TI SYS/BIOS v6.35 实时操作系统用户指南

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"TI SYS/BIOS v6.35 实时操作系统用户指南" TI SYS/BIOS 是一个针对嵌入式系统的实时操作系统(RTOS)，主要用于管理微控制器和数字信号处理器(DSP)上的任务调度、内存管理和中断处理等。本用户指南详细介绍了v6.35版本的功能和用法。在内容部分，首先介绍了SYS/BIOS的基本概念，包括它是什么（一个用于实时系统任务管理的服务集合）以及与DSP/BIOS的区别（可能在设计目标和功能上有差异）。 SYS/BIOS与XDCtools的关系也进行了阐述，表明XDCtools是用于配置SYS/BIOS的主要工具，它包含一组模块和运行时API，用于构建和定制SYS/BIOS应用。 SYS/BIOS的包结构被详细讲解，说明了这些包如何提供不同的服务，如任务管理、定时器服务等。此外，本指南还讨论了如何在SYS/BIOS环境中使用C++编程，特别提到了内存管理、符号重命名（name mangling）、在配置中调用类方法以及类构造函数和析构函数的使用。为了帮助用户获取更多信息，文档提供了额外的学习资源，包括使用API参考帮助系统来查找函数和接口的详细信息。此外，还详细讲述了如何配置和构建SYS/BIOS应用程序，涵盖了创建SYS/BIOS项目、通过TI Resource Explorer或New Project Wizard初始化、将SYS/BIOS支持添加到现有项目以及创建独立的配置项目。在配置SYS/BIOS应用程序的章节中，用户可以学习如何打开配置文件，创建任务、队列、信号量等系统对象，并设置系统属性。这涉及到使用XDCtools的图形界面或XML配置文件进行详细配置。 TI SYS/BIOS v6.35 用户指南为开发者提供了全面的指导，从基本概念到高级特性，帮助他们充分利用该RTOS来构建高效、可靠的嵌入式系统。通过遵循这份指南，用户能够有效地管理和优化他们的实时应用程序，确保系统性能和稳定性。

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The following figure shows the XGCONF configuration tool in CCS being used to configure a static

SYS/BIOS Task instance. You can see this configuration for yourself in the "Static Example" SYS/BIOS

project template in CCS.

The Task instance named "task0" set up in the configuration tool corresponds to the following XDCscript

code:

var Task = xdc.useModule('ti.sysbios.knl.Task');

Task.numPriorities = 16;

Task.idleTaskStackSize = 1024;

var tskParams = new Task.Params;

tskParams.arg0 = 1;

tskParams.arg1 = 2;

tskParams.priority = 15;

tskParams.stack = null;

tskParams.stackSize = 1024;

var task0 = Task.create('&task0Fxn', tskParams);

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1.3.3 XDCtools Modules and Runtime APIs

XDCtools contains several modules that provide basic system services your SYS/BIOS application will

need to operate successfully. Most of these modules are located in the xdc.runtime package in XDCtools.

By default, all SYS/BIOS applications automatically add the xdc.runtime package during build time.

The functionality provided by XDCtools for use in your C code and configuration file can be roughly

divided into four categories. The modules listed in the following table are in the xdc.runtime package,

unless otherwise noted.

Table 1–1. XDCtools Modules Using in C Code and Configuration

Category Modules Description

System Services System Basic low-level "system" services. For example, character output,

printf-like output, and exit handling. See Section 8.3. Proxies that

plug into this module include xdc.runtime.SysMin and

xdc.runtime.SysStd. See Section D.4.

Startup Allows functions defined by different modules to be run before

main(). See Section 3.1.

Defaults Sets event logging, assertion checking, and memory use options for

all modules for which you do not explicitly set a value. See Section

6.7.1 and Section 8.5.1.1.

Main Sets event logging and assertion checking options that apply to your

application code.

Program Sets options for runtime memory sizes, program build options, and

memory sections and segments. This module is used as the "root"

for the configuration object model. This module is in the xdc.cfg

package. See Section 3.3.1 and Section 6.3.2.

Memory Management Memory Creates/frees memory heaps statically or dynamically. SeeSection

6.7.3.

Diagnostics Log and

Loggers

Allows events to be logged and then passes those events to a Log

handler. Proxies that plug into this module include

xdc.runtime.LoggerBuf and xdc.runtime.LoggerSys. See Section

8.2.1 and Section 3.5.4.

Error Allows raising, checking, and handling errors defined by any

modules. See Section 8.3.

Diags Allows diagnostics to be enabled/disabled at either configuration- or

runtime on a per-module basis. See Section 8.5.1.

Timestamp

and Providers

Provides time-stamping APIs that forward calls to a platform-specific

time stamper (or one provided by CCS). See Section 5.4,

Text Provides string management services to minimize the string data

required on the target. See Section D.2.5.

Synchronization Gate Protects against concurrent access to critical data structures. See

Section 4.3.

Sync Provides basic synchronization between threads using wait() and

signal() functions. See Section 9.5.

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SYS/BIOS Packages www.ti.com

1.4 SYS/BIOS Packages

SYS/BIOS provides the following packages:

Table 1–2. Packages and Modules Provided by SYS/BIOS

1.5 Using C++ with SYS/BIOS

SYS/BIOS applications can be written in C or C++. An understanding of several issues regarding C++

and SYS/BIOS can help to make C++ application development proceed smoothly. These issues concern

memory management, name mangling, calling class methods from configured properties, and special

considerations for class constructors and destructors.

SYS/BIOS provides an example that is written in C++. The example code is in the bigtime.cpp file in the

packages\ti\sysbios\examples\generic\bigtime directory of the SYS/BIOS installation.

1.5.1 Memory Management

The functions new and delete are the C++ operators for dynamic memory allocation and deallocation.

For TI targets, these operators use malloc() and free(). SYS/BIOS provides reentrant versions of malloc()

and free() that internally use the xdc.runtime.Memory module and (by default) the

ti.sysbios.heaps.HeapMem module.

Package Description

ti.sysbios.benchmarks Contains specifications for benchmark tests.

Provides no modules, APIs, or configuration. See

Appendix B

ti.sysbios.family.* Contains specifications for target/device-specific functions. See Section 7.5.

ti.sysbios.gates Contains several implementations of the IGateProvider interface for use in various

situations. These include GateHwi, GateSwi, GateTask, GateMutex, and GateMu-

texPri. See

Section 4.3

ti.sysbios.hal Contains Hwi, Timer, and Cache modules. See Section 7.2, Section 7.3, and

Section 7.4.

ti.sysbios.heaps Provides several implementations of the XDCtools IHeap interface. These include

HeapBuf (fixed-size buffers), HeapMem (variable-sized buffers), and HeapMultiBuf

(multiple fixed-size buffers). See

Chapter 6

ti.sysbios.interfaces Contains interfaces for modules to be implemented, for example, on a device or

platform basis.

ti.sysbios.io Contains modules for performing input/output actions and interacting with peripheral

drivers. Chapter 9.

ti.sysbios.knl Contains modules for the SYS/BIOS kernel, including Swi, Task, Idle, and Clock.

See

Chapter 3

and

Chapter 5

. Also contains modules related to inter-process

communication: Event, Mailbox, and Semaphore. See

Chapter 4

ti.sysbios.utils Contains the Load module, which provides global CPU load as well as thread-

specific load. See Section 8.2.

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1.5.2 Name Mangling

The C++ compiler implements function overloading, operator overloading, and type-safe linking by

encoding a function's signature in its link-level name. The process of encoding the signature into the

linkname is referred to as name mangling.

Name mangling could potentially interfere with a SYS/BIOS application since you use function names

within the configuration to refer to functions declared in your C++ source files. To prevent name mangling

and thus to make your functions recognizable within the configuration, it is necessary to declare your

functions in an extern C block as shown in the following code fragment from the bigtime.cpp example:

This extern C block allows you to refer to the functions within the configuration file. For example, if you

have a Task object that should run clockTask() every time the Task runs, you could configure a Task as

follows:

Notice that in the configuration example above, the arg0 parameter of the Task is set to

$externPtr("cl3")

. The C++ code to create a global clock object for this argument is as follows:

Functions declared within the extern C block are not subject to name mangling. Since function

overloading is accomplished through name mangling, function overloading has limitations for functions

that are called from the configuration. Only one version of an overloaded function can appear within the

extern C block. The code in the following example would result in an error.

While you can use name overloading in your SYS/BIOS C++ applications, only one version of the

overloaded function can be called from the configuration.

* Extern "C" block to prevent name mangling

* of functions called within the Configuration Tool

extern "C" {

/* Wrapper functions to call Clock::tick() */

void clockTask(Clock clock);

void clockPrd(Clock clock);

void clockIdle(void);

} // end extern "C"

var task0Params = new Task.Params();

task0Params.instance.name = "task0";

task0Params.arg0 = $externPtr("cl3");

Program.global.task0 = Task.create("&clockTask", task0Params);

/* Global clock objects */

Clock cl3(3); /* task clock */

extern “C” { // Example causes ERROR

Int addNums(Int x, Int y);

Int addNums(Int x, Int y, Int z); // error, only one version

// of addNums is allowed

}

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Default parameters is a C++ feature that is not available for functions called from the configuration. C++

allows you to specify default values for formal parameters within the function declaration. However, a

function called from the configuration must provide parameter values. If no values are specified, the

actual parameter values are undefined.

1.5.3 Calling Class Methods from the Configuration

Often, the function that you want to reference within the configuration is the member function of a class

object. It is not possible to call these member functions directly from the configuration, but it is possible

to accomplish the same action through wrapper functions. By writing a wrapper function which accepts

a class instance as a parameter, you can invoke the class member function from within the wrapper.

A wrapper function for a class method is shown in the following code fragment from the bigtime.cpp

example:

Any additional parameters that the class method requires can be passed to the wrapper function.

1.5.4 Class Constructors and Destructors

Any time that a C++ class object is instantiated, the class constructor executes. Likewise, any time that

a class object is deleted, the class destructor is called. Therefore, when writing constructors and

destructors, you should consider the times at which the functions are expected to execute and tailor them

accordingly. It is important to consider what type of thread will be running when the class constructor or

destructor is invoked.

Various guidelines apply to which SYS/BIOS API functions can be called from different SYS/BIOS

threads (tasks, software interrupts, and hardware interrupts). For example, memory allocation APIs such

as Memory_alloc() and Memory_calloc() cannot be called from within the context of a software interrupt.

Thus, if a particular class is instantiated by a software interrupt, its constructor must avoid performing

memory allocation.

Similarly, it is important to keep in mind the time at which a class destructor is expected to run. Not only

does a class destructor execute when an object is explicitly deleted, but also when a local object goes

out of scope. You need to be aware of what type of thread is executing when the class destructor is called

and make only those SYS/BIOS API calls that are appropriate for that thread. For further information on

function callability, see the CDOC online documentation.

* ======== clockPrd ========

* Wrapper function for PRD objects calling

* Clock::tick()

void clockPrd(Clock clock)

{

clock.tick();

return;

}

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