Switch from MallocAllocator to Zephyr k_malloc allocator

PROVESFlightControllerReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp

@@ -9,7 +9,7 @@
 // #include <PROVESFlightControllerReference/ReferenceDeployment/Top/ReferenceDeploymentPacketsAc.hpp>
 
 // Necessary project-specified types
-#include <Fw/Types/MallocAllocator.hpp>
+#include <ComCcsdsConfig/ComCcsdsSubtopologyConfig.hpp>
 
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/drivers/spi.h>
@@ -34,9 +34,6 @@ static const struct gpio_dt_spec payloadBatteryLoadSwitchGpio =
 // Allows easy reference to objects in FPP/autocoder required namespaces
 using namespace ReferenceDeployment;
 
-// Instantiate a malloc allocator for cmdSeq buffer allocation
-Fw::MallocAllocator mallocator;
-
 constexpr FwSizeType BASE_RATEGROUP_PERIOD_MS = 1;  // 1Khz
 
 // Helper function to calculate the period for a given rate group frequency
@@ -78,9 +75,9 @@ void configureTopology() {
     gpioBurnwire0.open(burnwire0Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioBurnwire1.open(burnwire1Gpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
 
-    cmdSeq.allocateBuffer(0, mallocator, 1024);
-    payloadSeq.allocateBuffer(0, mallocator, 1024);
-    safeModeSeq.allocateBuffer(0, mallocator, 1024);
+    cmdSeq.allocateBuffer(0, ComCcsds::Allocation::memAllocator, 1024);
+    payloadSeq.allocateBuffer(0, ComCcsds::Allocation::memAllocator, 1024);
+    safeModeSeq.allocateBuffer(0, ComCcsds::Allocation::memAllocator, 1024);
     gpioface4LS.open(face4LoadSwitchGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioface0LS.open(face0LoadSwitchGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
     gpioface1LS.open(face1LoadSwitchGpio, Zephyr::ZephyrGpioDriver::GpioConfiguration::OUT);
@@ -201,8 +198,8 @@ void teardownTopology(const TopologyState& state) {
     stopTasks(state);
     freeThreads(state);
     tearDownComponents(state);
-    cmdSeq.deallocateBuffer(mallocator);
-    payloadSeq.deallocateBuffer(mallocator);
-    safeModeSeq.deallocateBuffer(mallocator);
+    cmdSeq.deallocateBuffer(ComCcsds::Allocation::memAllocator);
+    payloadSeq.deallocateBuffer(ComCcsds::Allocation::memAllocator);
+    safeModeSeq.deallocateBuffer(ComCcsds::Allocation::memAllocator);
 }
 };  // namespace ReferenceDeployment

PROVESFlightControllerReference/project/config/CMakeLists.txt

@@ -10,6 +10,8 @@ register_fprime_config(
         "${CMAKE_CURRENT_LIST_DIR}/CdhCoreTlmConfig.fpp"
         "${CMAKE_CURRENT_LIST_DIR}/CdhCoreFatalHandlerConfig.fpp"
         "${CMAKE_CURRENT_LIST_DIR}/ComCcsdsConfig.fpp"
+        "${CMAKE_CURRENT_LIST_DIR}/ComCcsdsConfig/ComCcsdsSubtopologyConfig.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/ComCcsdsConfig/ComCcsdsSubtopologyConfig.hpp"
         "${CMAKE_CURRENT_LIST_DIR}/ComCfg.fpp"
         "${CMAKE_CURRENT_LIST_DIR}/CommandDispatcherImplCfg.hpp"
         "${CMAKE_CURRENT_LIST_DIR}/FileHandlingConfig.fpp"

PROVESFlightControllerReference/project/config/ComCcsdsConfig/ComCcsdsSubtopologyConfig.cpp

@@ -1,17 +1,10 @@
 #include "ComCcsdsSubtopologyConfig.hpp"
 
-namespace ComCcsdsSband {
-namespace Allocation {
-// This instance can be changed to use a different allocator in the ComCcsdsSband Subtopology
-Fw::MallocAllocator mallocatorInstance;
-Fw::MemAllocator& memAllocator = mallocatorInstance;
-}  // namespace Allocation
-}  // namespace ComCcsdsSband
+#include <default/zephyr-config/ZephyrAllocator.hpp>
 
-namespace ComCcsdsLora {
+namespace ComCcsds {
 namespace Allocation {
-// This instance can be changed to use a different allocator in the ComCcsdsLora Subtopology
-Fw::MallocAllocator mallocatorInstance;
-Fw::MemAllocator& memAllocator = mallocatorInstance;
+Fw::ZephyrKmallocAllocator allocatorInstance;
+Fw::MemAllocator& memAllocator = allocatorInstance;
 }  // namespace Allocation
-}  // namespace ComCcsdsLora
+}  // namespace ComCcsds

PROVESFlightControllerReference/project/config/ComCcsdsConfig/ComCcsdsSubtopologyConfig.hpp

@@ -1,18 +1,12 @@
 #ifndef COMCCSDSSUBTOPOLOGY_CONFIG_HPP
 #define COMCCSDSSUBTOPOLOGY_CONFIG_HPP
 
-#include "Fw/Types/MallocAllocator.hpp"
+#include "Fw/Types/MemAllocator.hpp"
 
-namespace ComCcsdsSband {
+namespace ComCcsds {
 namespace Allocation {
 extern Fw::MemAllocator& memAllocator;
 }
-}  // namespace ComCcsdsSband
-
-namespace ComCcsdsLora {
-namespace Allocation {
-extern Fw::MemAllocator& memAllocator;
-}
-}  // namespace ComCcsdsLora
+}  // namespace ComCcsds
 
 #endif

prj.conf

@@ -6,6 +6,7 @@ CONFIG_REQUIRES_FULL_LIBCPP=y
 CONFIG_CPP_EXCEPTIONS=n
 CONFIG_CPP_RTTI=n
 CONFIG_COMMON_LIBC_MALLOC=y
+CONFIG_HEAP_MEM_POOL_SIZE=65536
 CONFIG_MAIN_STACK_SIZE=8192
 CONFIG_POSIX_API=y
 CONFIG_REBOOT=y