TI-RTOS Kernel开发指南

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"TI-RTOS Kernel开发用户指南" TI-RTOS Kernel，也称为SYS/BIOS，是一个实时操作系统内核，专为TI（Texas Instruments）的微控制器和嵌入式处理器设计。这个用户指南详细介绍了如何使用和开发基于TI-RTOS Kernel的应用程序。SYS/BIOS不仅提供了一个运行时环境，还与TI的XDCtools紧密集成，用于配置和构建系统。 1. SYS/BIOS是什么？ SYS/BIOS是一个实时任务调度器和服务库，它提供了基本的系统服务，如任务管理、定时器、事件管理和内存管理。这个系统允许开发者创建并发执行的任务，并且能够以确定性的方式管理时间。 2. SYS/BIOS与TI-RTOS的关系？ SYS/BIOS是TI-RTOS的一部分，后者是一个更全面的实时操作系统，包括内核、设备驱动、中间件和示例应用。SYS/BIOS提供了基础的实时内核功能，而TI-RTOS则在SYS/BIOS之上增加了更多面向应用的组件和服务。 3. SYS/BIOS与XDCtools的关系？ XDCtools是一套工具，用于配置、构建和分析SYS/BIOS应用程序。它可以将SYS/BIOS视为一系列软件包来管理，并使用XML配置文件来定制系统设置。XDCtools还包括编译器前端模块和运行时API，使得开发者能够更灵活地控制和优化系统行为。 4. SYS/BIOS的包和API SYS/BIOS由多个包组成，每个包都包含特定的API，用于创建和管理对象，如任务（Tasks）、定时器（Timers）和事件标志（Event Flags）。对象的创建是通过调用特定的API函数完成的，这些API允许开发者定义任务的优先级、堆栈大小等属性。 5. C++与SYS/BIOS的结合 SYS/BIOS支持C++编程，但需要注意内存管理和名称混淆问题。C++中的动态内存分配可能与SYS/BIOS的内存管理策略冲突，因此需要特别注意。此外，由于名称混淆，C++类的方法在配置文件中调用时需要特殊处理。SYS/BIOS还支持类构造函数和析构函数，以确保对象在创建和销毁时的正确初始化和清理。 6. 更多信息和配置开发者可以通过API参考帮助系统获取更详细的函数和类信息。配置SYS/BIOS应用程序通常涉及使用TI Resource Explorer创建项目，添加SYS/BIOS支持，然后使用XGCONF工具进行配置，包括打开配置文件，执行各种配置任务，最后保存配置以供构建系统使用。 TI-RTOS Kernel（SYS/BIOS）提供了一个强大而灵活的平台，用于开发高效、实时的嵌入式系统。通过集成的XDCtools，开发者可以方便地定制系统，以满足特定项目的需求。这份用户指南详细阐述了如何充分利用这些工具和功能，对于理解和使用SYS/BIOS进行开发至关重要。

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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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