TI-RTOS Kernel (SYSBIOS)：关联与配置指南

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本文档主要介绍了TI-RTOS Kernel（基于SYS/BIOS）的相关概念、功能以及如何在实际项目中使用。SYS/BIOS是Texas Instruments (TI) 提供的一套系统软件基础设施，它与TI-RTOS密切集成，共同支持嵌入式系统的高效开发。 1. 关于SYS/BIOS： - SYS/BIOS是一个可扩展的实时操作系统（RTOS）框架，设计用于简化嵌入式系统的开发和管理。 - 它提供了一组基础服务和API，如任务管理、中断处理、内存管理和设备驱动接口，使开发者能够构建高度可定制的实时应用程序。 2. SYS/BIOS与TI-RTOS的关系： - TI-RTOS构建在SYS/BIOS之上，利用其内核组件来实现低级别的任务调度、同步和通信。 - 用户可以使用SYS/BIOS提供的预定义组件，如任务、事件和队列，轻松地构建RTOS应用程序，同时享受TI-RTOS提供的高级特性。 3. SYS/BIOS与XDC tools的关系： - XDC tools是TI提供的一套工具集，包括配置工具和编译器链接器，用于管理和构建基于SYS/BIOS的项目。 - 通过XDC tools，用户可以配置SYS/BIOS的组件，设置参数，并在编译时集成到应用代码中。 - 1.3.1节详细阐述了SYS/BIOS作为一个软件包集合，1.3.2部分介绍了如何使用XDC tools进行配置，而1.3.3则介绍了XDC tools模块和运行时API的使用方法。 4. SYS/BIOS的组件和API： - 用户可以通过对象创建来初始化SYS/BIOS组件，如创建任务、事件或信号量（1.4.1）。 - 支持POSIX线程模型，使得开发人员可以利用标准的并发编程模式（1.4.2）。 - C++编程与SYS/BIOS结合时，涉及内存管理、名称 mangling（防止名称冲突）、从配置调用类方法、构造函数和析构函数的使用等技术（1.5节）。 5. 配置与构建过程： - 文档指导用户如何使用TI Resource Explorer创建新的SYS/BIOS项目（2.1），或者在现有项目中添加SYS/BIOS支持（2.2）。 - 2.3节详细介绍了如何使用XGCONF打开配置文件，执行配置任务，保存配置，以及对应用进行相应的配置和构建流程。这篇文档是TI-RTOS Kernel（基于SYS/BIOS）的用户指南，旨在帮助开发人员了解如何有效利用这两个工具和技术来构建高性能、可靠的嵌入式系统。

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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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