TI-RTOS SYS/BIOS用户指南：内核组件与开发支持详解

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TI官方的RTOS操作手册深入介绍了SYS/BIOS，这是一个专为TI设备上的嵌入式实时系统开发设计的内核组件，与TI-RTOS紧密相关。该手册旨在帮助开发人员充分利用SYS/BIOS的功能，以便高效地构建实时应用程序。在手册的第一部分，"What is SYS/BIOS?"，作者解释了SYS/BIOS作为一个全面的软件框架，它提供了一个模块化的、可扩展的基础，支持实时操作系统(RTOS)的核心功能，如任务调度、中断管理和内存管理。它不仅仅局限于操作系统内核，还包括一组工具，如XDC（Cross Development Compiler），用于配置和编译系统。 "SYS/BIOS and TI-RTOS Relationship" 部分强调了SYS/BIOS在TI-RTOS生态系统中的作用，指出SYS/BIOS是TI-RTOS的基石，提供了底层服务和接口，使得开发人员可以专注于应用层的编程。同时，手册还讨论了如何通过XDC工具来配置SYS/BIOS，包括设置系统架构、定义硬件抽象层(HAL)等。在"POSIX Thread Support"中，手册详细阐述了SYS/BIOS如何实现POSIX线程标准，允许开发人员编写跨平台的多线程代码。此外，手册还特别关注了如何在C++环境中使用SYS/BIOS，例如内存管理、名字 mangling（确保函数调用的正确性）、从配置调用类方法，以及类构造函数和析构函数的使用。第二部分"SYS/BIOS Configuration and Building"，主要指导开发者如何利用TI Resource Explorer创建新的SYS/BIOS项目，或者在现有项目中集成SYS/BIOSSupport。这部分涵盖了从项目初始化到配置文件管理的整个流程，包括如何使用XGCONF打开配置文件，执行任务设置，并保存最终的配置，确保项目的定制化和可移植性。这份手册为TI-RTOS开发者提供了一个全面的指南，从理解基本概念，到实际的开发步骤，都是为了帮助他们在嵌入式实时系统开发中充分利用SYS/BIOS的强大功能。无论是初次接触还是经验丰富的开发者，都能从中找到所需的资料和技术支持。

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1.3.2 Configuring SYS/BIOS Using XDCtools

Configuration is an essential part of using SYS/BIOS and is used for the following purposes:

• It specifies the modules and packages that will be used by the application.

• It can statically create objects for the modules that are used by the application.

• It validates the set of modules used explicitly and implicitly to make sure they are compatible.

• It statically sets parameters for the system, modules, and objects to change their runtime behavior.

An application's configuration is stored in one or more script files with a file extension of *.cfg. These are

parsed by XDCtools to generate corresponding C source code, C header, and linker command files that

are then compiled and linked into the end application. The following diagram depicts a build flow for a

typical SYS/BIOS application.

The configuration (*.cfg) file uses simple JavaScript-like syntax to set properties and call methods

provided by objects. You can create and modify a configuration file in the following ways:

• Using the visual configuration tool (XGCONF) in CCS.

• Editing the text of the configuration in the cfg Script tab in the XGCONF editor in CCS.

• Editing the *.cfg file directly with a text editor.

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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 1–2. 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 9.3. Proxies that

plug into this module include xdc.runtime.SysMin and

xdc.runtime.SysStd. See Section 6.3.

Startup Allows functions defined by different modules to be run before

main(). See Section 6.5.

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

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

7.7.1 and Section 9.5.1.1.

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 3.4.1, Section 6.4, and Section 7.3.2.

Memory Management Memory Creates/frees memory heaps statically or dynamically. See Section

7.7.

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

9.2.1 and Section 3.6.4.

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

modules. See Section 6.7 and Section 9.3.

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

runtime on a per-module basis. See Section 9.5.1.

Timestamp

and Providers

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

time stamper (or one provided by CCS). See Section 5.5,

Text Provides string management services to minimize the string

data

required on the target. See Section 6.8.

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 E.6.

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www.ti.com SYS/BIOS Packages and APIs

1.4 SYS/BIOS Packages and APIs

SYS/BIOS provides the following packages:

Table 1–3. Packages and Modules Provided by SYS/BIOS

Each SYS/BIOS package provides one or more modules. Each module, in turn, provides APIs for

working with that module. APIs have function names of the form Module_actionDescription(). For

example, Task_setPri() sets the priority of a Task thread.

In order to use a module, your application must include the standard SYS/BIOS header file and the

header file for that module. For example:

The API functions provided by each module differ.

1.4.1 SYS/BIOS Object Creation

Several modules support the creation of instance objects. Such modules include Hwi, Task, Swi,

Semaphore, Mailbox, Queue, Event, Clock, Timer, and various types of Gate and Heap modules. For

example, the Task module allows you to create several Task objects. Each Task object corresponds to a

thread that has its own function, priority, and timing.

Package Description See

ti.sysbios.family.* Contains target/device-specific functions. Section 8.5

ti.sysbios.gates Contains several implementations of the IGateProvider

interface for use in various situations. These include

GateHwi, GateSwi, GateTask, GateMutex, and

GateMutexPri.

Section 4.3

ti.sysbios.hal Contains Hwi, Timer, Seconds, and Cache modules Section 8.2, Section 8.3,

Section 5.4, Section 8.4.

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).

Chapter 7

ti.sysbios.interfaces Contains interfaces for modules to be implemented, for

example, on a device or platform basis.

ti.sysbios.knl Contains modules for the SYS/BIOS kernel, including Swi,

Task, Idle, and Clock. Also contains modules related to

inter-process communication: Event, Mailbox, and

Semaphore.

Chapter 3, Chapter 4,

Chapter 5

ti.sysbios.utils Contains the Load module, which provides global CPU

load as well as thread-specific load.

Section 9.2

#include <xdc/std.h> /* initializes XDCtools */

#include <ti/sysbios/BIOS.h> /* initializes SYS/BIOS */

#include <ti/sysbios/knl/Task.h> /* initializes Task module */

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Such instance objects can be created in the following three ways.

• Module_create() The create APIs require a heap to allow dynamic memory allocation of the object.

All module create functions require that an Error_Block structure be passed to the creation function.

For example, this code fragment creates and posts a Semaphore object:

• Module_construct() The construct APIs must be passed an object structure instead of dynamically

allocating the object from a heap. Avoiding dynamic memory allocation helps reduce the code

footprint. Most Module_construct() APIs do not require an Error_Block; this also helps reduce the

code footprint. Some Module_construct() APIs may allocate memory internally. For example,

Task_construct() allocates a task stack if you do not provide one. For example, this code fragment

constructs and posts a Semaphore object:

• Static creation allows you to specify the object in the application’s *.cfg file. No heap is needed if

you are statically allocating objects. A structure for the object is added to the source file generated

for the configuration. See Chapter 2 for details about configuration. For example, the following *.cfg

statements configure a Semaphore object. The Semaphore would be posted with the same

Semaphore_post() call used with Semaphore_create().:

Statically created objects cannot be destroyed at runtime.

The TI-RTOS examples use the Module_construct() mechanism, which is a nice compromise between

static and dynamic creation. However, each style of object creation has its own pros and cons as listed

in Table 1–4.

#include <ti/sysbios/knl/Semaphore.h>

Semaphore_Handle semaphore0;

Semaphore_Params semaphoreParams;

Error_Block eb;

...

Error_init(&eb);

Semaphore_Params_init(&semaphoreParams);

semaphore0 = Semaphore_create(0, &semaphoreParams, &eb);

if (semaphore0 == NULL) {

... }

Semaphore_post(semaphore0);

#include <ti/sysbios/knl/Semaphore.h>

Semaphore_Struct semaphore0Struct;

Semaphore_Params semaphoreParams;

...

Semaphore_Params_init(&semaphoreParams);

Semaphore_construct(&semaphore0Struct, 0, &semaphoreParams);

...

Semaphore_post(Semaphore_handle(&semaphore0Struct));

var semaphore0Params = new Semaphore.Params();

Program.global.semaphore0 = Semaphore.create(0, semaphore0Params);

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