$ cat a.pl
use strict;
use warnings;

use Inline C => <<'__EOI__', PREFIX => 'M_';

#include <stdio.h>

typedef struct {
   int i;
   int j;
} foo_t;

foo_t* M_get() {
   foo_t* foo = (foo_t*)malloc(sizeof(foo_t));
   printf("get: %p\n", foo);
   return foo;
}

void M_free(foo_t* foo) {
   printf("free(%p)\n", foo);
   free(foo);
}

__EOI__

my $o = get();
free($o);

$ cat typemap
TYPEMAP
foo_t*  T_PTRREF

$ perl -MInline=FORCE,NOISY,NOCLEAN a.pl
...

get: 0x91ab70
free(0x91ab70)