1.驱动程序中要包含头文件
#include // descriptor-based
#include // legacy
2.常用函数
3.构造gpio操作数据
//构造gpio系统的参数
struct gpio_desc{
int gpio; //引脚 需在硬件驱动中寻找
int irq; //中断
char *name; //名字
int key;
struct timer_list key_timer;
} ;
//设置参数
static struct gpio_desc gpios[2] = {
{131, 0, "led0", },
//{132, 0, "led1", },
};
4.gpio引脚如何确认(在开发板中输入)
cat /sys/kernel/debug/gpio
gpio = 128 + 3(gpio131代表的引脚)
5.编写测试程序和驱动程序
5.1驱动程序代码
#include "asm-generic/errno-base.h"
#include "asm-generic/gpio.h"
#include "asm/uaccess.h"
#include <linux/module.h>
#include <linux/poll.h>
#include <linux/fs.h>
#include <linux/errno.h>
#include <linux/miscdevice.h>
#include <linux/kernel.h>
#include <linux/major.h>
#include <linux/mutex.h>
#include <linux/proc_fs.h>
#include <linux/seq_file.h>
#include <linux/stat.h>
#include <linux/init.h>
#include <linux/device.h>
#include <linux/tty.h>
#include <linux/kmod.h>
#include <linux/gfp.h>
#include <linux/gpio/consumer.h>
#include <linux/platform_device.h>
#include <linux/of_gpio.h>
#include <linux/of_irq.h>
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/slab.h>
#include <linux/fcntl.h>
#include <linux/timer.h>
//基于GPIO和PIN系统的字符设备驱动程序
//构造gpio系统的参数
struct gpio_desc{
int gpio; //引脚 需在硬件驱动中寻找
int irq; //中断
char *name; //名字
int key;
struct timer_list key_timer;
} ;
/*1.确定主设备号,也可以让内核分配*/
int major = 0;
static unsigned char kernel_buf[1024];
static struct class *led_class;
//设置参数
static struct gpio_desc gpios[2] = {
{131, 0, "led0", },
//{132, 0, "led1", },
};
/*3.实现对应的 drv_open/drv_read/drv_write 等函数,填入 file_operations 结构
体*/
static int led_drv_open(struct inode *node, struct file *file)
{
printk("%s %s line %d\n", __FILE__, __FUNCTION__, __LINE__);
return 0;
}
static loff_t hello_drv_llseek(struct file *file, loff_t lofft, int len)
{
return 0;
}
static ssize_t led_drv_read(struct file *file, char __user *buf , size_t size, loff_t *offset)
{
char tmp_buf[2];
int err;
int count = sizeof(gpios)/sizeof(gpios[0]);
if (size != 2)
return -EINVAL;
err = copy_from_user(tmp_buf, buf, 1);
if (tmp_buf[0] >= count)
return -EINVAL;
tmp_buf[1] = gpio_get_value(gpios[tmp_buf[0]].gpio);
err = copy_to_user(buf, tmp_buf, 2);
return 2;
}
static ssize_t led_drv_write(struct file *file , const char __user *buf, size_t size, loff_t *offset)
{
unsigned char ker_buf[2];
int err;
if (size != 2)
return -EINVAL;
err = copy_from_user(ker_buf, buf, size);
if (ker_buf[0] >= sizeof(gpios)/sizeof(gpios[0]))
return -EINVAL;
gpio_set_value(gpios[ker_buf[0]].gpio, ker_buf[1]);
return 2;
}
static int led_drv_release(struct inode *inode, struct file *file)
{
printk("%s %s line %d\n", __FILE__, __FUNCTION__, __LINE__);
return 0;
}
/*2.定义自己的 file_operations 结构体*/
static const struct file_operations led_gpio_drv = {
.owner = THIS_MODULE,
.open = led_drv_open,
.read = led_drv_read,
.write = led_drv_write,
};
/*4.把 file_operations 结构体告诉内核: register_chrdev*/
/*5. 谁来注册驱动程序啊?得有一个入口函数:安装驱动程序时,就会去调用这个入口函数 */
static int __init led_gpio_init(void)
{
int err;
int i = 0;
//设置gpio引脚为输出引脚
for(i = 0; i < sizeof(gpios)/sizeof(gpios[0]);i++)
{
err = gpio_request(gpios[i].gpio,gpios[i].name); //获取对应的gpio引脚
if (err < 0) {
printk("can not request gpio %s %d\n", gpios[i].name, gpios[i].gpio);
return -ENODEV;
}
//设置gpio引脚为输出引脚
gpio_direction_output(gpios[i].gpio,1);
}
printk("%s %s line %d\n", __FILE__, __FUNCTION__, __LINE__);
major = register_chrdev(0, "hello", &led_gpio_drv); /* /dev/hello */
led_class = class_create(THIS_MODULE, "led_class");
err = PTR_ERR(led_class);
if (IS_ERR(led_class)) {
printk("%s %s line %d\n", __FILE__, __FUNCTION__, __LINE__);
unregister_chrdev(major, "led_class");
return -1;
}
device_create(led_class, NULL, MKDEV(major, 0), NULL, "imx6ull_led"); /* /dev/led*/
return 0;
}
/* 6. 有入口函数就有出口函数:卸载驱动程序时就会去调用这个出口函数 */
static void __exit led_gpio_exit(void)
{
printk("%s %s line %d\n", __FILE__, __FUNCTION__, __LINE__);
device_destroy(led_class, MKDEV(major, 0));
class_destroy(led_class);
unregister_chrdev(major, "led_class");
}
/* 7. 其他完善:提供设备信息,自动创建设备节点 这里可以不用深究 直接调用这两个函数*/
module_init(led_gpio_init);
module_exit(led_gpio_exit);
/*驱动遵循的协议*/
MODULE_LICENSE("GPL");
5.2测试程序代码
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <poll.h>
#include <signal.h>
/* 应用层使用命令操作简介
* ./led_test <0|1|2|..> on
* ./led_test <0|1|2|..> off
* ./led_test <0|1|2|..>
*/
static int fd;
int main(int argc,char ** argv)
{
char buf[2];
int ret;
if (argc < 2) //参数小于2 打印用法
{
printf("Usage: %s <0|1|2|...> [on | off]\n", argv[0]);
return -1;
}
fd = open("/dev/imx6ull_led",O_RDWR);
if(fd == -1)
{
printf("can not open file /dev/100ask_led\n");
return -1;
}
if(argc == 3) //写数据
{
//将命令行第二个参数转换成int数
buf[0] = strtol(argv[1],NULL,0);
if (strcmp(argv[2], "on") == 0) //根据自己板卡的硬件连接写 imx6ull 0代表打开
buf[1] = 0;
else
buf[1] = 1;
ret = write(fd, buf, 2);
}
else //读数据
{
buf[0] = strtol(argv[1], NULL, 0);
ret = read(fd, buf, 2);
if (ret == 2)
{
printf("led %d status is %s\n", buf[0], buf[1] == 0 ? "on" : "off");
}
}
}
6.测试用例
// 执行makefile文件
make
//打开内核打印信息
echo "7 4 1 7" > /proc/sys/kernel/printk
//挂载驱动程序
insmod insmod led_drv.ko
//执行 读写操作
./led_text 0 on
./led_text 0 off
./led_text 0