.h
#ifndef __MY_GPIO_H__
#define __MY_GPIO_H__
typedef struct
{
volatile unsigned int MODER;
volatile unsigned int OTYPER;
volatile unsigned int OSPEEDR;
volatile unsigned int PUPDR;
volatile unsigned int IDR;
volatile unsigned int ODR;
volatile unsigned int BSRR;
}gpio_t;
#define PHY_GPIOA_ADDR 0X50002000
#define PHY_GPIOB_ADDR 0X50003000
#define PHY_GPIOC_ADDR 0X50004000
#define PHY_GPIOD_ADDR 0X50005000
#define PHY_GPIOE_ADDR 0X50006000
#define PHY_GPIOF_ADDR 0X50007000
#define PHY_GPIOG_ADDR 0X50008000
#define PHY_RCC_ADDR 0X50000A28
enum LED
{
LED1=1,
LED2,
LED3,
};
#define LedON _IOW('a',1,int)
#define LedOFF _IOW('a',0,int)
#endif
.c
#include <linux/init.h>
#include <linux/module.h>
#include <linux/fs.h>
#include <linux/io.h>
#include <linux/ioctl.h>
#include <linux/device.h>
#include <linux/uaccess.h>
#include <linux/cdev.h>
#include <linux/mm.h>
#include <linux/slab.h>
#include <linux/kernel.h>
#include "my_gpio.h"
int mycdev_open(struct inode *inode, struct file *file); //对应的是open()
ssize_t mycdev_read(struct file *file, char __user *ubuf, size_t size, loff_t *loff); //read()
ssize_t mycdev_write(struct file *file, const char __user *ubuf, size_t size, loff_t *loff); //write()
int mycdev_close(struct inode *inode, struct file *file); //close()
long ioctl(struct file *file, unsigned int cmd, unsigned long arg);
int led_init(void);//led灯初始化
//操作方法结构体的初始化
struct file_operations fops={
.open=mycdev_open,
.read=mycdev_read,
.write=mycdev_write,
.unlocked_ioctl=ioctl,
.release=mycdev_close,
};
char kbuf[128]={}; //定义数组用于存放和用户之间拷贝的数据
gpio_t *vir_gpioe; //led1(PE10),led2(PE8)
gpio_t *vir_gpiof; //led2(PF10)
unsigned int *vir_rcc; //RCC寄存器
struct class *cls; //句柄
struct device *dev;
struct cdev *cdev; //1.分配字符设备对象
dev_t devno=300; //存储设备号
int i;
//入口函数,当驱动安装的时候执行
static int __init demo_init(void)
{
int flag = 0; //动态指定设备号
//2.给字符设备对象申请空间
cdev = cdev_alloc();
if(cdev==NULL)
{
printk("设备对象申请空间失败\n");
goto ERR1;
}
printk("设备对象申请空间成功\n");
//3.初始化设备驱动对象(部分)
cdev_init(cdev, &fops);
//4.指定设备号
if(flag)
{
if(register_chrdev_region(devno, 3, "my_led"))
{
printk("静态指定设备号失败\n");
goto ERR2;
}
}else
{
if(alloc_chrdev_region(&devno, 0, 3, "my_led"))
{
printk("动态申请设备号失败\n");
goto ERR2;
}
printk("动态指定设备号成功 \n");
}
//5.注册设备驱动
if(cdev_add(cdev, devno, 3))
{
printk("注册驱动失败\n");
goto ERR3;
return -1;
}
printk("注册驱动成功\n");
//6.自动创建节点
//向上提交节点目录
cls = class_create(THIS_MODULE,"MYLED");
if(IS_ERR(cls))
{
printk("向上提交目录失败\n");
goto ERR4;
}
printk("向上提交目录成功\n");
for(i=0; i<3; i++)
{
//创建设备节点
dev = device_create(cls,NULL,MKDEV(MAJOR(devno),i),NULL,"led%d",i);
if(IS_ERR(dev))
{
printk("创建节点失败\n");
goto ERR5;
}
printk("创建节点%d成功\n",MKDEV(MAJOR(devno),i));
}
led_init(); //led灯的初始化
return 0;
ERR5:
//销毁节点
for(i-=1; i>=0;i--)
device_destroy(cls,MKDEV(MAJOR(devno),i));
//销毁目录
class_destroy(cls);
ERR4:
//注销字符设备驱动
cdev_del(cdev);
ERR3:
//注销设备号
unregister_chrdev_region(devno, 3);
ERR2:
//注销设备对象
kfree(cdev);
ERR1:
return -EIO;
}
//出口函数,卸载驱动的时候执行
static void __exit demo_exit(void)
{
//取消映射
iounmap(vir_gpioe);
iounmap(vir_gpiof);
iounmap(vir_rcc);
//注销设备节点
for(i=0; i<3;i++)
{
device_destroy(cls,MKDEV(MAJOR(devno),i));
printk("销毁节点%d成功\n",MKDEV(MAJOR(devno),i));
}
//销毁目录
class_destroy(cls);
printk("销毁目录成功\n");
//注销字符设备驱动
cdev_del(cdev);
printk("销毁字符驱动成功\n");
//注销设备号
unregister_chrdev_region(devno, 3);
printk("销毁设备号成功\n");
//注销设备驱动对象
kfree(cdev);
printk("销毁驱动对象成功\n");
}
module_init(demo_init);
module_exit(demo_exit);
MODULE_LICENSE("GPL");
int mycdev_open(struct inode *inode, struct file *file)
{
printk("%s:%s:%d\n",__FILE__,__func__,__LINE__);
return 0;
}
ssize_t mycdev_read(struct file *file, char __user *ubuf, size_t size, loff_t *loff)
{
//size参数是用户期待读到的字节长度
int ret;
if(size>sizeof(kbuf))
size=sizeof(kbuf);
ret=copy_to_user(ubuf,kbuf,size);
if(ret)
{
printk("数据从内核向用户拷贝失败\n");
return -EIO;
}
return size;
}
ssize_t mycdev_write(struct file *file, const char __user *ubuf, size_t size, loff_t *loff)
{
int ret;
if(size>sizeof(kbuf))
size=sizeof(kbuf);
ret=copy_from_user(kbuf,ubuf,size);
if(ret)
{
printk("数据从内核向用户拷贝失败\n");
return -EIO;
}
printk("内核接收到的数据是:%s\n",kbuf);
return size;
}
int mycdev_close(struct inode *inode, struct file *file)
{
printk("%s:%s:%d\n",__FILE__,__func__,__LINE__);
return 0;
}
long ioctl(struct file *file, unsigned int cmd, unsigned long arg)
{
int ret,which;
switch(cmd)
{
case LedON: //led亮
ret=copy_from_user(&which,(void *)arg,sizeof(int));
if(ret)
{
printk("用户向内核拷贝数据失败\n");
return -EIO;
}
switch(which)
{
case LED1:
vir_gpioe->ODR |= (1<<10);//led1亮
break;
case LED2:
vir_gpiof->ODR |= (1<<10);//led2亮
break;
case LED3:
vir_gpioe->ODR |= (1<<8);//led3亮
break;
}
break;
case LedOFF://led灭
ret=copy_from_user(&which,(void *)arg,sizeof(int));
if(ret)
{
printk("用户向内核拷贝数据失败\n");
return -EIO;
}
switch(which)
{
case LED1:
vir_gpioe->ODR &= ~(1<<10);//led1灭
break;
case LED2:
vir_gpiof->ODR &= ~(1<<10);//led2灭
break;
case LED3:
vir_gpioe->ODR &= ~(1<<8);//led3灭
break;
}
break;
default:
printk("功能码错误\n");
break;
}
return 0;
}
int led_init(void) //PE10,PF10,PE8
{
//进行物理地址的映射
vir_gpioe = ioremap(PHY_GPIOE_ADDR,sizeof(gpio_t));
if(vir_gpioe==NULL)
{
printk("vir_gpioe 映射失败\n");
return -ENOMEM;
}
printk("vir_gpioe 映射成功\n");
vir_gpiof = ioremap(PHY_GPIOF_ADDR,sizeof(gpio_t));
if(vir_gpiof==NULL)
{
printk("vir_gpiof 映射失败\n");
return -ENOMEM;
}
printk("vir_gpiof 映射成功\n");
vir_rcc=ioremap(PHY_RCC_ADDR,4);
if(vir_rcc==NULL)
{
printk("vir_rcc 映射失败\n");
return -ENOMEM;
}
printk("vir_rcc 映射成功\n");
//初始化,模式:通用输出模式,输出类型:推挽输出(默认),输出速度:低速(默认),禁止上下拉电阻(默认),初始电平(低电平)
//led1--->PE10
//RCC使能E,F时钟
(*vir_rcc) |= (3<<4);
vir_gpioe->MODER &= ~(3<<20);
vir_gpioe->MODER |= (1<<20);
vir_gpioe->ODR &= ~(1<<10);
//led2---->PF10
vir_gpiof->MODER &= ~(3<<20);
vir_gpiof->MODER |= (1<<20);
vir_gpiof->ODR &= ~(1<<10);
//led3----->PE8
vir_gpioe->MODER &= ~(3<<16);
vir_gpioe->MODER |= (1<<16);
vir_gpioe->ODR &= ~(1<<8);
return 0;
}
.test
#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <string.h>
#include <sys/ioctl.h>
#include "my_gpio.h"
int main(int argc, char const *argv[])
{
char buf[128]={};
int which;
int fd0=open("/dev/led0",O_RDWR);
if(fd0<0)
{
printf("打开设备文件失败\n");
exit(-1);
}
printf("LED1设备文件打开成功\n");
int fd1=open("/dev/led1",O_RDWR);
if(fd1<0)
{
printf("打开设备文件失败\n");
exit(-1);
}
printf("LED1设备文件打开成功\n");
int fd2=open("/dev/led2",O_RDWR);
if(fd2<0)
{
printf("打开设备文件失败\n");
exit(-1);
}
printf("LED1设备文件打开成功\n");
//在终端输入
while(1)
{
bzero(buf,sizeof(buf));//清空字符数组
printf("请输入要控制的灯: 1:LED1 2:LED2 3:LED3\n");
scanf("%d",&which);
getchar();//回收垃圾字符
switch(which)
{
case 1:
while(1)
{
printf("请输入控制命令: 0:关灯 1:开灯 其他:退出\n");
fgets(buf,sizeof(buf),stdin);
buf[strlen(buf)-1]='\0'; //吃掉换行符
if(buf[0]=='1')
{
ioctl(fd0,LedON,&which);
}else if(buf[0]=='0')
{
ioctl(fd0,LedOFF,&which);
}else
{
break;
}
}
break;
case 2:
while(1)
{
printf("请输入控制命令: 0:关灯 1:开灯 其他:退出\n");
fgets(buf,sizeof(buf),stdin);
buf[strlen(buf)-1]='\0'; //吃掉换行符
if(buf[0]=='1')
{
ioctl(fd1,LedON,&which);
}else if(buf[0]=='0')
{
ioctl(fd1,LedOFF,&which);
}else
{
break;
}
}
break;
case 3:
while(1)
{
printf("请输入控制命令: 0:关灯 1:开灯 其他:退出\n");
fgets(buf,sizeof(buf),stdin);
buf[strlen(buf)-1]='\0'; //吃掉换行符
if(buf[0]=='1')
{
ioctl(fd2,LedON,&which);
}else if(buf[0]=='0')
{
ioctl(fd2,LedOFF,&which);
}else
{
break;
}
}
break;
default:
printf("请重新输入\n");
break;
}
}
close(fd0);
close(fd1);
close(fd2);
return 0;
}
Makefile
#默认驱动名
modname?=my_gpio
#默认架构
arch?=arm
ifeq ($(arch),arm)
#arm架构的内核顶层目录路径
KERNELDIR:=/home/ubuntu/fsmp1a/linux-stm32mp-5.10.61-stm32mp-r2-r0/linux-5.10.61
else
#x86架构的内核顶层目录路径
KERNELDIR:=/lib/modules/5.3.0-28-generic/build
endif
#当前路径
PWD:=$(shell pwd)
#进入内核顶层目录下寻找Makefile文件对当前路径下的文件进行编译
all:
make -C $(KERNELDIR) M=$(PWD) modules
#清除编译生成的文件
clean:
make -C $(KERNELDIR) M=$(PWD) clean
#生成的模块名(xxx.ko)
obj-m:=$(modname).o
结果: