目录
前言
inctrl子系统和gpio子系统_anieoo的博客-CSDN博客
一、修改设备树文件
(1)添加pinctrl节点
打开imx6ull-alientek-emmc.dts文件,在 iomuxc 节点的 imx6ul-evk 子节点下创建一个名为“pinctrl_gpioled”的子节点,节点内容如下所示:
该节点表示的是,将GPIO_IO03这个pin复用为gpio,设置电气属性为0x10B0。
(2)添加led设备节点
在根节点“/”下创建 LED 灯节点,节点名为“gpioled”,节点内容如下:
gpioled{
compatible = "alientek,gpioled";
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_gpioled>;
led-gpios = <&gpio1 3 GPIO_ACTIVE_LOW>;
status = "okay";
};
其中pinctrl-0属性设置LED灯对应Pin的pinctrl子节点。led-gpios指定led所使用的的gpio,为GPIO1的IO03,低电平有效。
(3)检查LED对应pin脚是否被使用
我们使用的设备树通常有设备厂商提供,在其上修改。因此需要检查所使用的的Pin管脚有没有被厂商使用。如图所示在im6ull-alientek-emmc.dts中搜索gpio1 3,并将其statu属性修改为disable。
修改完成后使用命令make dtbs编译设备树,并拷贝到目录中。
(4)启动系统
Linux系统选择TFTP从网络启动,并利用NFS挂载根文件系统。启动成功以后进入“/proc/device-tree”目录中查看“gpioled”节点是否存在,如果存在的话就说明设备树基本修改成功。
二、详细驱动程序
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/init.h>
#include <linux/fs.h>
#include <linux/uaccess.h>
#include <linux/io.h>
#include <linux/cdev.h>
#include <linux/device.h>
#include <linux/of.h>
#include <linux/of_address.h>
#include <linux/of_irq.h>
#include <linux/of_gpio.h>
#include <linux/gpio.h>
#include <linux/slab.h>
#define GPIOLED_COUNT 1
#define GPIOLED_NAME "gpioled"
#define LEDOFF 0
#define LEDON 1
/*gpio设备结构体*/
struct gpioled_dev{
dev_t devid; /*设备号*/
int major; /*主设备号*/
int minor; /*次设备号*/
struct cdev cdev;
struct class *class; /*创建类*/
struct device *device; /*创建设备*/
struct device_node *node; /*设备节点*/
int led_gpio;
};
struct gpioled_dev gpioled;
static int gpioled_open(struct inode *inode, struct file *filp){
filp->private_data = &gpioled; /* 设置私有数据 */
return 0;
}
static ssize_t gpioled_write(struct file *filp, const char __user *buf,size_t cnt, loff_t *offt)
{
int ret = 0;
unsigned char databuf[1];
ret = copy_from_user(databuf, buf, cnt);
if(ret < 0){
return -EINVAL;
}
if(databuf[0] == LEDON){
gpio_set_value(gpioled.led_gpio, 0);
}
else if(databuf[0] == LEDOFF){
gpio_set_value(gpioled.led_gpio, 1);
}
return 0;
}
static int gpioled_release(struct inode *inode, struct file *filp){
return 0;
}
/*定义字符操作集*/
static const struct file_operations gpioled_fops = {
.owner = THIS_MODULE,
.write = gpioled_write,
.open = gpioled_open,
.release = gpioled_release,
};
/*驱动入口函数*/
static int __init led_init(void){
int ret = 0;
gpioled.major = 0; /*linux内核自动申请设备号*/
/*注册字符设备驱动*/
if(gpioled.major){ /*给定主设备号*/
gpioled.devid = MKDEV(gpioled.major, 0);
ret = register_chrdev_region(gpioled.devid, GPIOLED_COUNT, GPIOLED_NAME);
}
else{ /*没给定设备号*/
ret = alloc_chrdev_region(&gpioled.devid, 0, GPIOLED_COUNT, GPIOLED_NAME);
gpioled.major = MAJOR(gpioled.devid); /*保存主设备号*/
gpioled.minor = MINOR(gpioled.devid); /*保存次设备号*/
}
if(ret < 0){
goto failed_devid;
}
printk("gpioled major = %d ,minor = %d \r\n",gpioled.major,gpioled.minor);
/*初始化cdev*/
gpioled.cdev.owner = THIS_MODULE;
cdev_init(&gpioled.cdev, &gpioled_fops);
/*添加cdev*/
ret = cdev_add(&gpioled.cdev, gpioled.devid, GPIOLED_COUNT);
if(ret < 0){
goto failed_cdev;
}
/*自动创建设备节点*/
/*创建类*/
gpioled.class = class_create(THIS_MODULE, GPIOLED_NAME);
if(IS_ERR(gpioled.class)){ /*判断是否创建类成功*/
ret = PTR_ERR(gpioled.class);
goto failed_class;
}
/*创建设备*/
gpioled.device = device_create(gpioled.class, NULL, gpioled.devid, NULL, GPIOLED_NAME);
if(IS_ERR(gpioled.device)){ /*判断是否创建类成功*/
ret = PTR_ERR(gpioled.device);
goto failed_device;
}
/*获取设备节点*/
gpioled.node = of_find_node_by_path("/gpioled");
if(gpioled.node == NULL){ /*寻找节点失败*/
ret = -EINVAL;
goto failed_findnode;
}
/*获取led所对应的gpio*/
gpioled.led_gpio = of_get_named_gpio(gpioled.node, "led-gpios", 0);
if(gpioled.led_gpio < 0){
printk("can't find led gpio \r\n");
ret = -EINVAL;
goto failed_findnode;
}
printk("led gpio num = %d \r\n",gpioled.led_gpio);
/*申请gpio*/
ret = gpio_request(gpioled.led_gpio, "led-gpios");
if(ret){
printk("Failed to request gpio \r\n");
ret = -EINVAL;
goto failed_findnode;
}
/*使用IO,申请为输出*/
ret = gpio_direction_output(gpioled.led_gpio, 1); /*设置为输出,高电平不点亮*/
if(ret < 0){
goto failed_setoutput;
}
/*输出低电平,点亮gpio*/
gpio_set_value(gpioled.led_gpio, 0);
return 0;
failed_setoutput:
gpio_free(gpioled.led_gpio);
failed_findnode:
device_destroy(gpioled.class, gpioled.devid);
failed_device:
class_destroy(gpioled.class);
failed_class:
cdev_del(&gpioled.cdev);
failed_cdev:
unregister_chrdev_region(gpioled.devid, GPIOLED_COUNT);
failed_devid:
return ret;
}
/*驱动出口函数*/
static void __exit led_exit(void){
/*关灯*/
/*输出高电平,关闭gpio*/
gpio_set_value(gpioled.led_gpio, 1);
/*注销字符设备驱动*/
cdev_del(&gpioled.cdev);
unregister_chrdev_region(gpioled.devid, GPIOLED_COUNT);
device_destroy(gpioled.class, gpioled.devid);
class_destroy(gpioled.class);
/*释放IO*/
gpio_free(gpioled.led_gpio);
}
/*模块入口和出口*/
module_init(led_init);
module_exit(led_exit);
MODULE_LICENSE("GPL");
MODULE_AUTHOR("ZYC");
三、测试
1、将编译完成的gpioled.ko拷贝到roots/lib/modules/4.1.15中
2、终端进入到目录 lib/modules/4.1.15 中,输入如下命令加载 gpioled.ko 驱动模块
depmod
modprobe gpioled.ko
3、lsmod查看当前模块的加载
4、cat /proc/devices查看当前系统中设备
5、控制LED灯
ledAPP采用以前编写的保持不变。
./ledApp /dev/gpioled 1 //打开LED
./ledApp /dev/gpioled 0 //关闭LED
总结
引入pinctrl子系统和gpio子系统,使驱动的编写简化,只需要在设备数中配置好属性,不用再驱动中一步步配置寄存器。