本例子，讲述在Android2.1上完全自已开发一个驱动去控制硬件口并写应用测试该驱动，通过这样一个例子，解析android下的驱动开发流程的应用调用流程，可以说是很好的入门引导
要达到的效果：通过Android的应用，调用驱动程序，在开发板上控制4个LED的亮灭。
一、硬件原理图
如上图，通过4个IO口控制这LED，低电平LED亮，
这4个IO口分别是GPM1, GPM2, GPM3, GPM4,
二、驱动程序
1、在kernel文件夹下的driver目录，新键驱动文件夹
# cd kernel_Android_2.6.28.6/drivers
进到开发板的kernel目录，建驱动文件夹
#mkdir ledtest2、在/driver/ledtest目录下，新建leddriver.c ，leddriver.h , Kconfig, Makefile 等4个文件
leddriver.c
leddriver.c
1.#include <linux/kernel.h>
2.#include <linux/sched.h>
3.#include <linux/timer.h>
4.#include <linux/init.h> /* For __init/__exit/... */
5.#include <linux/module.h>
6.#include <mach/hardware.h>
7.#include <asm/io.h>
8.#include <asm/uaccess.h>
9.#include <plat/gpio-cfg.h>
10.#include <plat/regs-clock.h>
11.#include <plat/regs-lcd.h>
12.#include <plat/regs-gpio.h>
13.#include <mach/map.h>
14.#include <linux/gpio.h>
15.#include <plat/gpio-bank-m.h>
16.#include <linux/cdev.h>
17.#include <linux/fs.h> //for register_chrdev()
18.#include <linux/device.h>
19.#include <mach/map.h>
20.#include "leddriver.h"
21.#include <linux/miscdevice.h> /* For MODULE_ALIAS_MISCDEV
22. (WATCHDOG_MINOR) */
23.#include <linux/watchdog.h> /* For the watchdog specific items */
24.#include <linux/fs.h> /* For file operations */
25.#define Viberator_MAJOR 97 //?÷éè±?o?
26.#define SCULL_NR_DEVS 4
27.#define SCULL_QUANTUM 4000
28.#define SCULL_QSET 1000
29.//---do as the GIO driver
30.#define DEVCOUNT 4
31.#define GIO_MINOR 2 /* GIO minor no. */
32.static dev_t dev; //éê ?? μ?μ??÷ éè±? o?
33.static struct cdev *cdev_p;
34.static int openCnt;
35.//--è???±?á?------------
36.int VIB_major = 97;//we asigment it for test
37.int VIB_minor = 0;
38.int VIB_nr_devs = SCULL_NR_DEVS;
39.int VIB_quantum = SCULL_QUANTUM;
40.int VIB_qset = SCULL_QSET;
41.
42.static struct class *vib_dev_class;
43.#define GPNCON S3C64XX_GPNCON
44.#define GPNDAT S3C64XX_GPNDAT
45.#define GPNPUD S3C64XX_GPNPUD
46.#define GPMCON S3C64XX_GPMCON
47.#define GPMDAT S3C64XX_GPMDAT
48.#define GPMPUD S3C64XX_GPMPUD
49.
50.#define VIB_ON 0x11
51. #defineVIB_OFF 0x22
52.static const struct file_operations GPIO_Viberator_ctl_ops={
53. .owner = THIS_MODULE,
54. .open = GPIO_VIB_open,
55. .read =GPIO_VIB_read,
56. .write =GPIO_VIB_write,
57. .ioctl = GPIO_VIB_ioctl,
58. .release =GPIO_VIB_release,
59.};
60.ssize_t GPIO_VIB_read(struct file * file,char * buf,size_t count,loff_t * f_ops)
61.{
62. printk(" GPIO_VIB_read \r\n");
63. gpio_direction_output(S3C64XX_GPM(3), 0);//
64. return count ;
65.}
66.ssize_t GPIO_VIB_write (struct file * file,const char * buf, size_t count,loff_t * f_ops)
67.{
68. printk(" GPIO_VIB_write \r\n");
69. gpio_direction_output(S3C64XX_GPM(3), 1);//
70. return count;
71.}
72.
73.//ssize_t GPIO_VIB_ioctl(struct inode * inode,struct file * file,unsigned int cmd, long data)
74.static int GPIO_VIB_ioctl(struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg)
75.{
76. printk(KERN_ERR"VIB:GPIO_VIB_ioctl --CMD=%x \n",cmd);
77. switch(cmd)
78. {
79. case VIB_ON:
80. gpio_direction_output(S3C64XX_GPM(1), 0);//
81. gpio_direction_output(S3C64XX_GPM(2), 0);//
82. gpio_direction_output(S3C64XX_GPM(3), 0);//
83. gpio_direction_output(S3C64XX_GPM(4), 1);//
84. printk(KERN_ERR"VIB:GPIO_VIB_ioctl --VIB_ON\n");
85. break;
86. case VIB_OFF:
87. {
88. printk(KERN_ERR"VIB:GPIO_VIB_ioctl --VIB_OFF\n");
89. gpio_direction_output(S3C64XX_GPM(1), 1);//
90. gpio_direction_output(S3C64XX_GPM(2), 1);//
91. gpio_direction_output(S3C64XX_GPM(3), 1);//
92. gpio_direction_output(S3C64XX_GPM(4), 0);//
93. break;
94. }
95. default:break;
96.
97. }
98. //gpio_free(S3C64XX_GPN(7));
99.}
100.ssize_t GPIO_VIB_open(struct inode * inode,struct file * file)
101.{
102.//?￡?éêy
103. //MOD_INC_USE_COUNT;
104. printk("GPIO_VIB_open() \n");
105. return 0;
106.}
107.ssize_t GPIO_VIB_release(struct inode * inode, struct file * file)
108.{
109. // MOD_DEC_USE_COUNT;//?￡?éêy??
110. printk("GPIO_VIB_release() \n");
111. return 0;
112.}
113.static int GPIO_VIB_CTL_init(void)
114.{
115. int ret = -ENODEV;
116. int error ;
117. printk("---------------------------------------------- \r\n");
118. //3?ê??ˉ???ú
119. s3c_gpio_cfgpin(S3C64XX_GPM(1), S3C_GPIO_SFN(1));//GPM1 output
120. s3c_gpio_cfgpin(S3C64XX_GPM(2), S3C_GPIO_SFN(1));//GPM2 output
121. s3c_gpio_cfgpin(S3C64XX_GPM(3), S3C_GPIO_SFN(1));//GPM3 output
122. s3c_gpio_cfgpin(S3C64XX_GPM(4), S3C_GPIO_SFN(1));//GPM4 output
123.#if 1 /*?2ì?·?ê?×￠2á?y?ˉ*/
124.ret = register_chrdev(Viberator_MAJOR, "viberator", &GPIO_Viberator_ctl_ops);
125.if (ret < 0) {
126. printk(KERN_ERR "VIB: unable to get major %d\n", ret);
127. return ret;
128.}
129.//′′?¨\uc1class
130.vib_dev_class = class_create(THIS_MODULE, "viberator");
131.if (IS_ERR(vib_dev_class)) {
132. unregister_chrdev(Viberator_MAJOR, "capi20");
133. return PTR_ERR(vib_dev_class);
134.}
135.//′′?¨?úμ?￡?
136.device_create(vib_dev_class, NULL, MKDEV(Viberator_MAJOR, 0), NULL, "vib");
137.// create a point under /dev/class/vib
138.//í¨1yé????aá?2?￡??y?ˉ?ó??oó￡??í?á?ú/dev/class/????éú3é\uc1vib?úμ?￡?ó|ó?3ìDò?éò???2ù×÷???t???ù2ù×÷?a???úμ?￡?í¨1y\uc1open ,write,read μèoˉêy2ù×÷￡??ê?é?éò??′oó??μ?ó|ó?ê?ày3ìDò?￡
139. return 0;
140.#endif
141.#if 0/* ×￠2á?ˉì?*/
142. if ((error = alloc_chrdev_region(&dev, 0, DEVCOUNT, "vibrate")) < 0)
143. {
144. printk(KERN_ERR
145. "VIB: Couldn't alloc_chrdev_region, error=%d\n",
146. error);
147. return 1;
148. }
149. printk("dev = %d \n",dev);
150. cdev_p = cdev_alloc();
151. cdev_p->ops = &GPIO_Viberator_ctl_ops;
152. error = cdev_add(cdev_p, dev, DEVCOUNT);
153. if (error) {
154. printk(KERN_ERR
155. "VIB: Couldn't cdev_add, error=%d\n", error);
156. return 1;
157. }
158.
159. vib_dev_class = class_create(THIS_MODULE, "vib-dev");
160. if (IS_ERR(vib_dev_class)) {
161. res = PTR_ERR(vib_dev_class);
162. goto out_unreg_class;
163. }
164. return 0;
165.#endif
166.out_unreg_class:
167. class_destroy(vib_dev_class);
168.return 1;
169.}
170.
171.static int __init S3C6410_VIB_init(void)
172.{
173. int ret = -ENODEV;
174. //μ÷ó?oˉêy
175. printk(KERN_ERR "Auly: S3C6410_VIB_init---\n");
176. ret = GPIO_VIB_CTL_init();
177. if(ret)
178. {
179. printk(KERN_ERR "Auly: S3C6410_VIB_init--Fail !!!\n");
180. return ret;
181. }
182. return 0;
183.}
184.static void __exit cleanup_GPIO_VIB(void)
185.{
186. //×￠?úéè±?
187. // devfs_unregister_chrdev(Viberator_MAJOR,"gpio_vib_ctl");
188.#if 0
189. cdev_del(cdev_p);
190. unregister_chrdev_region(dev, DEVCOUNT);
191. class_destroy(vib_dev_class);
192.#endif
193.device_destroy(vib_dev_class, MKDEV(Viberator_MAJOR, 0));
194.class_destroy(vib_dev_class);
195.unregister_chrdev(Viberator_MAJOR, "viberator");
196.}
197.MODULE_LICENSE("GPL");
198.MODULE_DESCRIPTION("Peter first driver");
199.MODULE_ALIAS_CHARDEV(Viberator_MAJOR, 0);
200.
201.module_init(S3C6410_VIB_init);
202.module_exit(cleanup_GPIO_VIB);
leddriver.h文件
leddriver.h文件
1.ssize_t GPIO_VIB_read(struct file * file,char * buf,size_t count,loff_t * f_ops);
2.ssize_t GPIO_VIB_write (struct file * file,const char * buf, size_t count,loff_t * f_ops);
3.static int GPIO_VIB_ioctl(struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg);
4.ssize_t GPIO_VIB_open(struct inode * inode,struct file * file);
5.ssize_t GPIO_VIB_release(struct inode * inode, struct file * file);
6.static int GPIO_VIB_CTL_init(void);
Kconfig 文件
Kconfig 文件
1.config LEDTEST
2. tristate "LED test for ARMeasy"
3. default n
4. help
5. this is a LED driver for ARMEASY with S3C6410
Makefile文件
Makefile文件
1.obj-$(CONFIG_LEDTEST)+=leddriver.o
3、在内核配置里菜单里加入本驱动的配置项
达到的效果是，可以通过内核配置来选择是否把本驱动编译进内核里，也就是出现在make menuconfig 后出来的界面里，可以参考9.8章<Android添加新驱动方法>
1）在arch/arm/Kconfig文件里 menu "Device Drivers"与 endmenu之间添加
1.source "drivers/ledtest/Kconfig"
2）在drivers/Kconfig menu "Device Drivers" 和 endmenu之间添加
1.source "drivers/ledtest/Kconfig"
3)修改/drivers/Makefile文件
1.Obj-$(CONFIG_LEDTEST) +=ledtest/
4、编译驱动
在kernel目录下，终端输入
1.#make menuconfig
“Device Drivers” 下面会看到 “LED test for ARMeasy”，选择它，
保存并退出
1.#make
这样，就会在/drivers/ledtest目录下得到leddrivr.ko文件，它就是驱动目标文件，已级编译进了zImage 里了，只要用这个kernel烧录到开发板，开机就会自动加载本驱动，
PS，如果发现如上编译，没有在ledtest目录下生成leddriver.ko文件，也就是本根没有去编译本驱动，那就把ledtest目录入到/drivers/misc目录下，相应的修改misc下面，然后，在makefile里，不用选直接写成obj-y += leddriver.o，这样强制的包含进去编译。
三、 应用程序（测试驱动）
用C语言写一个应用，测试上面写的驱动是否工作正常，这是一般的驱动开发流程
主要有两个文件：Android.mk和ledtest.c
1、
在$(YOUR_Android)/external/LEDTEST/目录编写ledtest.c文件，
ledtest.c
ledtest.c
1.#include <stdio.h>
2.#include <stdlib.h>
3.#include <fcntl.h> // contact the open(),close(),read(),write() and so on!
4. #define DEVICE_NAME "/dev/vib"//device point
5.#define LED_ON 0x11
6.#define LED_OFF 0x22
7.int main(int argc,char **argv)
8.{
9. int fd;
10. int ret;
11. char *i;
12. printf("\n start gpio_led_driver test \r\n");
13. fd = open(DEVICE_NAME,O_RDWR);//Open device ,get the handle
14. printf("fd = %d \n",fd);
15. if(fd == -1) //open fail
16. {
17. printf("open device %s error \n",DEVICE_NAME);
18. }
19. else
20. {
21. while(1)
22. {
23. ioctl(fd,LED_OFF); //call the output function to off LEDs
24. sleep(1);//wait 1 second
25. ioctl(fd,LED_ON);
26. sleep(1);
27. }
28. ret = close(fd); //close device
29. printf("ret = %d \n",ret);
30. printf("close gpio_led test \n");
31. }
32. return 0;
33.}
2、在$(YOUR_Android)/external/ LEDTEST /目录编写Android.mk文件。这是Android Makefile的标准命名，不要更改。Android.mk文件的格式和内容可以参考其他已有的Android.mk文件的写法，针对helloworld程序的Android.mk文件内容如下：
Android.mk
1.
2.LOCAL_PATH:= $(call my-dir)
3.include $(CLEAR_VARS)
4.LOCAL_SRC_FILES:= \\par hello.c
5.LOCAL_MODULE := ledtestapp
6.include $(BUILD_EXECUTABLE)
注意上面LOCAL_SRC_FILES用来指定源文件；
LOCAL_MODULE指定要编译的模块的名字，下一步骤编译时就要用到；
include $(BUILD_EXECUTABLE)表示要编译成一个可执行文件，如果想编译成动态库则可用BUILD_SHARED_LIBRARY，这些可以在
$(YOUR_Android)/build/core/config.mk查到。
3、 回到Android源代码顶层目录进行编译：
# cd $(YOUR_Android) && make ledtestapp例如我这里的实际操作是
#cd Android2.1#make ledtestapp注意make ledtestapp中的目标名ledtestapp就是上面Android.mk文件中由LOCAL_MODULE指定的模块名。编译结果如下
make ledtestapp============================================PLATFORM_VERSION_CODENAME=RELPLATFORM_VERSION=2.1-update1TARGET_PRODUCT=genericTARGET_BUILD_VARIANT=engTARGET_SIMULATOR=TARGET_BUILD_TYPE=releaseTARGET_ARCH=armHOST_ARCH=x86HOST_OS=linuxHOST_BUILD_TYPE=releaseBUILD_ID=ECLAIR============================================/bin/bash: line 0: cd: sdk/layoutopt/app/src/resources: No such file or directorytarget thumb C: ledtestapp <= external/LEDTEST/ledtest.cInstall: out/host/linux-x86/bin/aprioriInstall: out/host/linux-x86/bin/soslimtarget Executable: ledtestapp (out/target/product/generic/obj/EXECUTABLES/ledtestapp_intermediates/LINKED/ledtestapp)target Non-prelinked: ledtestapp (out/target/product/generic/symbols/system/bin/ledtestapp)target Strip: ledtestapp (out/target/product/generic/obj/EXECUTABLES/ledtestapp_intermediates/ledtestapp)Install: out/target/product/generic/system/lib/libdl.soInstall: out/target/product/generic/system/lib/libc.soInstall: out/target/product/generic/system/lib/libstdc++.soInstall: out/target/product/generic/system/lib/libm.soInstall: out/target/product/generic/system/bin/ledtestapp4、如上面的编译结果所示，编译后的可执行文件存放在
out/target/product/generic/system/bin/目录 可执行文件是ledtestapp
5、拷贝ledtestapp可执行文件到T卡，插入开发板
6、开电，在启动进入Android的过程中，串口终端 按回车，进入命令行模式
7、拷贝可执行文件到根目录
#cp /sdcard/ledtestapp / 8、执行程序
#./ledtestapp通过上面的步骤，可以看到开发板上相应的LED在闭，每秒钟闪一次！
本篇文章来源于 Linux公社网站(www.linuxidc.com) 原文链接：http://www.linuxidc.com/Linux/2011-04/34541p3.htm
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