目录
上一节我们介绍 了andriod软件层怎么调用C程序,以及C库的编译与加载,实现了应用层和底层连系的关键部分,接下来,把内核驱动部分编写完成,该章节就结束了。
LED驱动加载
相信大家看到这里已经有了一定linux驱动的基础,简单驱动不做介绍,可另行查阅其他资料,创建C文件leds_drv.c,代码如下:
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/cdev.h>
#include <linux/uaccess.h>
#include <linux/fs.h>
#include <linux/ioport.h>
#include <linux/miscdevice.h>
#include <linux/ioctl.h>
#include <linux/delay.h>
#include <linux/gpio.h>
static const int led1_gpio = (32*4 + 8*3 + 3);//LED1 BLUE 0有效
//static const int led2_gpio = (32*0 + 8*1 + 0);
static int rongpin3288_leds_open(struct inode *inode, struct file *file)
{
return 0;
}
static long rongpin3288_leds_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
{
//printk("cmd = %u arg = %lu\n",cmd,arg);
switch(cmd)
{
case 0: switch(arg)
{
case 0: gpio_set_value(led1_gpio,0); break;
case 1: gpio_set_value(led1_gpio,1); break;
}break;
case 1: switch(arg)
{
//case 0: gpio_set_value(led2_gpio,0); break;
//case 1: gpio_set_value(led2_gpio,1); break;
}break;
}
return 0;
}
static int rongpin3288_leds_release(struct inode *inode, struct file *file)
{
return 0;
}
static const struct file_operations gec3288_leds_fops = {
.owner = THIS_MODULE,
.open = rongpin3288_leds_open,
.unlocked_ioctl = rongpin3288_leds_ioctl,
.release = rongpin3288_leds_release,
};
static struct miscdevice rongpin3288_leds_misc = {
.minor = MISC_DYNAMIC_MINOR,
.fops = &rongpin3288_leds_fops,
.name = "leds_drv",
};
static int __init rongpin3288_leds_init(void)
{
int ret;
ret = misc_register(&rongpin3288_leds_misc); //注册字符设备
if(ret < 0){
printk("misc register error\n");
goto err0;
}
ret = gpio_request(led1_gpio,"led1_gpio"); //申请led1_gpio引脚为GPIO模式
if(ret < 0){
printk("gpio_request led1_gpio error\n");
goto err1;
}
/*
ret = gpio_request(led2_gpio,"led2_gpio"); //申请led2_gpio引脚为GPIO模式
if(ret < 0){
printk("gpio_request led2_gpio error\n");
goto err2;
}
*/
ret = gpio_direction_output(led1_gpio,0); //初始划LED1为熄灭状态
if(ret < 0){
printk("gpio direction output led1_gpio error\n");
//goto err3;
goto err2;
}
/*
ret = gpio_direction_output(led2_gpio,1); //初始划LED2为熄灭状态
if(ret < 0){
printk("gpio direction output led2_gpio error\n");
goto err3;
}
*/
return 0;
/*
err3:
gpio_free(led2_gpio);
*/
err2:
gpio_free(led1_gpio);
err1:
misc_deregister(&rongpin3288_leds_misc);
err0:
return ret;
}
static void __exit rongpin3288_leds_exit(void)
{
gpio_free(led1_gpio);
misc_deregister(&rongpin3288_leds_misc);
}
module_init(rongpin3288_leds_init);
module_exit(rongpin3288_leds_exit);
MODULE_LICENSE("GPL");
以下是不行的,后面再研究
编写完成之后,把该文件放在SDK/kernel/drivers/char/目录下,并且修改该目录下Makefile文件,添加:
obj-y+= led_drv.o
修改设备树:
arch/arm/boot/dts/rpdzkj_config.dtsi
添加:
回到源码根目录编译kernel
./make kernel
烧写kernel
参考:
然后执行:
make ARCH=arm64 rk3399-sapphire-excavator-edp.img -j4
编译内核,编译完成之后,返回到SDK目录,执行:
source build/envsetup.sh
lunch rk3399_all-userdebug
make bootimage -j3
等待编译完成之后,可以看到打印信息:
Target boot image: out/target/product/rk3399/boot.img
把该boot.img烧写到开发板
测试ok的方式
方式一
注释掉设备arch/arm/boot/dts/rpdzkj_config.dtsi树和驱动kernel/drivers/rongpin/led-gpio.c
Makefile
将上面的驱动编写成模块
Makefile
KERN_DIR = /home/rpdzkj/rk3288_5.1/3288_5.1/kernel
all:
make -C $(KERN_DIR) M=`pwd` modules
clean:
make -C $(KERN_DIR) M=`pwd` modules clean
rm -rf modules.order
obj-m += leds_drv.o
编译成模块:led_drv.ko
push到开发板上,切换root用户,修改权限,再将生成节点的权限修改即可
方式二:
添加配置kernel/arch/arm/configs/rp-rk3288_defconfig
修改节点权限system/core/rootdir/ueventd.rc
设备树方式:
arch/arm/boot/dts/rpdzkj_config.dtsi
Tled_drv.c
#include <linux/kernel.h>
#include <linux/init.h>
#include <linux/module.h>
#include <linux/delay.h>
#include <linux/gpio.h>
#ifdef CONFIG_OF
#include <linux/of.h>
#include <linux/of_gpio.h>
#include <linux/of_platform.h>
#endif
#include <linux/fb.h>
#include <linux/device.h>
#include <linux/miscdevice.h>
#define INVALID_GPIO -1
int led1_gpio = (32*4 + 8*3 + 3);//LED1 BLUE 0有效
//int led2_gpio = INVALID_GPIO;
int led_gpio_active = 0;
static int led_open(struct inode *inode, struct file *file)
{
printk("carroll led_open ok \n");
return 0;
}
static int led_release(struct inode *inode, struct file *file)
{
printk("carroll led_close \n");
return 0;
}
/* app : ioctl(fd, cmd, arg) */
static long led_ioctl(struct file *filp, unsigned int cmd,
unsigned long arg)
{
/* 根据传入的参数设置GPIO */
/* cmd : 0-1, which led */
/* arg : 0-off, 1-on*/
if(cmd == 0)
{
//if(led1_gpio != INVALID_GPIO)
gpio_set_value(led1_gpio, arg);
printk("cmd == 0 carroll led_ioctl: %d \n", arg);
}
else if(cmd == 1)
{
//if(led2_gpio != INVALID_GPIO)
//gpio_set_value(led2_gpio, !cmd);
printk("cmd == 1 carroll led_ioctl: %d \n", arg);
}
printk("carroll led_ioctl: cmd:%d arg:%d\n", cmd, arg);
return 0;
}
static struct file_operations led_fops = {
.owner = THIS_MODULE,
.open = led_open,
.release = led_release,
.unlocked_ioctl = led_ioctl,
};
static struct miscdevice led_dev =
{
.minor = MISC_DYNAMIC_MINOR,
//.name = "test_led",
.name = "leds_drv",
.fops = &led_fops,
};
static int rongpin_led_probe(struct platform_device *pdev)
{
int ret = -1;
enum of_gpio_flags flags;
struct device_node *hello_node = pdev->dev.of_node;
printk("%s-%d: carroll \n",__FUNCTION__,__LINE__);
/* register test_led dev file */
ret = misc_register(&led_dev);
if (ret < 0){
printk("carroll led register err!\n");
return ret;
}
/* led1 init */
led1_gpio = of_get_named_gpio_flags(hello_node,"led1", 0,&flags);
if (!gpio_is_valid(led1_gpio)){
printk("carroll: invalid gpio : %d\n",led1_gpio);
return -1;
}
ret = gpio_request(led1_gpio, "rongpin_led");
if (ret != 0) {
gpio_free(led1_gpio);
printk("carroll: led1_gpio free\n");
return -EIO;
}
gpio_direction_output(led1_gpio, !led_gpio_active);
#if 0
/* led2 init */
led2_gpio = of_get_named_gpio_flags(hello_node,"led2", 0,&flags);
if (!gpio_is_valid(led2_gpio)){
printk("carroll: invalid gpio : %d\n",led2_gpio);
return -1;
}
ret = gpio_request(led2_gpio, "test_led");
if (ret != 0) {
gpio_free(led2_gpio);
printk("carroll: led2_gpio free\n");
return -EIO;
}
gpio_direction_output(led2_gpio, !led_gpio_active);
#endif
gpio_set_value(led1_gpio, !led_gpio_active);
//gpio_set_value(led2_gpio, led_gpio_active);
//mdelay(500);
//gpio_set_value(led1_gpio, !led_gpio_active);
//gpio_set_value(led2_gpio, !led_gpio_active);
return 0; //return Ok
}
static int rongpin_led_remove(struct platform_device *pdev)
{
return 0;
}
#ifdef CONFIG_OF
static const struct of_device_id of_rongpin_led_match[] = {
{ .compatible = "rongpin,rongpin_led" },
{ /* Sentinel */ }
};
#endif
static struct platform_driver rongpin_led_driver = {
.probe = rongpin_led_probe,
.remove = rongpin_led_remove,
.driver = {
.name = "rongpin_led",
.owner = THIS_MODULE,
#ifdef CONFIG_OF
.of_match_table = of_rongpin_led_match,
#endif
},
};
static int major;
static struct class *cls;
static int __init led_init(void)
{
printk(KERN_INFO "carroll register led dev %s\n", __FUNCTION__);
return platform_driver_register(&rongpin_led_driver);
}
static void __exit led_exit(void)
{
platform_driver_unregister(&rongpin_led_driver);
printk(KERN_INFO "carroll unregister led dev %s\n", __FUNCTION__);
}
subsys_initcall(led_init);
module_exit(led_exit);
MODULE_AUTHOR("carroll <1247627668@qq.com>");
MODULE_DESCRIPTION("carroll led driver");
MODULE_LICENSE("GPL");
这里我一直想单独编译kernel,一直编译不到,只能全编
C库修改
在上一小节中,向需虚拟机注册的C函数,只做了简单的打印信息,现在把hardcontrol.c代码补全如下:
#include <jni.h> /* /usr/lib/jvm/java-1.8.0-openjdk-amd64/include/ */
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <android/log.h> /* liblog */
#if 0
typedef struct {
char *name; /* Java閲岃皟鐢ㄧ殑鍑芥暟鍚?*/
char *signature; /* JNI瀛楁鎻忚堪绗? 鐢ㄦ潵琛ㄧずJava閲岃皟鐢ㄧ殑鍑芥暟鐨勫弬鏁板拰杩斿洖鍊肩被鍨?*/
void *fnPtr; /* C璇█瀹炵幇鐨勬湰鍦板嚱鏁?*/
} JNINativeMethod;
#endif
static jint fd;
jint ledOpen(JNIEnv *env, jobject cls)
{
fd = open("/dev/leds_drv", O_RDWR);
__android_log_print(ANDROID_LOG_DEBUG, "LEDDemo", "native ledOpen");
if (fd >= 0)
return 0;
else
return -1;
}
void ledClose(JNIEnv *env, jobject cls)
{
__android_log_print(ANDROID_LOG_DEBUG, "LEDDemo", "native ledClose");
close(fd);
}
jint ledCtrl(JNIEnv *env, jobject cls, jint which, jint status)
{
int ret = ioctl(fd, which, status);
__android_log_print(ANDROID_LOG_DEBUG, "LEDDemo", "native ledCtrl : %d, %d, %d", which, status, ret);
return ret;
}
static const JNINativeMethod methods[] = {
{"ledOpen", "()I", (void *)ledOpen},
{"ledClose", "()V", (void *)ledClose},
{"ledCtrl", "(II)I", (void *)ledCtrl},
};
/* System.loadLibrary */
JNIEXPORT jint JNICALL
JNI_OnLoad(JavaVM *jvm, void *reserved)
{
JNIEnv *env;
jclass cls;
if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_4)) {
return JNI_ERR; /* JNI version not supported */
}
cls = (*env)->FindClass(env, "com/example/hardlibrary/HardControl");
if (cls == NULL) {
return JNI_ERR;
}
/* 2. map java hello <-->c c_hello */
if ((*env)->RegisterNatives(env, cls, methods, sizeof(methods)/sizeof(methods[0])) < 0)
return JNI_ERR;
return JNI_VERSION_1_4;
}
MainActivity.java
package com.example.a3288_led_demo;
import androidx.appcompat.app.AppCompatActivity;
import android.os.Bundle;
import android.view.View;
import android.widget.Button;
import android.widget.CheckBox;
import android.widget.Toast;
import com.example.hardlibrary.HardControl;
public class MainActivity extends AppCompatActivity {
//创建一个button对象
private Button button = null;
//定义两个变量
private CheckBox checkBoxLed1 = null;
private CheckBox checkBoxLed2 = null;
private boolean ledon = false;
class MyButtonListener implements View.OnClickListener {
@Override
public void onClick(View view) {
//创建一个HardControl类
HardControl hardControl = new HardControl();
ledon = !ledon;
if (ledon) {
button.setText("ALL OFF");
checkBoxLed1.setChecked(true);
checkBoxLed2.setChecked(true);
for (int i = 0; i < 2; i++)
HardControl.ledCtrl(i, 0);
}
else {
button.setText("ALL ON");
checkBoxLed1.setChecked(false);
checkBoxLed2.setChecked(false);
for (int i = 0; i < 2; i++)
HardControl.ledCtrl(i, 1);
}
}
}
//点击Checkbox时,会执行函数onCheckboxClicked
public void onCheckboxClicked(View view) {
boolean checked = ((CheckBox) view).isChecked();
switch(view.getId()) {
case R.id.LED1:
if (checked) {
//提示框的作用,当我们点击Checkbox,浮现出当前LED的状态
Toast.makeText(getApplicationContext(), "LED1 on", Toast.LENGTH_SHORT).show();
HardControl.ledCtrl(0, 0);
}
else {
Toast.makeText(getApplicationContext(), "LED1 off", Toast.LENGTH_SHORT).show();
HardControl.ledCtrl(0, 1);
}
break;
case R.id.LED2:
if (checked) {
Toast.makeText(getApplicationContext(), "LED2 on", Toast.LENGTH_SHORT).show();
HardControl.ledCtrl(1, 0);
}
else {
Toast.makeText(getApplicationContext(), "LED2 off", Toast.LENGTH_SHORT).show();
HardControl.ledCtrl(1, 1);
}
break;
}
}
//这个方法会在在APP启动的时候就会被调用
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
HardControl.ledOpen();
button = (Button)findViewById(R.id.BUTTON);
//用findViewById得到实例化对象
checkBoxLed1 = (CheckBox)findViewById(R.id.LED1);
checkBoxLed2 = (CheckBox)findViewById(R.id.LED2);
//绑定其点击执行函数
button.setOnClickListener(new MyButtonListener());
}
}
实验现象
编译hardcontrol.c文件生成动态C库,加载到我们的APP工程中(加载过程和位置可以参考前面的博文),运行APP之前,我们先查看开发板/dev/leds_drv是否存在,然后通过chmod命令赋予其权限777,然后执行APP程序,通过点击button和checkbox可以控制LED的状态
章节结语
该章节到此结束,从andriod源码的编译,到APP界面程序的设计,以及JNI的简单使用已经讲解完成。现在我们是通过JNI直接访问硬件的,这样是十分不安全的,比如,如果多个APP同时访问LED将导致实际现象和预计现象的不一样。在andriod系统中,存在专门管理硬件访问的服务框架,下一章节将对其进行解刨。