Factory enhanced.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10727 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 313 insertions, 156 deletions

diff --git a/os/common/oslib/include/chfactory.h b/os/common/oslib/include/chfactory.h
index 04a59a721..9dbcb7b57 100644
--- a/os/common/oslib/include/chfactory.h
+++ b/os/common/oslib/include/chfactory.h
@@ -48,11 +48,17 @@
 #endif

 

 /**

- * @brief   Enables factory for generic objects.

- * @note    Generic objects require the heap allocator.

+ * @brief   Enables the registry of generic objects.

  */

-#if !defined(CH_CFG_FACTORY_GENERIC_BUFFER) || defined(__DOXYGEN__)

-#define CH_CFG_FACTORY_GENERIC_BUFFER       TRUE

+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY) || defined(__DOXYGEN__)

+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE

+#endif

+

+/**

+ * @brief   Enables factory for generic buffers.

+ */

+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS) || defined(__DOXYGEN__)

+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE

 #endif

 

 /**

@@ -70,7 +76,7 @@
   ((CH_CFG_FACTORY_SEMAPHORES == TRUE))

 

 #define CH_FACTORY_REQUIRES_HEAP                                            \

-  ((CH_CFG_FACTORY_GENERIC_BUFFER == TRUE))

+  ((CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE))

 

 #if (CH_CFG_FACTORY_MAX_NAMES_LENGHT < 0) ||                                \

     (CH_CFG_FACTORY_MAX_NAMES_LENGHT > 32)

@@ -123,17 +129,34 @@ typedef struct ch_dyn_list {
     dyn_element_t       *next;

 } dyn_list_t;

 

-#if (CH_CFG_FACTORY_GENERIC_BUFFER == TRUE) || defined(__DOXIGEN__)

+#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXIGEN__)

 /**

- * @brief   Type of a dynamic semaphore.

+ * @brief   Type of a registered object.

+ */

+typedef struct ch_registered_static_object {

+  /**

+   * @brief   List element of the registered object.

+   */

+  dyn_element_t         element;

+  /**

+   * @brief   Pointer to the object.

+   * @note    The type of the object is not stored in anyway.

+   */

+  void                  *objp;

+} registered_object_t;

+#endif

+

+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXIGEN__)

+/**

+ * @brief   Type of a dynamic buffer object.

  */

 typedef struct ch_dyn_object {

   /**

-   * @brief   List element of the dynamic object.

+   * @brief   List element of the dynamic buffer object.

    */

   dyn_element_t         element;

   /**

-   * @brief   Physical objects.

+   * @brief   Physical buffer objects.

    * @note    This requires C99.

    */

   uint8_t               buffer[];

@@ -160,12 +183,20 @@ typedef struct ch_dyn_semaphore {
  * @brief   Type of the factory main object.

  */

 typedef struct ch_objects_factory {

-#if (CH_CFG_FACTORY_GENERIC_BUFFER == TRUE) || defined(__DOXIGEN__)

   /**

-   * @brief   List of the allocated objects.

+   * @brief   List of the registered objects.

    */

   dyn_list_t            obj_list;

-#endif /* CH_CFG_FACTORY_GENERIC_BUFFER = TRUE */

+  /**

+   * @brief   Pool of the available registered objects.

+   */

+  memory_pool_t         obj_pool;

+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXIGEN__)

+  /**

+   * @brief   List of the allocated buffer objects.

+   */

+  dyn_list_t            buf_list;

+#endif /* CH_CFG_FACTORY_GENERIC_BUFFERS = TRUE */

 #if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXIGEN__)

   /**

    * @brief   List of the allocated semaphores.

@@ -194,9 +225,13 @@ objects_factory_t ch_factory;
 extern "C" {

 #endif

   void _factory_init(void);

-//  dyn_registered_object_t *chFactoryRegisterObject(const char *name,

-//                                                   void *objp);

-#if (CH_CFG_FACTORY_GENERIC_BUFFER == TRUE) || defined(__DOXIGEN__)

+#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXIGEN__)

+  registered_object_t *chFactoryRegisterObject(const char *name,

+                                                            void *objp);

+  registered_object_t *chFactoryFindObject(const char *name);

+  void chFactoryReleaseObject(registered_object_t *rop);

+#endif

+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXIGEN__)

   dyn_buffer_t *chFactoryCreateBuffer(const char *name, size_t size);

   dyn_buffer_t *chFactoryFindBuffer(const char *name);

   void chFactoryReleaseBuffer(dyn_buffer_t *dbp);

@@ -231,7 +266,7 @@ static inline dyn_element_t *chFactoryDuplicateReferenceI(dyn_element_t *dep) {
   return dep;

 }

 

-#if (CH_CFG_FACTORY_GENERIC_BUFFER == TRUE) || defined(__DOXIGEN__)

+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXIGEN__)

 /**

  * @brief   Returns the size of a generic dynamic buffer object.

  *

diff --git a/os/common/oslib/src/chfactory.c b/os/common/oslib/src/chfactory.c
index 22a643574..501f7e59d 100644
--- a/os/common/oslib/src/chfactory.c
+++ b/os/common/oslib/src/chfactory.c
@@ -19,11 +19,12 @@
 

 /**

  * @file    chfactory.c

- * @brief   ChibiOS objects factory code.

+ * @brief   ChibiOS objects factory and registry code.

  *

  * @addtogroup objects_factory

  * @details The object factory is a subsystem that allows to:

- *          - Create objects and assign them a name.

+ *          - Register static objects by name.

+ *          - Dynamically create objects and assign them a name.

  *          - Retrieve existing objects by name.

  *          - Free objects by reference.

  *          .

@@ -77,7 +78,7 @@ static inline void dyn_list_init(dyn_list_t *dlp) {
   dlp->next = (dyn_element_t *)dlp;

 }

 

-static dyn_element_t *dyn_list_find(dyn_list_t *dlp, const char *name) {

+static dyn_element_t *dyn_list_find(const char *name, dyn_list_t *dlp) {

   dyn_element_t *p = dlp->next;

 

   while (p != (dyn_element_t *)dlp) {

@@ -87,10 +88,13 @@ static dyn_element_t *dyn_list_find(dyn_list_t *dlp, const char *name) {
     p = p->next;

   }

 

+  chDbgAssert(true, "invalid reference passed");

+

   return NULL;

 }

 

-static dyn_element_t *dyn_list_unlink(dyn_list_t *dlp, dyn_element_t *element) {

+static dyn_element_t *dyn_list_unlink(dyn_element_t *element,

+                                      dyn_list_t *dlp) {

   dyn_element_t *prev = (dyn_element_t *)dlp;

 

   /* Scanning the list.*/

@@ -108,6 +112,114 @@ static dyn_element_t *dyn_list_unlink(dyn_list_t *dlp, dyn_element_t *element) {
   return NULL;

 }

 

+#if (CH_FACTORY_REQUIRES_HEAP == TRUE) || defined(__DOXYGEN__)

+static dyn_element_t *dyn_create_object_heap(const char *name,

+                                             dyn_list_t *dlp,

+                                             size_t size) {

+  dyn_element_t *dep;

+

+  chDbgCheck(name != NULL);

+

+  /* Checking if an object with this name has already been created.*/

+  dep = dyn_list_find(name, dlp);

+  if (dep != NULL) {

+    return NULL;

+  }

+

+  /* Allocating space for the new buffer object.*/

+  dep = (dyn_element_t *)chHeapAlloc(NULL, size);

+  if (dep) {

+    return NULL;

+  }

+

+  /* Initializing object list element.*/

+  strncpy(dep->name, name, CH_CFG_FACTORY_MAX_NAMES_LENGHT);

+  dep->refs = 1U;

+  dep->next = dlp->next;

+

+  /* Updating factory list.*/

+  dlp->next = dep;

+

+  return dep;

+}

+

+static void dyn_release_object_heap(dyn_element_t *dep,

+                                    dyn_list_t *dlp) {

+

+  chDbgCheck(dep != NULL);

+  chDbgAssert(dep->refs > 0U, "invalid references number");

+

+  dep = dyn_list_unlink(dep, dlp);

+

+  dep->refs--;

+  if (dep->refs == 0U) {

+    chHeapFree((void *)dep);

+  }

+}

+#endif /* CH_FACTORY_REQUIRES_HEAP == TRUE */

+

+#if (CH_FACTORY_REQUIRES_POOLS == TRUE) || defined(__DOXYGEN__)

+static dyn_element_t *dyn_create_object_pool(const char *name,

+                                             dyn_list_t *dlp,

+                                             memory_pool_t *mp) {

+  dyn_element_t *dep;

+

+  chDbgCheck(name != NULL);

+

+  /* Checking if an object object with this name has already been created.*/

+  dep = dyn_list_find(name, dlp);

+  if (dep != NULL) {

+    return NULL;

+  }

+

+  /* Allocating space for the new object.*/

+  dep = (dyn_element_t *)chPoolAlloc(mp);

+  if (dep == NULL) {

+    return NULL;

+  }

+

+  /* Initializing object list element.*/

+  strncpy(dep->name, name, CH_CFG_FACTORY_MAX_NAMES_LENGHT);

+  dep->refs = 1U;

+  dep->next = ch_factory.sem_list.next;

+

+  /* Updating factory list.*/

+  dlp->next = (dyn_element_t *)dep;

+

+  return dep;

+}

+

+static void dyn_release_object_pool(dyn_element_t *dep,

+                                    dyn_list_t *dlp,

+                                    memory_pool_t *mp) {

+

+  chDbgCheck(dep != NULL);

+  chDbgAssert(dep->refs > 0U, "invalid references number");

+

+  dep = dyn_list_unlink(dep, dlp);

+

+  dep->refs--;

+  if (dep->refs == 0U) {

+    chPoolFree(mp, (void *)dep);

+  }

+}

+#endif /* CH_FACTORY_REQUIRES_POOLS == TRUE */

+

+static dyn_element_t *dyn_find_object(const char *name, dyn_list_t *dlp) {

+  dyn_element_t *dep;

+

+  chDbgCheck(name != NULL);

+

+  /* Checking if an object with this name has already been created.*/

+  dep = dyn_list_find(name, dlp);

+  if (dep != NULL) {

+    /* Increasing references counter.*/

+    dep->refs++;

+  }

+

+  return dep;

+}

+

 /*===========================================================================*/

 /* Module exported functions.                                                */

 /*===========================================================================*/

@@ -119,8 +231,14 @@ static dyn_element_t *dyn_list_unlink(dyn_list_t *dlp, dyn_element_t *element) {
  */

 void _factory_init(void) {

 

-#if CH_CFG_FACTORY_GENERIC_BUFFER == TRUE

+#if CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE

   dyn_list_init(&ch_factory.obj_list);

+  chPoolObjectInit(&ch_factory.obj_pool,

+                   sizeof (registered_object_t),

+                   chCoreAllocAlignedI);

+#endif

+#if CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE

+  dyn_list_init(&ch_factory.buf_list);

 #endif

 #if CH_CFG_FACTORY_SEMAPHORES == TRUE

   dyn_list_init(&ch_factory.sem_list);

@@ -130,88 +248,138 @@ void _factory_init(void) {
 #endif

 }

 

-#if (CH_CFG_FACTORY_GENERIC_BUFFER == TRUE) || defined(__DOXIGEN__)

+#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXIGEN__)

+/**

+ * @brief   Registers a generic object.

+ * @post    A reference to the registered object is returned and the

+ *          reference counter is initialized to one.

+ *

+ * @param[in] name      name to be assigned to the registered object

+ * @param[in] objp      pointer to the object to be registered

+ *

+ * @api

+ */

+registered_object_t *chFactoryRegisterObject(const char *name,

+                                             void *objp) {

+  registered_object_t *rop;

+

+  chSysLock();

+

+  rop = (registered_object_t *)dyn_create_object_pool(name,

+                                                      &ch_factory.obj_list,

+                                                      &ch_factory.obj_pool);

+  if (rop != NULL) {

+    /* Initializing registered object data.*/

+    rop->objp = objp;

+  }

+

+  chSysUnlock();

+

+  return rop;

+}

+

+/**

+ * @brief   Retrieves a registered object.

+ * @post    A reference to the registered object is returned with the

+ *          reference counter increased by one.

+ *

+ * @param[in] name      name of the registered object

+ *

+ * @return              The reference to the found registered object.

+ * @retval NULL         if a registered object with the specified name

+ *                      does not exist.

+ *

+ * @api

+ */

+registered_object_t *chFactoryFindObject(const char *name) {

+  registered_object_t *rop;

+

+  chSysLock();

+

+  rop = (registered_object_t *)dyn_find_object(name, &ch_factory.obj_list);

+

+  chSysUnlock();

+

+  return rop;

+}

+

+/**

+ * @brief   Releases a registered object.

+ * @details The reference counter of the registered object is decreased

+ *          by one, if reaches zero then the registered object memory

+ *          is freed.

+ * @note    The object itself is not freed, it could be static, only the

+ *          allocated list element is freed.

+ *

+ * @param[in] rop       registered object reference

+ *

+ * @api

+ */

+void chFactoryReleaseObject(registered_object_t *rop){

+

+  chSysLock();

+

+  dyn_release_object_pool(&rop->element,

+                          &ch_factory.obj_list,

+                          &ch_factory.obj_pool);

+

+  chSysUnlock();

+}

+#endif /* CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE */

+

+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXIGEN__)

 /**

  * @brief   Creates a generic dynamic buffer object.

- * @post    A reference to the buffer object is returned and the reference

- *          counter is initialized to one.

- * @post    The buffer object is zero filled.

+ * @post    A reference to the dynamic buffer object is returned and the

+ *          reference counter is initialized to one.

+ * @post    The dynamic buffer object is filled with zeros.

  *

- * @param[in] name      name to be assigned to the new buffer object

- * @param[in] size      payload size of the buffer object to be created

+ * @param[in] name      name to be assigned to the new dynamic  buffer object

+ * @param[in] size      payload size of the dynamic buffer object to be created

  *

- * @return              The reference to the created buffer object.

- * @retval NULL         if the buffer object cannot be allocated or a buffer

- *                      object with the same name exists.

+ * @return              The reference to the created dynamic buffer object.

+ * @retval NULL         if the dynamic buffer object cannot be allocated or

+ *                      a dynamic buffer object with the same name exists.

  *

  * @api

  */

 dyn_buffer_t *chFactoryCreateBuffer(const char *name, size_t size) {

   dyn_buffer_t *dbp;

 

-  chDbgCheck(name != NULL);

-

   chSysLock();

 

-  /* Checking if a buffer object with this name has already been created.*/

-  dbp = (dyn_buffer_t *)dyn_list_find(&ch_factory.obj_list, name);

+  dbp = (dyn_buffer_t *)dyn_create_object_heap(name,

+                                               &ch_factory.buf_list,

+                                               size);

   if (dbp != NULL) {

-    /* Object exists, error.*/

-    chSysUnlock();

-    return NULL;

-  }

-

-  /* Allocating space for the new buffer object.*/

-  dbp = chHeapAlloc(NULL, size);

-  if (dbp == NULL) {

-    chSysUnlock();

-    return NULL;

+    /* Initializing buffer object data.*/

+    memset((void *)dbp->buffer, 0, size);

   }

 

-  /* Initializing buffer object data and metadata.*/

-  strncpy(dbp->element.name, name, CH_CFG_FACTORY_MAX_NAMES_LENGHT);

-  dbp->element.refs = 1;

-  dbp->element.next = ch_factory.obj_list.next;

-  memset((void *)dbp->buffer, 0, size);

-

-  /* Updating factory list.*/

-  ch_factory.obj_list.next = (dyn_element_t *)dbp;

-

   chSysUnlock();

 

   return dbp;

 }

 

 /**

- * @brief   Retrieves a generic dynamic buffer object.

- * @post    A reference to the buffer object is returned with the reference

- *          counter increased by one.

+ * @brief   Retrieves a dynamic buffer object.

+ * @post    A reference to the dynamic buffer object is returned with the

+ *          reference counter increased by one.

  *

- * @param[in] name      name to be assigned to the new buffer object

+ * @param[in] name      name of the dynamic buffer object

  *

- * @return              The reference to the found buffer object.

- * @retval NULL         if a buffer object with the specified name name does

- *                      not exist.

+ * @return              The reference to the found dynamic buffer object.

+ * @retval NULL         if a dynamic buffer object with the specified name

+ *                      does not exist.

  *

  * @api

  */

 dyn_buffer_t *chFactoryFindBuffer(const char *name) {

   dyn_buffer_t *dbp;

 

-  chDbgCheck(name != NULL);

-

   chSysLock();

 

-  /* Checking if a buffer object with this name has already been created.*/

-  dbp = (dyn_buffer_t *)dyn_list_find(&ch_factory.obj_list, name);

-  if (dbp == NULL) {

-    /* The buffer object does not exists, error.*/

-    chSysUnlock();

-    return NULL;

-  }

-

-  /* Increasing references counter.*/

-  dbp->element.refs += 1;

+  dbp = (dyn_buffer_t *)dyn_find_object(name, &ch_factory.buf_list);

 

   chSysUnlock();

 

@@ -220,117 +388,77 @@ dyn_buffer_t *chFactoryFindBuffer(const char *name) {
 

 /**

  * @brief   Releases a generic dynamic buffer object.

- * @details The reference counter of the buffer object is decreased by one, if

- *          reaches zero then the buffer object memory is freed.

+ * @details The reference counter of the dynamic buffer object is decreased

+ *          by one, if reaches zero then the dynamic buffer object memory

+ *          is freed.

  *

- * @param[in] dbp       generic buffer object reference

+ * @param[in] dbp       dynamic buffer object reference

  *

  * @api

  */

 void chFactoryReleaseBuffer(dyn_buffer_t *dbp) {

 

-  chDbgCheck(dbp != NULL);

-

   chSysLock();

 

-  chDbgAssert(dbp->element.refs > 0U, "invalid references number");

-

-  dbp = (dyn_buffer_t *)dyn_list_unlink(&ch_factory.obj_list,

-                                        &dbp->element);

-

-  chDbgAssert(dbp != NULL, "invalid reference passed");

-

-  dbp->element.refs--;

-  if (dbp->element.refs == 0) {

-    chHeapFree((void *)dbp);

-  }

+  dyn_release_object_heap(&dbp->element, &ch_factory.buf_list);

 

   chSysUnlock();

 }

-#endif /* CH_CFG_FACTORY_GENERIC_BUFFER = TRUE */

+#endif /* CH_CFG_FACTORY_GENERIC_BUFFERS = TRUE */

 

 #if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXIGEN__)

 /**

  * @brief   Creates a dynamic semaphore object.

- * @post    A reference to the semaphore object is returned and the reference

- *          counter is initialized to one.

- * @post    The semaphore object is initialized and ready to use.

+ * @post    A reference to the dynamic semaphore object is returned and the

+ *          reference counter is initialized to one.

+ * @post    The dynamic semaphore object is initialized and ready to use.

  *

- * @param[in] name      name to be assigned to the new semaphore object

- * @param[in] n         semaphore object counter initialization value

+ * @param[in] name      name to be assigned to the new dynamic semaphore object

+ * @param[in] n         dynamic semaphore object counter initialization value

  *

- * @return              The reference to the created semaphore object.

- * @retval NULL         if the semaphore object cannot be allocated or a

- *                      semaphore with the same name exists.

+ * @return              The reference to the created dynamic semaphore object.

+ * @retval NULL         if the dynamic semaphore object cannot be allocated or

+ *                      a dynamic semaphore with the same name exists.

  *

  * @api

  */

 dyn_semaphore_t *chFactoryCreateSemaphore(const char *name, cnt_t n) {

   dyn_semaphore_t *dsp;

 

-  chDbgCheck(name != NULL);

-

   chSysLock();

 

-  /* Checking if a semaphore object with this name has already been created.*/

-  dsp = (dyn_semaphore_t *)dyn_list_find(&ch_factory.sem_list, name);

+  dsp = (dyn_semaphore_t *)dyn_create_object_pool(name,

+                                                  &ch_factory.sem_list,

+                                                  &ch_factory.sem_pool);

   if (dsp != NULL) {

-    /* The semaphore object exists, error.*/

-    chSysUnlock();

-    return NULL;

+    /* Initializing semaphore object dataa.*/

+    chSemObjectInit(&dsp->sem, n);

   }

 

-  /* Allocating space for the new semaphore object.*/

-  dsp = chCoreAlloc(sizeof (dyn_semaphore_t));

-  if (dsp == NULL) {

-    chSysUnlock();

-    return NULL;

-  }

-

-  /* Initializing semaphore object data and metadata.*/

-  strncpy(dsp->element.name, name, CH_CFG_FACTORY_MAX_NAMES_LENGHT);

-  dsp->element.refs = 1;

-  dsp->element.next = ch_factory.obj_list.next;

-  chSemObjectInit(&dsp->sem, n);

-

-  /* Updating factory list.*/

-  ch_factory.obj_list.next = (dyn_element_t *)dsp;

-

   chSysUnlock();

 

   return dsp;

 }

 

 /**

- * @brief   Retrieves a generic dynamic semaphore object.

- * @post    A reference to the semaphore object is returned with the reference

- *          counter increased by one.

+ * @brief   Retrieves a dynamic semaphore object.

+ * @post    A reference to the dynamic semaphore object is returned with the

+ *          reference counter increased by one.

  *

- * @param[in] name      name to be assigned to the new semaphore object

+ * @param[in] name      name of the dynamic semaphore object

  *

- * @return              The reference to the found semaphore object.

- * @retval NULL         if a semaphore object with the specified name name does

- *                      not exist.

+ * @return              The reference to the found dynamic semaphore object.

+ * @retval NULL         if a dynamic semaphore object with the specified name

+ *                      does not exist.

  *

  * @api

  */

 dyn_semaphore_t *chFactoryFindSemaphore(const char *name) {

   dyn_semaphore_t *dsp;

 

-  chDbgCheck(name != NULL);

-

   chSysLock();

 

-  /* Checking if a semaphore object with this name has already been created.*/

-  dsp = (dyn_semaphore_t *)dyn_list_find(&ch_factory.obj_list, name);

-  if (dsp == NULL) {

-    /* The semaphore object does not exists, error.*/

-    chSysUnlock();

-    return NULL;

-  }

-

-  /* Increasing references counter.*/

-  dsp->element.refs += 1;

+  dsp = (dyn_semaphore_t *)dyn_find_object(name, &ch_factory.sem_list);

 

   chSysUnlock();

 

@@ -338,31 +466,22 @@ dyn_semaphore_t *chFactoryFindSemaphore(const char *name) {
 }

 

 /**

- * @brief   Releases a semaphore dynamic object.

- * @details The reference counter of the semaphore object is decreased by one,

- *          if reaches zero then the semaphore object memory is freed.

+ * @brief   Releases a dynamic semaphore object.

+ * @details The reference counter of the dynamic semaphore object is decreased

+ *          by one, if reaches zero then the dynamic semaphore object memory

+ *          is freed.

  *

- * @param[in] dsp       semaphore object reference

+ * @param[in] dsp       dynamic semaphore object reference

  *

  * @api

  */

 void chFactoryReleaseSemaphore(dyn_semaphore_t *dsp) {

 

-  chDbgCheck(dsp != NULL);

-

   chSysLock();

 

-  chDbgAssert(dsp->element.refs > 0U, "invalid references number");

-

-  dsp = (dyn_semaphore_t *)dyn_list_unlink(&ch_factory.sem_list,

-                                           &dsp->element);

-

-  chDbgAssert(dsp != NULL, "invalid reference passed");

-

-  dsp->element.refs--;

-  if (dsp->element.refs == 0) {

-    chPoolFree(&ch_factory.sem_pool, (void *)dsp);

-  }

+  dyn_release_object_pool(&dsp->element,

+                          &ch_factory.sem_list,

+                          &ch_factory.sem_pool);

 

   chSysUnlock();

 }

diff --git a/os/rt/rt.mk b/os/rt/rt.mk
index d4c4cac29..85607b4c4 100644
--- a/os/rt/rt.mk
+++ b/os/rt/rt.mk
@@ -54,6 +54,9 @@ endif
 ifneq ($(findstring CH_CFG_USE_MEMPOOLS TRUE,$(CHCONF)),)

 KERNSRC += $(CHIBIOS)/os/common/oslib/src/chmempools.c

 endif

+ifneq ($(findstring CH_CFG_USE_FACTORY TRUE,$(CHCONF)),)

+KERNSRC += $(CHIBIOS)/os/common/oslib/src/chfactory.c

+endif

 else

 KERNSRC := $(CHIBIOS)/os/rt/src/chsys.c \

            $(CHIBIOS)/os/rt/src/chdebug.c \