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head.h

#ifndef __HEAD_H__
#define __HEAD_H__ 
typedef struct{
    unsigned int MODER;
    unsigned int OTYPER;
    unsigned int OSPEEDR;
    unsigned int PUPDR;
    unsigned int IDR;
    unsigned int ODR;
}gpio_t;
//查看开发扩展板原理图可知
//蜂鸣器 PB6
//风扇 PE9
//马达 PF6
//LED1 PE10
//LED2 PF10
//LED3 PE8
#define PHY_BEE_ADDR 0X50003000
#define PHY_LED1_ADDR 0X50006000
#define PHY_LED2_ADDR 0X50007000
#define PHY_LED3_ADDR 0X50006000
#define PHY_RCC_ADDR  0X50000A28
#define LED_ON _IOW('l',1,int)  //开灯
#define LED_OFF _IOW('l',0,int)//关灯
#define BEE_ON _IOW('l',3,int)  //打开蜂鸣器
#define BEE_OFF _IOW('l',2,int)//关闭蜂鸣器
#define FAN_ON _IOW('l',5,int) //开风扇 
#define FAN_OFF _IOW('l',4,int)//关风扇
#define MOTOR_ON _IOW('l',7,int)//开马达 
#define MOTOR_OFF _IOW('l',6,int)//关马达
#endif 

test.c

#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <string.h>
#include <sys/ioctl.h>
#include "head.h"

int main(int argc, char const *argv[])
{
	int a,b;
    char buf[128] = {0};
    int fd = open("/dev/mychrdev0", O_RDWR);
    if (fd < 0)
    {
        printf("打开设备文件失败\n");
        exit(-1);
    }
    while (1)
    {   
		//从终端读取
		printf("请选择要实现的功能\n");
        printf("1(打开) 0(关闭)\n");
		scanf("%d",&a);
		printf("请输入要控制的部件\n");
		printf("1(LED1)2(LED2)3(LED3)4(BEE)5(FAN)6(MOTOR)\n");
		getchar();
		scanf("%d",&b);
		getchar();
		if(a==1)//打开
        {
			switch(b)
			{
			case 1://LED1
            ioctl(fd,LED_ON,&b);break;
			case 2://LED2
            ioctl(fd,LED_ON,&b);break;
			case 3://LED3
            ioctl(fd,LED_ON,&b);break;
			case 4://BEE
            ioctl(fd,BEE_ON,&b);break;
			case 5://FAN
            ioctl(fd,FAN_ON,&b);break;
			case 6://MOTOR
            ioctl(fd,MOTOR_ON,&b);break;
			}
        }
        else if(a==0)//关闭
        {
       		switch(b)
			{
			case 1://LED1
            ioctl(fd,LED_OFF,&b);break;
			case 2://LED2
            ioctl(fd,LED_OFF,&b);break;
			case 3://LED3
            ioctl(fd,LED_OFF,&b);break;
			case 4://BEE
            ioctl(fd,BEE_OFF,&b);break;
			case 5://FAN
            ioctl(fd,FAN_OFF,&b);break;
			case 6://MOTOR
            ioctl(fd,MOTOR_OFF,&b);break;
			}		
		}
    }
    close(fd);
    return 0;
}

mychrdev.c

#include <linux/init.h>
#include <linux/module.h>
#include <linux/fs.h>
#include <linux/uaccess.h>
#include <linux/io.h>
#include <linux/device.h>
#include "head.h"
int all_led_init(void);

struct class *cls;//用于保存目录信息
struct device *dev;//用于保存设备节点信息
int major; // 用于保存主设备号
char kbuf[128]={0};
gpio_t *vir_led1;
gpio_t *vir_led2;
gpio_t *vir_led3;
gpio_t *vir_bee;
gpio_t *vir_fan;
gpio_t *vir_motor;
unsigned int *vir_rcc;

// 封装操作方法
int mycdev_open(struct inode *inode, struct file *file)
{
    printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);
    return 0;
}
int mycdev_close(struct inode *inode, struct file *file)
{
    printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);
    return 0;
}
long mycdev_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
{
	int which;
	//通过拷贝函数获取ioctl第三个参数对应空间的数值
	int ret=copy_from_user(&which,(void *)arg,4);
	if(ret)
	{
		printk("拷贝用户空间数据失败\n");
		return -EIO;
	}
	//进行功能控制
	switch (cmd)
	{
		case LED_ON: // 开灯
			switch (which)
			{
			case 1: // LED1
				vir_led1->ODR |= (0x1 << 10);
				break;
			case 2: // LED2
				vir_led2->ODR |= (0x1 << 10);
				break;
			case 3: // LED3
				vir_led3->ODR |= (0x1 << 8);
				break;
			}
		break;
		case LED_OFF: // 关灯
			switch (which)
			{
			case 1:
				vir_led1->ODR &= (~(0X1 << 10));
				break;
			case 2:
				vir_led2->ODR &= (~(0X1 << 10));
				break;
			case 3:
				vir_led3->ODR &= (~(0X1 << 8));	  
				break;
			}
		break;
		case BEE_ON:
			vir_bee->ODR |= (1<<6);break;
		case FAN_ON:
			vir_fan->ODR |= (1<<9);break;
		case MOTOR_ON:
			vir_motor->ODR |= (1<<6);break;
		case BEE_OFF:
			vir_bee->ODR &=(~(1<<6));break;
		case FAN_OFF:
			vir_fan->ODR &=(~(1<<9));break;
		case MOTOR_OFF:
			vir_motor->ODR &=(~(1<<6));break;
	}
	
    return 0;
}
//定义操作方法结构体变量并赋值
struct file_operations fops =
{
	.open = mycdev_open,
    .unlocked_ioctl = mycdev_ioctl,
	.release = mycdev_close,
};

static int __init mycdev_init(void)
{
	int i;
    //字符设备驱动注册
	major = register_chrdev(0, "mychrdev", &fops);
	if(major < 0)
	{
		printk("字符设备驱动注册失败\n");
		return major;
	}
	printk("字符设备驱动注册成功major=%d\n", major);
	//向上提交目录
	cls=class_create(THIS_MODULE,"mychrdev");
	if(IS_ERR(cls))
	{
		printk("向上提交目录失败\n");
		return -PTR_ERR(cls);
	}
	printk("向上提交目录成功\n");
	//向上提交设备节点信息
	//为三盏灯创建三个设备文件
	for(i=0;i<3;i++)
	{
		dev=device_create(cls,NULL,MKDEV(major,i),NULL,"mychrdev%d",i);
		if(IS_ERR(dev))
		{
			printk("向上提交设备节点信息失败\n");
			return -PTR_ERR(dev);
		}
	}		
	//为蜂鸣器创建设备文件
	dev=device_create(cls,NULL,MKDEV(major,3),NULL,"mychrdev_BEE");
	if(IS_ERR(dev))
	{
		printk("向上提交设备节点信息失败\n");
		return -PTR_ERR(dev);
	}
	//为风扇创建设备文件
	dev=device_create(cls,NULL,MKDEV(major,4),NULL,"mychrdev_FAN");
	if(IS_ERR(dev))
	{
		printk("向上提交设备节点信息失败\n");
		return -PTR_ERR(dev);
	}	
	//为马达创建设备信息
	dev=device_create(cls,NULL,MKDEV(major,5),NULL,"mychrdev_MOTOR");
	if(IS_ERR(dev))
	{
		printk("向上提交设备节点信息失败\n");
		return -PTR_ERR(dev);
	}
	printk("向上提交设备节点信息成功\n");
	//映射物理寄存器
	//寄存器映射以及初始化
	all_led_init();
	return 0;
}
int all_led_init(void)
{
	//寄存器地址的映射
	vir_led1=ioremap(PHY_LED1_ADDR,sizeof(gpio_t));
	if(vir_led1==NULL)
	{
		printk("ioremap filed：%d\n",__LINE__);
		return -ENOMEM;
	}
	vir_led2=ioremap(PHY_LED2_ADDR,sizeof(gpio_t));
	if(vir_led2==NULL)
	{
		printk("ioremap filed：%d\n",__LINE__);
		return -ENOMEM;
	}
	vir_led3=vir_led1;
	vir_rcc=ioremap(PHY_RCC_ADDR,4);
	if(vir_rcc==NULL){
		printk("ioremap filed：%d\n",__LINE__);
		return -ENOMEM;
	}
	vir_bee=ioremap(PHY_BEE_ADDR,sizeof(gpio_t));
	if(vir_bee==NULL)
	{
		printk("ioremap filed：%d\n",__LINE__);
		return -ENOMEM;
	}
	vir_fan=vir_led1;
	vir_motor=vir_led2;
	printk("物理地址映射成功\n");
	//寄存器的初始化
	//rcc
	(*vir_rcc) |= (1<<1);
	(*vir_rcc) |= (3<<4);
	//led1
	vir_led1->MODER &= (~(3<<20));
	vir_led1->MODER |= (1<<20);
	vir_led1->ODR &= (~(1<<10));
	//led2
	vir_led2->MODER &= (~(3<<20));
	vir_led2->MODER |= (1<<20);
	vir_led2->ODR &= (~(1<<10));
	//led3
	vir_led3->MODER &= (~(3<<16));
	vir_led1->MODER |= (1<<16);
	vir_led1->ODR &= (~(1<<8));
	//BEE
	vir_bee->MODER &=(~(3<<12));
	vir_bee->MODER |= (1<<12);
	vir_bee->ODR &= (~(1<<6));
	//FAN
	vir_fan->MODER &=(~(3<<18));
	vir_fan->MODER |=(1<<18);
	vir_fan->ODR &=(~(1<<9));
	//MOTOR
	vir_motor->MODER &= (~(3<<12));
	vir_motor->MODER |= (1<<12);
	vir_motor->ODR &=(~(1<<6));
	printk("寄存器初始化成功\n");
	return 0;
}
static void __exit mycdev_exit(void)
{
	int i;
    //取消地址映射
    iounmap(vir_led1);
	iounmap(vir_led2);
	iounmap(vir_rcc); 
	iounmap(vir_bee);
	//销毁设备节点信息
	for(i=0;i<6;i++)
	{
		device_destroy(cls,MKDEV(major,i));
	}
	//销毁目录信息
	class_destroy(cls);
	//字符设备驱动的注销
	unregister_chrdev(major,"mychrdev");
}
module_init(mycdev_init);
module_exit(mycdev_exit);
MODULE_LICENSE("GPL");