11 H5上实现超声波测距模块的设备驱动

//超声波测距模块共有4个引脚:  VCC,  GND, Trigger, Echo
//工作过程: 要开始测量时，Trigger引脚给10us以上的高电平.
//  Echo引脚会从开始测量到测量结束持续高电平(从上升沿到下降沿)
//  测量的距离:  (Echo持续的高电平时间 * 340M/s)/2


PA12作超声波模块的trigger引脚, PA11作超声波的echo引脚.
//注意电源需要接5V.
设备树里的描述:
    ultrasonic {
        compatible = "myultrasonic";

        trigger-gpios = <&pio 0 12 GPIO_ACTIVE_HIGH>;
        echo-gpios    = <&pio 0 11 GPIO_ACTIVE_HIGH>;
    };

设备驱动代码:

#include <linux/init.h>
#include <linux/module.h>
#include <linux/platform_device.h>
#include <linux/property.h>
#include <linux/gpio/consumer.h>
#include <linux/interrupt.h>
#include <linux/delay.h>
#include <linux/ktime.h>


typedef struct {
    struct gpio_desc *trigger_desc; //存放trigger所接的io口信息
    struct gpio_desc *echo_desc;   //存放echo所接的io口信息

    s64  prev_time; //记录测量时的开始时间
}mypdata;

irqreturn_t irq_func(int irqno, void *arg) // arg就是在请求中断时的最后一个参数
{
    struct platform_device *pdev = (struct platform_device *)arg;
    mypdata *pdata = platform_get_drvdata(pdev);
    s64 now = ktime_to_us(ktime_get()); 

    if (gpiod_get_value(pdata->echo_desc))
        pdata->prev_time = now;
    else
    {
        printk("%lldus\n", (now - pdata->prev_time)>>1);
    }
    return IRQ_HANDLED;
}

int myprobe(struct platform_device *pdev)
{
    mypdata *pdata = devm_kzalloc(&pdev->dev, sizeof(mypdata), GFP_KERNEL);
    int ret = -ENODEV;

    //获取设备树里trigger-gpios的信息时，设置io口作输出，并且输出低电平.
    pdata->trigger_desc = devm_gpiod_get(&pdev->dev, "trigger", GPIOD_OUT_LOW);
    if (IS_ERR(pdata->trigger_desc))
    {
        printk("trigger io failed\n");
        goto err0;
    }

    //获取设备树里echo-gpios的信息时，设置io口输入.
    pdata->echo_desc = devm_gpiod_get(&pdev->dev, "echo", GPIOD_IN);
    if (IS_ERR(pdata->echo_desc))
    {
        printk("echo io failed\n");
        goto err1;
    }

    //请求使用echo引脚的中断
    ret = devm_request_any_context_irq(&pdev->dev, gpiod_to_irq(pdata->echo_desc), irq_func, IRQF_TRIGGER_FALLING|IRQF_TRIGGER_RISING, pdev->name, (void *)pdev);
    if (ret < 0)
    {
        printk("request irq failed\n");
        goto err2;
    }

    platform_set_drvdata(pdev, pdata);
    printk("in myprobe\n");


    //控制trigger引脚的电平，让模块开始工作
    gpiod_set_value(pdata->trigger_desc, 1);
    udelay(20); 
    gpiod_set_value(pdata->trigger_desc, 0);


    return 0;
err2:
    devm_gpiod_put(&pdev->dev, pdata->echo_desc);
err1:
    devm_gpiod_put(&pdev->dev, pdata->trigger_desc);
err0:
    devm_kfree(&pdev->dev, pdata);
    return ret;
}

int myremove(struct platform_device *pdev)
{
    mypdata *pdata = platform_get_drvdata(pdev);


    devm_free_irq(&pdev->dev, gpiod_to_irq(pdata->echo_desc), pdev); //中断号是独占使用的, 不用了需要释放. 最后一个参数与request_irq时的最后一个参数要相同.
    devm_gpiod_put(&pdev->dev, pdata->trigger_desc);
    devm_gpiod_put(&pdev->dev, pdata->echo_desc);
    devm_kfree(&pdev->dev, pdata);
    printk("in myremove ...\n");
    return 0;
}

struct of_device_id ids[] = {
    {.compatible = "myultrasonic"},
    {},
};

struct platform_driver mydrv = {
    .probe = myprobe,
    .remove = myremove,

    .driver = {
        .owner = THIS_MODULE,
        .name = "mydrv" ,

        .of_match_table = ids,
    },
};

module_platform_driver(mydrv);
MODULE_LICENSE("GPL");

---

---

在上面的基础上再加入用户进程的访问接口.

#include <linux/init.h>
#include <linux/module.h>
#include <linux/platform_device.h>
#include <linux/property.h>
#include <linux/gpio/consumer.h>
#include <linux/interrupt.h>
#include <linux/delay.h>
#include <linux/ktime.h>
#include <linux/fs.h>
#include <linux/cdev.h>
#include <linux/mutex.h>
#include <linux/wait.h>

#define MYMA  3344
#define COUNT 1

typedef struct {
    struct gpio_desc *trigger_desc; //存放trigger所接的io口信息
    struct gpio_desc *echo_desc;   //存放echo所接的io口信息

    struct cdev cdev;
    dev_t   devid;
    struct class *cls;

    struct mutex mutex_irq; //用于在read函数里等待中断完成
    struct mutex mutex_read; //用于确保一个用户进程在调用驱动


    s64  prev_time; //记录测量时的开始时间
    int  time_us; //测量出来的时间结果
}mypdata;

ssize_t myread(struct file *fl, char *__user buf, size_t len, loff_t *off)
{
    struct inode *ind = fl->f_path.dentry->d_inode;
    mypdata *pdata = container_of(ind->i_cdev, mypdata, cdev);
    int ret;

    mutex_lock(&pdata->mutex_read); //确保只有一个进程在调用read函数

    //控制trigger引脚的电平，让模块开始工作
    msleep(1);
    gpiod_set_value(pdata->trigger_desc, 0);
    msleep(1);
    gpiod_set_value(pdata->trigger_desc, 1);
    msleep(1);  
    gpiod_set_value(pdata->trigger_desc, 0);

    ret = mutex_lock_interruptible(&pdata->mutex_irq);
    if (ret < 0)
        goto out;

    sprintf(buf, "%d mm\n", pdata->time_us * 340 / 1000);       
//  printk("in myread ...%d us\n", pdata->time_us);
    ret = strlen(buf);

out:
    mutex_unlock(&pdata->mutex_read);
    return ret;

}

struct file_operations fops = {
    .owner = THIS_MODULE,
    .read = myread,
};

irqreturn_t irq_func(int irqno, void *arg) // arg就是在请求中断时的最后一个参数
{
    struct platform_device *pdev = (struct platform_device *)arg;
    mypdata *pdata = platform_get_drvdata(pdev);
    s64 now = ktime_to_us(ktime_get()); 

    if (gpiod_get_value(pdata->echo_desc))
        pdata->prev_time = now;
    else
    {
        pdata->time_us = (now - pdata->prev_time)>>1;
        mutex_unlock(&pdata->mutex_irq);    
    }
    return IRQ_HANDLED;
}

int myprobe(struct platform_device *pdev)
{
    mypdata *pdata = devm_kzalloc(&pdev->dev, sizeof(mypdata), GFP_KERNEL);
    int ret = -ENODEV;
    static int mi = 0;

    //获取设备树里trigger-gpios的信息时，设置io口作输出，并且输出低电平.
    pdata->trigger_desc = devm_gpiod_get(&pdev->dev, "trigger", GPIOD_OUT_LOW);
    if (IS_ERR(pdata->trigger_desc))
    {
        printk("trigger io failed\n");
        goto err0;
    }

    //获取设备树里echo-gpios的信息时，设置io口输入.
    pdata->echo_desc = devm_gpiod_get(&pdev->dev, "echo", GPIOD_IN);
    if (IS_ERR(pdata->echo_desc))
    {
        printk("echo io failed\n");
        goto err1;
    }
/ cdev 部分/

    pdata->devid = MKDEV(MYMA, mi);
    ret = register_chrdev_region(pdata->devid, COUNT, pdev->name);
    if (ret < 0)
        goto err2;


    cdev_init(&pdata->cdev, &fops);
    pdata->cdev.owner = THIS_MODULE;
    ret = cdev_add(&pdata->cdev, pdata->devid, COUNT);
    if (ret < 0)
        goto err3;

    pdata->cls = class_create(THIS_MODULE, pdev->name);
    device_create(pdata->cls, NULL, pdata->devid, NULL, pdev->name);




    mutex_init(&pdata->mutex_irq);
    mutex_init(&pdata->mutex_read);
    mutex_lock(&pdata->mutex_irq); //锁第一次是可锁上的

    platform_set_drvdata(pdev, pdata);

    //请求使用echo引脚的中断
    ret = devm_request_any_context_irq(&pdev->dev, gpiod_to_irq(pdata->echo_desc), irq_func, IRQF_TRIGGER_FALLING|IRQF_TRIGGER_RISING, pdev->name, (void *)pdev);
    if (ret < 0)
    {
        printk("request irq failed\n");
        goto err4;
    }
    printk("in myprobe\n");
    mi++;
    return 0;
err4:
    device_destroy(pdata->cls, pdata->devid);
    class_destroy(pdata->cls);
err3:
    unregister_chrdev_region(pdata->devid, COUNT);
err2:
    devm_gpiod_put(&pdev->dev, pdata->echo_desc);
err1:
    devm_gpiod_put(&pdev->dev, pdata->trigger_desc);
err0:
    devm_kfree(&pdev->dev, pdata);
    return ret;
}

int myremove(struct platform_device *pdev)
{
    mypdata *pdata = platform_get_drvdata(pdev);

    unregister_chrdev_region(pdata->devid, COUNT);
    cdev_del(&pdata->cdev);

    device_destroy(pdata->cls, pdata->devid);
    class_destroy(pdata->cls);

    devm_free_irq(&pdev->dev, gpiod_to_irq(pdata->echo_desc), pdev); //中断号是独占使用的, 不用了需要释放. 最后一个参数与request_irq时的最后一个参数要相同.
    devm_gpiod_put(&pdev->dev, pdata->trigger_desc);
    devm_gpiod_put(&pdev->dev, pdata->echo_desc);
    devm_kfree(&pdev->dev, pdata);
    printk("in myremove ...\n");
    return 0;
}

struct of_device_id ids[] = {
    {.compatible = "myultrasonic"},
    {},
};
MODULE_DEVICE_TABLE(of, ids);

struct platform_driver mydrv = {
    .probe = myprobe,
    .remove = myremove,

    .driver = {
        .owner = THIS_MODULE,
        .name = "mydrv" ,
        .of_match_table = ids,
    },
};
module_platform_driver(mydrv);
MODULE_LICENSE("GPL");

---

---

当再接入一硬件设备时，只需要修改设备树文件，加入相应的描述即可. 如再接入一个超音波模块，trigger引脚接PA19, echo引脚接PA18:

    ultrasonic {
        compatible = "myultrasonic";

        trigger-gpios = <&pio 0 12 GPIO_ACTIVE_HIGH>;
        echo-gpios    = <&pio 0 11 GPIO_ACTIVE_HIGH>;
    };  

    ultrasonic2 {
        compatible = "myultrasonic";

        trigger-gpios = <&pio 0 19 GPIO_ACTIVE_HIGH>;
        echo-gpios    = <&pio 0 18 GPIO_ACTIVE_HIGH>;
    };