TI-RTOS内核SYS/BIOS详解：配置与构建指南

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"TI-RTOS内核介绍文档，涵盖了SYS/BIOS v6.46用户指南，详细讨论了SYS/BIOS与TI-RTOS的关系、与XDC工具的关联，以及如何配置和构建SYS/BIOS项目。" TI-RTOS（Texas Instruments Real-Time Operating System）是德州仪器开发的一款实时操作系统，其核心部分是SYS/BIOS，一个轻量级的、面向嵌入式系统的实时内核。SYS/BIOS提供了任务调度、定时器管理、事件管理和内存管理等关键服务，适用于各种TI微控制器和处理器。 SYS/BIOS内核的运行流程主要包括以下几个方面： 1. **SYS/BIOS与TI-RTOS的关系**：SYS/BIOS是TI-RTOS的核心组成部分，提供基础的实时内核服务。TI-RTOS则是一套完整的实时操作系统解决方案，除了内核还包括一系列驱动程序、中间件和库，以满足更广泛的应用需求。 2. **SYS/BIOS与XDCtools的关系**：XDCtools是一组用于构建和配置嵌入式应用的工具集，它包含了一种配置语言（XML-based Device Configuration，XDC）和编译时及运行时组件。SYS/BIOS作为一个包集合，可以通过XDCtools进行配置，从而实现对硬件资源的定制化设置和优化。 - **SYS/BIOS作为包集合**：SYS/BIOS由多个独立的软件包组成，每个包都有特定的功能，如任务管理、定时器服务等。 - **使用XDCtools配置SYS/BIOS**：开发者可以使用XDCtools的图形界面或命令行工具（如xconfig）来创建、修改和管理SYS/BIOS配置。 - **XDCtools模块与运行时APIs**：XDCtools不仅提供配置工具，还提供了与SYS/BIOS内核交互的运行时API，允许程序员在应用程序中控制和查询内核状态。 3. **SYS/BIOS的包结构**：SYS/BIOS包含多个核心包，如Hwi（硬件中断服务）、Swi（软件中断服务）、Task（任务管理）、Timer（定时器服务）等，这些包共同构成了SYS/BIOS的基础架构。 4. **C++与SYS/BIOS的集成**：虽然SYS/BIOS主要是用C语言编写的，但也支持C++。在使用C++时，需要注意内存管理、名称混淆、类方法调用以及构造函数和析构函数的处理。 - **内存管理**：SYS/BIOS提供了一套内存分配机制，但在C++环境中，需确保与C++的new和delete操作兼容。 - **名称混淆**：由于C++的名称修饰，可能会影响到SYS/BIOS的符号解析，因此在链接时需要适当的配置。 - **从配置调用类方法**：在SYS/BIOS配置阶段，可以直接引用C++类方法，但这需要对配置文件有深入理解。 - **类构造与析构**：在SYS/BIOS中使用C++类时，需考虑构造函数和析构函数的执行时机，通常在任务或中断上下文中。 5. **获取更多信息**：除了用户指南，开发者还可以利用API参考帮助系统和其他文档资源，深入了解SYS/BIOS的使用和功能。 6. **SYS/BIOS项目的配置和构建**： - **创建SYS/BIOS项目**：使用TI Resource Explorer可以方便地创建新的SYS/BIOS项目，配置文件会自动生成。 - **向现有项目添加SYS/BIOS支持**：对于已有项目，可以手动引入SYS/BIOS库并进行相应配置。 - **配置SYS/BIOS应用**：通过XGCONF工具打开配置文件，执行任务如添加任务、定时器，调整优先级等，并保存配置。 - **XGCONF视图**：XGCONF提供了多种视图，帮助用户直观地查看和编辑配置信息。 - **使用可用产品**：开发者可以根据需求选择和配置SYS/BIOS提供的各种产品，如驱动、库等。 TI-RTOS内核SYS/BIOS是为嵌入式系统设计的高效实时内核，通过XDCtools进行灵活配置，与C++良好集成，支持丰富的功能包，为开发者提供了强大的开发环境和工具。了解和掌握SYS/BIOS的运行机制和配置方法，是有效利用TI-RTOS进行嵌入式系统开发的关键。

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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

1.4 SYS/BIOS Packages

SYS/BIOS provides the following packages:

Table 1–3. 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 8.5.

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

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

exPri. See

Section 4.3

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

Section 5.4, and 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). See

Chapter 7

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 E.

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 9.2.

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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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