2017 A-03 Componentized Dynamic Memory Allocator for Embedded Systems Takuro Yamamoto 1 Hiroshi Oyama 2 Takuya Azumi 1 1. IoT [1] [2] TLSF (Two-

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1 2017 A-03 Componentized Dynamic Memory Allocator for Embedded Systems Takuro Yamamoto 1 Hiroshi Oyama 2 Takuya Azumi 1 1. IoT [1] [2] TLSF (Two-Level Segregate Fit) [3] [4] TLSF 2 O(1) TLSF OS TECS (TOPPERS Embedded Component System) [5] [6] TLSF TECS TLSF TLSF 1 Graduate School of Engineering Science, Osaka University 2 OKUMA Corporation 2 TECS 3 TLSF 4, 5 2. [7] [8] () TECS AUTOSAR [9] SaveCCM [10] TECS 2.1 TECS TECS (TOPPERS Embedded Component System) TOPPERS [11] TECS

2 tcaller Caller 1 call port: cmotor 1 signature smotor { signature: smotor entry port: emotor TECS tmotor Motor 2 void initializeport( [in]int32_t type ); 3 int32_t getcounts( void ); 4 ER resetcounts( void ); 5 ER setpower( [in]int power ); 6 ER stop( [in] bool_t brake ); 7 ER rotate( [in] int degrees, 8 [in] uint32_t speed_abs, 9 [in] bool_t blocking ); 10 }; 2 C TECS TECS (cell) (entry) (call) C TECS CDL (Component Description Language) 1 2 signature (smotor) TECS [in] [out] 1 celltype tcaller { 2 call smotor cmotor; 3 }; 4 celltype tmotor { 5 entry smotor emotor; 6 attr { 7 int32_t port; 8 }; 9 var { 10 int32_t currentspeed = 0; 11 }; 12 }; 3 1 cell tmotor Motor { 2 }; 3 cell tcaller Caller { 4 cmotor = Motor.eMotor; 5 }; 4 celltype (tcaller) 3 entry attr var cell = 4 Caller cmotor Motor emotor TECS TECS CDL C (.h.c) OS (.cfg) TECS CDL C

3 Component Diagram Free Blocks First Level Signature Description Celltype Description TECS CDL (Component Description Language) Build Description 104b 109b Second Level Interface Generator 36b 38b Template Code (*.c) Header (*.h) Interface Code (*.c) Configuration File (*.cfg) TLSF Celltype Code (*.c) (Component Source) 5 C Compiler Linker Application Module TECS Kernel Configurator Kernel Configuration Source (*.c) 1 signature smalloc { 2 int initializememorypool(void); 3 void *calloc( [in]size_t nelem, 4 [in]size_t elem_size ); 5 void *malloc( [in]size_t size ); 6 void *realloc( [in]const void *ptr, 7 [in]size_t new_size ); 8 void free( [in]const void *ptr ); 9 }; 3. TLSF TLSF TLSF 3.1 TLSF TLSF (Two-Level Segregate Fit) [3] [4] M. Masmano TLSF O(1) TLSF TLSF ( ) TLSF TLSF 2 6 TLSF *1 50% TLSF TLSF TECS TLSF TLSF *2 7 initializememorypool calloc, malloc, realloc *1 *2

4 1 celltype { 2 [inline] 3 entry smalloc emalloc; 4 attr { 5 /* memory pool size in bytes */ 6 size_t memorypoolsize; 7 }; 8 var { 9 [size_is( memorypoolsize / 8 )] 10 uint64_t *pool; 11 }; 12 }; 1 cell Task_001 { 2 cmalloc = TLSFMalloc_001.eMalloc; 3 }; 4 cell TLSFMalloc_001 { 5 memorypoolsize = 1024*1024; /* 1MB */ 6 }; 7 cell Task_002 { 8 cmalloc = TLSFMalloc_002.eMalloc; 9 }; 10 cell TLSFMalloc_002 { 11 memorypoolsize = 2*1024*1024; /* 2MB */ 12 }; 8 TLSF 11 TLSF Without TECS Task_001 Task_002 With TECS Task_001 9 tlsf.c tlsf.c TLSF TLSFMalloc_001 memorypoolsize = 1024* void* 2 mrb_tecs_allocf(mrb_state *mrb, void *p, 3 size_t size, void *ud) 4 { 5 CELLCB *p_cellcb = (CELLCB *)ud; 6 if (size == 0) { 7 //tlsf_free(p); 8 cmalloc_free(p); 9 return NULL; 10 } 11 else if (p) { 12 //return tlsf_realloc(p, size); 13 return cmalloc_realloc(p, size); 14 } 15 else { 16 //return tlsf_malloc(size); 17 return cmalloc_malloc(size); 18 } 19 } Task_002 TLSFMalloc_ TLSF memorypoolsize = 2*1024* TLSF free TLSF 8 emalloc ( ) [inline] 9 TLSF 10 TECS TLSF TLSF *3 2 TLSF TLSF 4.1 mruby on TECS [12] [13] *3

5 (which Component need allocate (which need deallocate allocate (which needs deallocate allocate deallocate (which Component need allocate (which need deallocate allocate (which needs deallocate allocate deallocate RiteVM_001 Fixed-size memory allocator tfixedsizememorypool MemoryPool_001 MrubyTask_001 tmrubyvm MrubyVM_001 TLSFMalloc_001 memorypoolsize = 1024*1024 tmemoryallocator tfixedsizememorypool MemoryPool_002 tfixedsizememorypool MemoryPool_003 TLSF memory allocator RiteVM_002 MrubyTask_002 tmrubyvm MrubyVM_002 TLSFMalloc_002 memorypoolsize = 2*1024* RiteVM TLSF 14 TLSF VM 8 TLSF free cmalloc ( 11 2 ) Task 001 TLSFMalloc 001 Task 002 TLSFMalloc 002 TECS C 4. TLSF 4.1 mruby on TECS mruby on TECS mruby ( Ruby) [14] [15] [12] [13] mruby on TECS mruby-tecs mruby C C mruby mruby RiteVM VM RiteVM OS TECS VM TLSF TLSF VM VM VM 13 VM TLSF VM VM TLSF VM 13 1 VM 1MB (1024*1024) 2 VM 2MB (2*1024*1024) VM RiteVM GC (Garbage Collection) GC VM GC VM 4.2 TINET+TECS TINET+TECS TCP/IP TINET (Tomakomai InterNETworking) [16] [17] TECS TCP/IP [18] TINET TECS TCP/UDP IPv4/IPv6 TINET+TECS TINET TOPPERS/ASP *4 TCP/IP TCP IP Ethernet 14 TINET+TECS *4 TOPPERS/ASP TOPPERS µitron [19] OS

6 TLSF TINET+TECS TLSF 14 TLSF TINET+TECS TECS TLSF 5. TLSF TLSF TLSF mruby on TECS TINET+TECS TECS OS TOPPERS/ASP3 [20] TOP- PERS/HRP2 [21] TLSF TLSF [1] Xu, L. D., He, W. Li, S.: Internet of Things in Industries: A Survey, IEEE Transactions on Industrial Informatics, Vol. 10, No. 4, pp (2014). [2] Perera, C., Zaslavsky, A., Christen, P. Georgakopoulos, D.: Context Aware Computing for The Internet of Things: A Survey, IEEE Communications Surveys Tutorials, Vol. 16, No. 1, pp (2014). [3] Masmano, M., Ripoll, I., Crespo, A. Real, J.: TLSF: a New Dynamic Memory Allocator for Real-Time Systems, Proceedings of the 16th Euromicro Conference on Real-Time Systems (ECRTS), pp (2004). [4] : TLSF, [5] : TECS, [6] Azumi, T., Yamamoto, M., Kominami, Y., Takagi, N., Oyama, H. Takada, H.: A New Specification of Software for Embedded Systems, Proceedings of the 10th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC), pp (2007). [7] Crnkovic, I.: Component-based Software Engineering for Embedded Systems, Proceedings of the 27th International Conference on Software Engineering (ICSE), pp (2005). [8] Cai, X., Lyu, M. R., Wong, K.-F. Ko, R.: Component-based Software Engineering: Technologies, Development Frameworks, Quality Assurance Schemes, Processings of 7th Asia-Pacific Software Engineering Conference (APSEC), pp (2000). [9] : AUTOSAR, [10] Åkerholm, M., Carlson, J., Fredriksson, J., Hansson, H., Håkansson, J., Möller, A., Pettersson, P. Tivoli, M.: The SAVE Approach to Component-based Development of Vehicular Systems, Journal of Systems Software, Vol. 80, No. 5, pp (2007). [11] : TOPPERS Project, index.html. [12] Azumi, T., Nagahara, Y., Oyama, H. Nishio, N.: mruby on TECS: Component-Based Framework for Running Script Program, Proceedings of the 18th IEEE International Symposium on Real-Time Computing (ISORC), pp (2015). [13] Yamamoto, T., Oyama, H. Azumi, T.: Lightweight Ruby Framework for Improving Embedded Software Efficiency, Proceedings of the 4th IEEE International Conference on Cyber-Physical Systems, Networks, Applications (CPSNA), pp (2016). [14] Tanaka, K. Higashi, H.: mruby Rapid IoT Software Development, Proceedings of 17th International Conference on Computational Science Its Applications (ICCSA), pp (2017). [15] : mruby, [16] : TINET, [17], : TCP/IP,, Vol. 44, No. 6, pp (2003). [18] Yamamoto, T., Hara, T., Ishikawa, T., Oyama, H., Takada, H. Azumi, T.: TINET+TECS: Component- Based TCP/IP Protocol Stack for Embedded Systems, Proceedings of the IEEE 14th International Conference on Embedded Software Systems (ICESS) (2017). [19] Takada, H. Sakamura, K.: µitron for Small-Scale Embedded Systems, IEEE Micro, Vol. 15, No. 6, pp (1995). [20] Kawada, T., Azumi, T., Oyama, H. Takada, H.: Componentizing an Operating System Feature Using a TECS Plugin, Proceedings of the 4th IEEE International Conference on Cyber-Physical Systems, Networks, Applications (CPSNA), pp (2016). [21] Ishikawa, T., Azumi, T., Oyama, H. Takada, H.: HR-TECS: Component Technology for Embedded Systems with Memory Protection, Proceedings of the 16th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC), pp. 1 8 (2013).