
 use rtic::app;
 use rtic_monotonics::systick::Systick;
 use rtic_monotonics::Monotonic;
+use satrs::pool::StaticHeaplessMemoryPool;
+use satrs::static_subpool;
+// global logger + panicking-behavior + memory layout
 use satrs_stm32h7_nucleo_rtic as _;
-use smoltcp::socket::{dhcpv4, udp}; // global logger + panicking-behavior + memory layout
+use smoltcp::socket::{dhcpv4, udp};
 
 use core::mem::MaybeUninit;
+use embedded_alloc::Heap;
 use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
 use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
 use stm32h7xx_hal::ethernet;
@@ -15,9 +20,18 @@ use stm32h7xx_hal::ethernet;
 const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
 const PORT: u16 = 7301;
 
-/// Ethernet descriptor rings are a global singleton
+const HEAP_SIZE: usize = 131_072;
-#[link_section = ".sram3.eth"]
+
-static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+// We place the memory pool buffers inside the larger AXISRAM.
+pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
+pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
+pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
+pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
+pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
+pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
 
 // This data will be held by Net through a mutable reference
 pub struct NetStorageStatic<'a> {
@@ -55,6 +69,7 @@ impl<'a> Net<'a> {
             &mut ethdev,
             smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
         );
+        // SAFETY: The RX and TX buffers are passed here and not used anywhere else.
         let udp_rx_buffer =
             smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
                 &mut UDP_RX[..]
@@ -251,6 +266,11 @@ mod app {
         let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
 
         let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
+
+        /// Ethernet descriptor rings are a global singleton
+        #[link_section = ".sram3.eth"]
+        static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
+
         let (eth_dma, eth_mac) = ethernet::new(
             cx.device.ETHERNET_MAC,
             cx.device.ETHERNET_MTL,
@@ -300,6 +320,59 @@ mod app {
 
         let net = Net::new(store, eth_dma, mac_addr.into());
 
+        let mut heapless_pool: StaticHeaplessMemoryPool<3> = StaticHeaplessMemoryPool::new(true);
+        static_subpool!(
+            SUBPOOL_SMALL,
+            SUBPOOL_SMALL_SIZES,
+            SUBPOOL_SMALL_NUM_BLOCKS as usize,
+            SUBPOOL_SMALL_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_MEDIUM,
+            SUBPOOL_MEDIUM_SIZES,
+            SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
+            SUBPOOL_MEDIUM_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_LARGE,
+            SUBPOOL_LARGE_SIZES,
+            SUBPOOL_LARGE_NUM_BLOCKS as usize,
+            SUBPOOL_LARGE_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+
+        heapless_pool
+            .grow(
+                unsafe { SUBPOOL_SMALL.assume_init_mut() },
+                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+                SUBPOOL_SMALL_NUM_BLOCKS,
+                false,
+            )
+            .expect("growing heapless memory pool failed");
+        heapless_pool
+            .grow(
+                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
+                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
+                SUBPOOL_MEDIUM_NUM_BLOCKS,
+                false,
+            )
+            .expect("growing heapless memory pool failed");
+        heapless_pool
+            .grow(
+                unsafe { SUBPOOL_LARGE.assume_init_mut() },
+                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+                SUBPOOL_LARGE_NUM_BLOCKS,
+                false,
+            )
+            .expect("growing heapless memory pool failed");
+
+        // Set up global allocator. Use AXISRAM for the heap.
+        #[link_section = ".axisram"]
+        static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+        unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
+
         eth_link_check::spawn().expect("eth link check failed");
         blink::spawn().expect("spawning blink task failed");
         (

embedded-examples/stm32h7-rtic/vscode/launch.json

@@ -12,7 +12,7 @@
       "chip": "STM32H743ZITx",
       "coreConfigs": [
         {
-          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-rtic",
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
           "rttEnabled": true,
           "svdFile": "STM32H743.svd"
         }

satrs/src/pool.rs

@@ -390,6 +390,14 @@ pub mod heapless_mod {
             static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
                 core::mem::MaybeUninit::new([satrs::pool::STORE_FREE; $num_blocks]);
         };
+        ($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr, $meta_data: meta) => {
+            #[$meta_data]
+            static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
+                core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
+            #[$meta_data]
+            static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
+                core::mem::MaybeUninit::new([satrs::pool::STORE_FREE; $num_blocks]);
+        };
     }
 
     /// A static memory pool similar to [super::StaticMemoryPool] which does not reply on