预备知识要求:1.SPI总线
2. platfrom平台
3. sysfs子系统
4. 阅读过LDD3第3,5,6,7,9,10,11章的内容。
NOTE:如果没有看过LDD3的相关内容,直接看内核源码将非常吃力!!!
PC主机:Ubuntu 和 redhat 9.0
目标板:TQ2440开发板 cpu:s3c2440 linux内核:2.6.30
0.引言
本系列文章对Linux设备模型中的SPI子系统进行讲解。SPI子系统的讲解将分为4个部分。
第一部分,将对SPI子系统整体进行描述,同时给出SPI的相关数据结构,最后描述SPI总线的注册。基于S3C2440的嵌入式Linux驱动——SPI子系统解读(一)
第二部分,该文将对SPI的主控制器(master)驱动进行描述。 基于S3C2440的嵌入式Linux驱动——SPI子系统解读(二)
第三部分,该文将对SPI设备驱动,也称protocol 驱动,进行讲解。基于S3C2440的嵌入式Linux驱动——SPI子系统解读(三)
第四部分,即本篇文章,通过SPI设备驱动留给用户层的API,我们将从上到下描述数据是如何通过SPI的protocol 驱动,由bitbang 中转,最后由master驱动将
数据传输出去。基于S3C2440的嵌入式Linux驱动——SPI子系统解读(四)
1.SPI子系统综述
SPI子系统从上到下分为:spi设备驱动层,核心层和master驱动层。其中master驱动抽象出spi控制器的相关操作,而spi设备驱动层抽象出了用户空间API。
platform_device结构中描述了SPI控制器的相关资源,同时在板级信息中将会添加spi设备的相关信息。master驱动将以platform_driver形式体现出来,也就是说
在主控制器(master)和主控制器驱动将挂载到platform总线上。platform_driver的probe函数中将注册spi_master,同时将会获取在板级信息中添加的spi设备,将该
信息转换成spi_device,然后注册spi_device到spi总线上。spi_driver结构用于描述spi设备驱动,也将挂载到spi总线上。连同spi_driver一起注册的是字符设备,该
字符设备将提供5个API给用户空间。通过API,用户空间可以执行半双工读、半双工写和全双工读写。
1.SPI子系统框图详解:
SPI总线上有两类设备:一类是主控端,通常作为SOC系统的一个子模块出现,比如很多嵌入式MPU中都常常包含SPI模块。一类是受控端,例如一些SPI接口的Flash、传感器等等。主控端是SPI总线的控制者,通过使用SPI协议主动发起SPI总线上的会话。而受控端则被动接受SPI主控端的指令,并作出响应的响应。
如图1所示,linux下的spi子系统主要涉及3个部分:spi核心、spiprotocol驱动和spi主控制器驱动。如图1.1,spi核心负责抽象出所有控制器都具备的功能代码,同时向上为spiprotocol驱动提供接口比如spi_message、spi_transfer,spi_async等,具体可参见linux/spi/spi.h文件,需要自己写客户驱动的可以详细了解一下spi.h文件。
spi控制器驱动负责与具体的控制器硬件沟通,进行bit级的数据传输。
spi客户驱动,即protocol驱动负责从控制器端接收数据,然后按照“protocol”将其解释为有意义的数据格式。
图2则显示了Linux下SPI子系统所涉及的大部分结构和函数调用,其中一些细节可以在这里找到你想要得。
2. SPI的相关数据结构
这里将介绍内核所用到的关键数据结构,还有些结构将在用到时加以说明。
2.1 spi_master
该结构用于描述SOC的SPI控制器,S3C2440共有两个SPI控制器。
- /**
- * struct spi_master - interface to SPI master controller
- * @dev: device interface to this driver
- * @bus_num: board-specific (and often SOC-specific) identifier for a
- * given SPI controller.
- * @num_chipselect: chipselects are used to distinguish individual
- * SPI slaves, and are numbered from zero to num_chipselects.
- * each slave has a chipselect signal, but it's common that not
- * every chipselect is connected to a slave.
- * @dma_alignment: SPI controller constraint on DMA buffers alignment.
- * @setup: updates the device mode and clocking records used by a
- * device's SPI controller; protocol code may call this. This
- * must fail if an unrecognized or unsupported mode is requested.
- * It's always safe to call this unless transfers are pending on
- * the device whose settings are being modified.
- * @transfer: adds a message to the controller's transfer queue.
- * @cleanup: frees controller-specific state
- *
- * Each SPI master controller can communicate with one or more @spi_device
- * children. These make a small bus, sharing MOSI, MISO and SCK signals
- * but not chip select signals. Each device may be configured to use a
- * different clock rate, since those shared signals are ignored unless
- * the chip is selected.
- *
- * The driver for an SPI controller manages access to those devices through
- * a queue of spi_message transactions, copying data between CPU memory and
- * an SPI slave device. For each such message it queues, it calls the
- * message's completion function when the transaction completes.
- */
- struct spi_master {
- struct device dev;
- /* other than negative (== assign one dynamically), bus_num is fully
- * board-specific. usually that simplifies to being SOC-specific.
- * example: one SOC has three SPI controllers, numbered 0..2,
- * and one board's schematics might show it using SPI-2. software
- * would normally use bus_num=2 for that controller.
- */
- s16 bus_num;
- /* chipselects will be integral to many controllers; some others
- * might use board-specific GPIOs.
- */
- u16 num_chipselect; //该值不能为0,否则会注册失败
- /* some SPI controllers pose alignment requirements on DMAable
- * buffers; let protocol drivers know about these requirements.
- */
- u16 dma_alignment;
- /* Setup mode and clock, etc (spi driver may call many times).
- *
- * IMPORTANT: this may be called when transfers to another
- * device are active. DO NOT UPDATE SHARED REGISTERS in ways
- * which could break those transfers.
- */
- int (*setup)(struct spi_device *spi);
- /* bidirectional bulk transfers
- *
- * + The transfer() method may not sleep; its main role is
- * just to add the message to the queue.
- * + For now there's no remove-from-queue operation, or
- * any other request management
- * + To a given spi_device, message queueing is pure fifo
- *
- * + The master's main job is to process its message queue,
- * selecting a chip then transferring data
- * + If there are multiple spi_device children, the i/o queue
- * arbitration algorithm is unspecified (round robin, fifo,
- * priority, reservations, preemption, etc)
- *
- * + Chipselect stays active during the entire message
- * (unless modified by spi_transfer.cs_change != 0).
- * + The message transfers use clock and SPI mode parameters
- * previously established by setup() for this device
- */
- int (*transfer)(struct spi_device *spi,
- struct spi_message *mesg);
- /* called on release() to free memory provided by spi_master */
- void (*cleanup)(struct spi_device *spi);
- };
该结构用于描述SPI设备,也就是从设备的相关信息。
NOTE:SPI子系统只支持主模式,也就是说S3C2440的SPI只能工作在master模式,外围设备只能为slave模式。
- /**
- * struct spi_device - Master side proxy for an SPI slave device
- * @dev: Driver model representation of the device.
- * @master: SPI controller used with the device.
- * @max_speed_hz: Maximum clock rate to be used with this chip
- * (on this board); may be changed by the device's driver.
- * The spi_transfer.speed_hz can override this for each transfer.
- * @chip_select: Chipselect, distinguishing chips handled by @master.
- * @mode: The spi mode defines how data is clocked out and in.
- * This may be changed by the device's driver.
- * The "active low" default for chipselect mode can be overridden
- * (by specifying SPI_CS_HIGH) as can the "MSB first" default for
- * each word in a transfer (by specifying SPI_LSB_FIRST).
- * @bits_per_word: Data transfers involve one or more words; word sizes
- * like eight or 12 bits are common. In-memory wordsizes are
- * powers of two bytes (e.g. 20 bit samples use 32 bits).
- * This may be changed by the device's driver, or left at the
- * default (0) indicating protocol words are eight bit bytes.
- * The spi_transfer.bits_per_word can override this for each transfer.
- * @irq: Negative, or the number passed to request_irq() to receive
- * interrupts from this device.
- * @controller_state: Controller's runtime state
- * @controller_data: Board-specific definitions for controller, such as
- * FIFO initialization parameters; from board_info.controller_data
- * @modalias: Name of the driver to use with this device, or an alias
- * for that name. This appears in the sysfs "modalias" attribute
- * for driver coldplugging, and in uevents used for hotplugging
- *
- * A @spi_device is used to interchange data between an SPI slave
- * (usually a discrete chip) and CPU memory.
- *
- * In @dev, the platform_data is used to hold information about this
- * device that's meaningful to the device's protocol driver, but not
- * to its controller. One example might be an identifier for a chip
- * variant with slightly different functionality; another might be
- * information about how this particular board wires the chip's pins.
- */
- struct spi_device {
- struct device dev;
- struct spi_master *master;
- u32 max_speed_hz;
- u8 chip_select;
- u8 mode;
- #define SPI_CPHA 0x01 /* clock phase */
- #define SPI_CPOL 0x02 /* clock polarity */
- #define SPI_MODE_0 (0|0) /* (original MicroWire) */
- #define SPI_MODE_1 (0|SPI_CPHA)
- #define SPI_MODE_2 (SPI_CPOL|0)
- #define SPI_MODE_3 (SPI_CPOL|SPI_CPHA)
- #define SPI_CS_HIGH 0x04 /* chipselect active high? */
- #define SPI_LSB_FIRST 0x08 /* per-word bits-on-wire */
- #define SPI_3WIRE 0x10 /* SI/SO signals shared */
- #define SPI_LOOP 0x20 /* loopback mode */
- u8 bits_per_word;
- int irq;
- void *controller_state;
- void *controller_data;
- char modalias[32];
- /*
- * likely need more hooks for more protocol options affecting how
- * the controller talks to each chip, like:
- * - memory packing (12 bit samples into low bits, others zeroed)
- * - priority
- * - drop chipselect after each word
- * - chipselect delays
- * - ...
- */
- };
该结构也是对从设备的描述,只不过它是板级信息,最终该结构的所有信息将复制给spi_device。
- * INTERFACE between board init code and SPI infrastructure.
- *
- * No SPI driver ever sees these SPI device table segments, but
- * it's how the SPI core (or adapters that get hotplugged) grows
- * the driver model tree.
- *
- * As a rule, SPI devices can't be probed. Instead, board init code
- * provides a table listing the devices which are present, with enough
- * information to bind and set up the device's driver. There's basic
- * support for nonstatic configurations too; enough to handle adding
- * parport adapters, or microcontrollers acting as USB-to-SPI bridges.
- */
- /**
- * struct spi_board_info - board-specific template for a SPI device
- * @modalias: Initializes spi_device.modalias; identifies the driver.
- * @platform_data: Initializes spi_device.platform_data; the particular
- * data stored there is driver-specific.
- * @controller_data: Initializes spi_device.controller_data; some
- * controllers need hints about hardware setup, e.g. for DMA.
- * @irq: Initializes spi_device.irq; depends on how the board is wired.
- * @max_speed_hz: Initializes spi_device.max_speed_hz; based on limits
- * from the chip datasheet and board-specific signal quality issues.
- * @bus_num: Identifies which spi_master parents the spi_device; unused
- * by spi_new_device(), and otherwise depends on board wiring.
- * @chip_select: Initializes spi_device.chip_select; depends on how
- * the board is wired.
- * @mode: Initializes spi_device.mode; based on the chip datasheet, board
- * wiring (some devices support both 3WIRE and standard modes), and
- * possibly presence of an inverter in the chipselect path.
- *
- * When adding new SPI devices to the device tree, these structures serve
- * as a partial device template. They hold information which can't always
- * be determined by drivers. Information that probe() can establish (such
- * as the default transfer wordsize) is not included here.
- *
- * These structures are used in two places. Their primary role is to
- * be stored in tables of board-specific device descriptors, which are
- * declared early in board initialization and then used (much later) to
- * populate a controller's device tree after the that controller's driver
- * initializes. A secondary (and atypical) role is as a parameter to
- * spi_new_device() call, which happens after those controller drivers
- * are active in some dynamic board configuration models.
- */
- struct spi_board_info {
- /* the device name and module name are coupled, like platform_bus;
- * "modalias" is normally the driver name.
- *
- * platform_data goes to spi_device.dev.platform_data,
- * controller_data goes to spi_device.controller_data,
- * irq is copied too
- */
- char modalias[32];
- const void *platform_data;
- void *controller_data;
- int irq;
- /* slower signaling on noisy or low voltage boards */
- u32 max_speed_hz;
- /* bus_num is board specific and matches the bus_num of some
- * spi_master that will probably be registered later.
- *
- * chip_select reflects how this chip is wired to that master;
- * it's less than num_chipselect.
- */
- u16 bus_num;
- u16 chip_select;
- /* mode becomes spi_device.mode, and is essential for chips
- * where the default of SPI_CS_HIGH = 0 is wrong.
- */
- u8 mode;
- /* ... may need additional spi_device chip config data here.
- * avoid stuff protocol drivers can set; but include stuff
- * needed to behave without being bound to a driver:
- * - quirks like clock rate mattering when not selected
- */
- };
2.4 spi_driver
该结构用于描述SPI设备驱动。
- 驱动核心将根据driver.name和spi_board_info 的modalias进行匹配,如过modalia和name相等,则绑定驱动程序和SPI设备。
- /**
- * struct spi_driver - Host side "protocol" driver
- * @probe: Binds this driver to the spi device. Drivers can verify
- * that the device is actually present, and may need to configure
- * characteristics (such as bits_per_word) which weren't needed for
- * the initial configuration done during system setup.
- * @remove: Unbinds this driver from the spi device
- * @shutdown: Standard shutdown callback used during system state
- * transitions such as powerdown/halt and kexec
- * @suspend: Standard suspend callback used during system state transitions
- * @resume: Standard resume callback used during system state transitions
- * @driver: SPI device drivers should initialize the name and owner
- * field of this structure.
- *
- * This represents the kind of device driver that uses SPI messages to
- * interact with the hardware at the other end of a SPI link. It's called
- * a "protocol" driver because it works through messages rather than talking
- * directly to SPI hardware (which is what the underlying SPI controller
- * driver does to pass those messages). These protocols are defined in the
- * specification for the device(s) supported by the driver.
- *
- * As a rule, those device protocols represent the lowest level interface
- * supported by a driver, and it will support upper level interfaces too.
- * Examples of such upper levels include frameworks like MTD, networking,
- * MMC, RTC, filesystem character device nodes, and hardware monitoring.
- */
- struct spi_driver {
- int (*probe)(struct spi_device *spi);
- int (*remove)(struct spi_device *spi);
- void (*shutdown)(struct spi_device *spi);
- int (*suspend)(struct spi_device *spi, pm_message_t mesg);
- int (*resume)(struct spi_device *spi);
- struct device_driver driver;
- };
该数据结构是对一次完整的数据传输的描述。
- <span style="font-size:12px;">/*
- * I/O INTERFACE between SPI controller and protocol drivers
- *
- * Protocol drivers use a queue of spi_messages, each transferring data
- * between the controller and memory buffers.
- *
- * The spi_messages themselves consist of a series of read+write transfer
- * segments. Those segments always read the same number of bits as they
- * write; but one or the other is easily ignored by passing a null buffer
- * pointer. (This is unlike most types of I/O API, because SPI hardware
- * is full duplex.)
- *
- * NOTE: Allocation of spi_transfer and spi_message memory is entirely
- * up to the protocol driver, which guarantees the integrity of both (as
- * well as the data buffers) for as long as the message is queued.
- */
- /**
- * struct spi_transfer - a read/write buffer pair
- * @tx_buf: data to be written (dma-safe memory), or NULL
- * @rx_buf: data to be read (dma-safe memory), or NULL
- * @tx_dma: DMA address of tx_buf, if @spi_message.is_dma_mapped
- * @rx_dma: DMA address of rx_buf, if @spi_message.is_dma_mapped
- * @len: size of rx and tx buffers (in bytes)
- * @speed_hz: Select a speed other than the device default for this
- * transfer. If 0 the default (from @spi_device) is used.
- * @bits_per_word: select a bits_per_word other than the device default
- * for this transfer. If 0 the default (from @spi_device) is used.
- * @cs_change: affects chipselect after this transfer completes
- * @delay_usecs: microseconds to delay after this transfer before
- * (optionally) changing the chipselect status, then starting
- * the next transfer or completing this @spi_message.
- * @transfer_list: transfers are sequenced through @spi_message.transfers
- *
- * SPI transfers always write the same number of bytes as they read.
- * Protocol drivers should always provide @rx_buf and/or @tx_buf.
- * In some cases, they may also want to provide DMA addresses for
- * the data being transferred; that may reduce overhead, when the
- * underlying driver uses dma.
- *
- * If the transmit buffer is null, zeroes will be shifted out
- * while filling @rx_buf. If the receive buffer is null, the data
- * shifted in will be discarded. Only "len" bytes shift out (or in).
- * It's an error to try to shift out a partial word. (For example, by
- * shifting out three bytes with word size of sixteen or twenty bits;
- * the former uses two bytes per word, the latter uses four bytes.)
- *
- * In-memory data values are always in native CPU byte order, translated
- * from the wire byte order (big-endian except with SPI_LSB_FIRST). So
- * for example when bits_per_word is sixteen, buffers are 2N bytes long
- * (@len = 2N) and hold N sixteen bit words in CPU byte order.
- *
- * When the word size of the SPI transfer is not a power-of-two multiple
- * of eight bits, those in-memory words include extra bits. In-memory
- * words are always seen by protocol drivers as right-justified, so the
- * undefined (rx) or unused (tx) bits are always the most significant bits.
- *
- * All SPI transfers start with the relevant chipselect active. Normally
- * it stays selected until after the last transfer in a message. Drivers
- * can affect the chipselect signal using cs_change.
- *
- * (i) If the transfer isn't the last one in the message, this flag is
- * used to make the chipselect briefly go inactive in the middle of the
- * message. Toggling chipselect in this way may be needed to terminate
- * a chip command, letting a single spi_message perform all of group of
- * chip transactions together.
- *
- * (ii) When the transfer is the last one in the message, the chip may
- * stay selected until the next transfer. On multi-device SPI busses
- * with nothing blocking messages going to other devices, this is just
- * a performance hint; starting a message to another device deselects
- * this one. But in other cases, this can be used to ensure correctness.
- * Some devices need protocol transactions to be built from a series of
- * spi_message submissions, where the content of one message is determined
- * by the results of previous messages and where the whole transaction
- * ends when the chipselect goes intactive.
- *
- * The code that submits an spi_message (and its spi_transfers)
- * to the lower layers is responsible for managing its memory.
- * Zero-initialize every field you don't set up explicitly, to
- * insulate against future API updates. After you submit a message
- * and its transfers, ignore them until its completion callback.
- */
- struct spi_transfer {
- /* it's ok if tx_buf == rx_buf (right?)
- * for MicroWire, one buffer must be null
- * buffers must work with dma_*map_single() calls, unless
- * spi_message.is_dma_mapped reports a pre-existing mapping
- */
- const void *tx_buf;
- void *rx_buf;
- unsigned len;
- dma_addr_t tx_dma;
- dma_addr_t rx_dma;
- unsigned cs_change:1;
- u8 bits_per_word;
- u16 delay_usecs;
- u32 speed_hz;
- struct list_head transfer_list;
- };</span>
该结构就是对多个spi_transfer的封装。
- <span style="font-size:12px;">/**
- * struct spi_message - one multi-segment SPI transaction
- * @transfers: list of transfer segments in this transaction
- * @spi: SPI device to which the transaction is queued
- * @is_dma_mapped: if true, the caller provided both dma and cpu virtual
- * addresses for each transfer buffer
- * @complete: called to report transaction completions
- * @context: the argument to complete() when it's called
- * @actual_length: the total number of bytes that were transferred in all
- * successful segments
- * @status: zero for success, else negative errno
- * @queue: for use by whichever driver currently owns the message
- * @state: for use by whichever driver currently owns the message
- *
- * A @spi_message is used to execute an atomic sequence of data transfers,
- * each represented by a struct spi_transfer. The sequence is "atomic"
- * in the sense that no other spi_message may use that SPI bus until that
- * sequence completes. On some systems, many such sequences can execute as
- * as single programmed DMA transfer. On all systems, these messages are
- * queued, and might complete after transactions to other devices. Messages
- * sent to a given spi_device are alway executed in FIFO order.
- *
- * The code that submits an spi_message (and its spi_transfers)
- * to the lower layers is responsible for managing its memory.
- * Zero-initialize every field you don't set up explicitly, to
- * insulate against future API updates. After you submit a message
- * and its transfers, ignore them until its completion callback.
- */
- struct spi_message {
- struct list_head transfers;
- struct spi_device *spi;
- unsigned is_dma_mapped:1;
- /* REVISIT: we might want a flag affecting the behavior of the
- * last transfer ... allowing things like "read 16 bit length L"
- * immediately followed by "read L bytes". Basically imposing
- * a specific message scheduling algorithm.
- *
- * Some controller drivers (message-at-a-time queue processing)
- * could provide that as their default scheduling algorithm. But
- * others (with multi-message pipelines) could need a flag to
- * tell them about such special cases.
- */
- /* completion is reported through a callback */
- void (*complete)(void *context);
- void *context;
- unsigned actual_length;
- int status;
- /* for optional use by whatever driver currently owns the
- * spi_message ... between calls to spi_async and then later
- * complete(), that's the spi_master controller driver.
- */
- struct list_head queue;
- void *state;
- };</span>
- <span style="font-size:12px;">struct spi_bitbang {
- struct workqueue_struct *workqueue;
- struct work_struct work;
- spinlock_t lock;
- struct list_head queue;
- u8 busy;
- u8 use_dma;
- u8 flags; /* extra spi->mode support */
- struct spi_master *master;
- /* setup_transfer() changes clock and/or wordsize to match settings
- * for this transfer; zeroes restore defaults from spi_device.
- */
- int (*setup_transfer)(struct spi_device *spi,
- struct spi_transfer *t);
- void (*chipselect)(struct spi_device *spi, int is_on);
- #define BITBANG_CS_ACTIVE 1 /* normally nCS, active low */
- #define BITBANG_CS_INACTIVE 0
- /* txrx_bufs() may handle dma mapping for transfers that don't
- * already have one (transfer.{tx,rx}_dma is zero), or use PIO
- */
- int (*txrx_bufs)(struct spi_device *spi, struct spi_transfer *t);
- /* txrx_word[SPI_MODE_*]() just looks like a shift register */
- u32 (*txrx_word[4])(struct spi_device *spi,
- unsigned nsecs,
- u32 word, u8 bits);
- };</span>
下列函数位于drivers/spi/spi.c中。
- struct bus_type spi_bus_type = {
- .name = "spi",
- .dev_attrs = spi_dev_attrs,
- .match = spi_match_device,
- .uevent = spi_uevent,
- .suspend = spi_suspend,
- .resume = spi_resume,
- };
- EXPORT_SYMBOL_GPL(spi_bus_type);
- static struct class spi_master_class = {
- .name = "spi_master",
- .owner = THIS_MODULE,
- .dev_release = spi_master_release,
- };
- /* portable code must never pass more than 32 bytes */
- #define SPI_BUFSIZ max(32,SMP_CACHE_BYTES)
- static u8 *buf;
- static int __init spi_init(void)
- {
- int status;
- buf = kmalloc(SPI_BUFSIZ, GFP_KERNEL);
- if (!buf) {
- status = -ENOMEM;
- goto err0;
- }
- status = bus_register(&spi_bus_type); /*注册SPI总线*/
- if (status < 0)
- goto err1;
- status = class_register(&spi_master_class);/*注册SPI类*/
- if (status < 0)
- goto err2;
- return 0;
- err2:
- bus_unregister(&spi_bus_type);
- err1:
- kfree(buf);
- buf = NULL;
- err0:
- return status;
- }
- /* board_info is normally registered in arch_initcall(),
- * but even essential drivers wait till later
- *
- * REVISIT only boardinfo really needs static linking. the rest (device and
- * driver registration) _could_ be dynamically linked (modular) ... costs
- * include needing to have boardinfo data structures be much more public.
- */
- postcore_initcall(spi_init);
spi_init函数注册SPI总线以及SPI类到内核中。该函数在内核初始化的postcore_initcall阶段被调用。
顺便看看下总线的匹配函数。
下列函数位于drivers/spi/spi.c中。
- /* modalias support makes "modprobe $MODALIAS" new-style hotplug work,
- * and the sysfs version makes coldplug work too.
- */
- static int spi_match_device(struct device *dev, struct device_driver *drv)
- {
- const struct spi_device *spi = to_spi_device(dev);
- return strcmp(spi->modalias, drv->name) == 0;
- }