4 linux 下usb驱动开发
终于轮到讲解linux下的usb驱动开发了，在开始之前还得讲讲linux下usb开发和windows usb驱动开发的区别，linux下驱动的好处就是开源，也是它的优点吧，无论什么上的驱动，在linux内核的源码中都能找到类似的代码，我们可以根据这些源码进行改写，linux驱动程序分为2部分，第一部分就是usb bus驱动，这一部分，linux系统已经为我们做好了，我们要做的工作就是实现我们自己的usb 设备驱动程序。Usb bus就好像一条路，它是由usb-core完成的，当USB设备接到USB控制器接口时，usb_core就检测该设备的一些信息，例如生产厂商ID和产品的ID，或者是设备所属的class、subclass跟protocol，以便确定应该调用哪一个驱动处理该设备。下面回到我们本文的usb驱动开发， usb- skeleton是USB驱动程序的基础，通过对它源码的学习和理解，可以使我们迅速的理解USB驱动架构，迅速开发我们自己的USB硬件的驱动，我们可以直接改写usb- skeleton，就可以得到我们自己的驱动程序，下面分析usb-skeleton的源码，我使用的内核是linux 2.6.35：源码如下：
/*
* USB Skeleton driver - 2.2
*
* Copyright (C) 2001-2004 Greg Kroah-Hartman (greg@kroah.com)
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation, version 2.
*
* This driver is based on the 2.6.3 version of drivers/usb/usb-skeleton.c
* but has been rewritten to be easier to read and use.
*
*/
#include <linux/kernel.h>
#include <linux/errno.h>
#include <linux/init.h>
#include <linux/slab.h>
#include <linux/module.h>
#include <linux/kref.h>
#include <linux/uaccess.h>
#include <linux/usb.h>
#include <linux/mutex.h>
/* Define these values to match your devices */
#define USB_SKEL_VENDOR_ID 0xfff0 //VID
#define USB_SKEL_PRODUCT_ID 0xfff0 //PID
/* table of devices that work with this driver */
static const struct usb_device_id skel_table[] = {
{ USB_DEVICE(USB_SKEL_VENDOR_ID, USB_SKEL_PRODUCT_ID) },
{ } /* Terminating entry */
};
在skel_table[]数组中指定驱动程序的VID和PID。
MODULE_DEVICE_TABLE(usb, skel_table);
MODULE_DEVICE_TABLE的第一个参数是设备的类型，如果是USB设备，那自然是usb（如果是PCI设备，那将是pci，这两个子系统用同一个宏来注册所支持的设备。后面一个参数是设备表，这个设备表的最后一个元素是空的，用于标识结束。代码定义了USB_SKEL_VENDOR_ID是0xfff0，USB_SKEL_PRODUCT_ID是0xfff0，也就是说，当有一个设备接到集线器时，usb子系统就会检查这个设备的vendor ID和product ID，如果它们的值是0xfff0时，那么子系统就会调用这个skeleton模块作为设备的驱动。对于PC驱动程序,MODULE_DEVICE_TABLE宏是必需的,以允许用户空间的工具判断出该驱动程序可以控制什么设备.但是对于USB驱动程序来说,字符串usb必须是该宏中的第一个值。
/* Get a minor range for your devices from the usb maintainer */
#define USB_SKEL_MINOR_BASE 192
/* our private defines. if this grows any larger, use your own .h file */
#define MAX_TRANSFER (PAGE_SIZE - 512)
/* MAX_TRANSFER is chosen so that the VM is not stressed by
allocations > PAGE_SIZE and the number of packets in a page
is an integer 512 is the largest possible packet on EHCI */
#define WRITES_IN_FLIGHT 8
/* arbitrarily chosen */
/* Structure to hold all of our device specific stuff */
struct usb_skel {
struct usb_device *udev; /* the usb device for this device */
struct usb_interface *interface; /* the interface for this device */
struct semaphore limit_sem; /* limiting the number of writes in progress */
struct usb_anchor submitted; /* in case we need to retract our submissions */
struct urb *bulk_in_urb; /* the urb to read data with */
unsigned char *bulk_in_buffer; /* the buffer to receive data */
size_t bulk_in_size; /* the size of the receive buffer */
size_t bulk_in_filled; /* number of bytes in the buffer */
size_t bulk_in_copied; /* already copied to user space */
__u8 bulk_in_endpointAddr; /* the address of the bulk in endpoint */
__u8 bulk_out_endpointAddr; /* the address of the bulk out endpoint */
int errors; /* the last request tanked */
int open_count; /* count the number of openers */
bool ongoing_read; /* a read is going on */
bool processed_urb; /* indicates we haven't processed the urb */
spinlock_t err_lock; /* lock for errors */
struct kref kref;
struct mutex io_mutex; /* synchronize I/O with disconnect */
struct completion bulk_in_completion; /* to wait for an ongoing read */
};
#define to_skel_dev(d) container_of(d, struct usb_skel, kref)
static struct usb_driver skel_driver;
static void skel_draw_down(struct usb_skel *dev);
static void skel_delete(struct kref *kref)
{
struct usb_skel *dev = to_skel_dev(kref);
usb_free_urb(dev->bulk_in_urb);
usb_put_dev(dev->udev);
kfree(dev->bulk_in_buffer);
kfree(dev);
}
static int skel_open(struct inode *inode, struct file *file)
{
struct usb_skel *dev;
struct usb_interface *interface;
int subminor;
int retval = 0;
subminor = iminor(inode);
interface = usb_find_interface(&skel_driver, subminor);
if (!interface) {
err("%s - error, can't find device for minor %d",
__func__, subminor);
retval = -ENODEV;
goto exit;
}
dev = usb_get_intfdata(interface);
if (!dev) {
retval = -ENODEV;
goto exit;
}
/* increment our usage count for the device */
kref_get(&dev->kref);
/* lock the device to allow correctly handling errors* in resumption */
mutex_lock(&dev->io_mutex);
if (!dev->open_count++) {
retval = usb_autopm_get_interface(interface);
if (retval) {
dev->open_count--;
mutex_unlock(&dev->io_mutex);
kref_put(&dev->kref, skel_delete);
goto exit;
}
} /* else { //uncomment this block if you want exclusive open
retval = -EBUSY;
dev->open_count--;
mutex_unlock(&dev->io_mutex);
kref_put(&dev->kref, skel_delete);
goto exit;
} */
/* prevent the device from being autosuspended */
/* save our object in the file's private structure */
file->private_data = dev;
mutex_unlock(&dev->io_mutex);
exit:
return retval;
}
static int skel_release(struct inode *inode, struct file *file)
{
struct usb_skel *dev;
dev = (struct usb_skel *)file->private_data;
if (dev == NULL)
return -ENODEV;
/* allow the device to be autosuspended */
mutex_lock(&dev->io_mutex);
if (!--dev->open_count && dev->interface)
usb_autopm_put_interface(dev->interface);
mutex_unlock(&dev->io_mutex);
/* decrement the count on our device */
kref_put(&dev->kref, skel_delete);
return 0;
}
static int skel_flush(struct file *file, fl_owner_t id)
{
struct usb_skel *dev;
int res;
dev = (struct usb_skel *)file->private_data;
if (dev == NULL)
return -ENODEV;
/* wait for io to stop */
mutex_lock(&dev->io_mutex);
skel_draw_down(dev);
/* read out errors, leave subsequent opens a clean slate */
spin_lock_irq(&dev->err_lock);
res = dev->errors ? (dev->errors == -EPIPE ? -EPIPE : -EIO) : 0;
dev->errors = 0;
spin_unlock_irq(&dev->err_lock);
mutex_unlock(&dev->io_mutex);
return res;
}
static void skel_read_bulk_callback(struct urb *urb)
{
struct usb_skel *dev;
dev = urb->context;
spin_lock(&dev->err_lock);
/* sync/async unlink faults aren't errors */
if (urb->status) {
if (!(urb->status == -ENOENT ||
urb->status == -ECONNRESET ||
urb->status == -ESHUTDOWN))
err("%s - nonzero write bulk status received: %d",
__func__, urb->status);
dev->errors = urb->status;
} else {
dev->bulk_in_filled = urb->actual_length;
}
dev->ongoing_read = 0;
spin_unlock(&dev->err_lock);
complete(&dev->bulk_in_completion);
}
static int skel_do_read_io(struct usb_skel *dev, size_t count)
{
int rv;
/* prepare a read */
usb_fill_bulk_urb(dev->bulk_in_urb,
dev->udev,
usb_rcvbulkpipe(dev->udev,
dev->bulk_in_endpointAddr),
dev->bulk_in_buffer,
min(dev->bulk_in_size, count),
skel_read_bulk_callback,
dev);
/* tell everybody to leave the URB alone */
spin_lock_irq(&dev->err_lock);
dev->ongoing_read = 1;
spin_unlock_irq(&dev->err_lock);
/* do it */
rv = usb_submit_urb(dev->bulk_in_urb, GFP_KERNEL);
if (rv < 0) {
err("%s - failed submitting read urb, error %d",
__func__, rv);
dev->bulk_in_filled = 0;
rv = (rv == -ENOMEM) ? rv : -EIO;
spin_lock_irq(&dev->err_lock);
dev->ongoing_read = 0;
spin_unlock_irq(&dev->err_lock);
}
return rv;
}
static ssize_t skel_read(struct file *file, char *buffer, size_t count,
loff_t *ppos)
{
struct usb_skel *dev;
int rv;
bool ongoing_io;
dev = (struct usb_skel *)file->private_data;
/* if we cannot read at all, return EOF */
if (!dev->bulk_in_urb || !count)
return 0;
/* no concurrent readers */
rv = mutex_lock_interruptible(&dev->io_mutex);
if (rv < 0)
return rv;
if (!dev->interface) { /* disconnect() was called */
rv = -ENODEV;
goto exit;
}
/* if IO is under way, we must not touch things */
retry:
spin_lock_irq(&dev->err_lock);
ongoing_io = dev->ongoing_read;
spin_unlock_irq(&dev->err_lock);
if (ongoing_io) {
/* nonblocking IO shall not wait */
if (file->f_flags & O_NONBLOCK) {
rv = -EAGAIN;
goto exit;
}
/*
* IO may take forever
* hence wait in an interruptible state
*/
rv = wait_for_completion_interruptible(&dev->bulk_in_completion);
if (rv < 0)
goto exit;
/*
* by waiting we also semiprocessed the urb
* we must finish now
*/
dev->bulk_in_copied = 0;
dev->processed_urb = 1;
}
if (!dev->processed_urb) {
/*
* the URB hasn't been processed
* do it now
*/
wait_for_completion(&dev->bulk_in_completion);
dev->bulk_in_copied = 0;
dev->processed_urb = 1;
}
/* errors must be reported */
rv = dev->errors;
if (rv < 0) {
/* any error is reported once */
dev->errors = 0;
/* to preserve notifications about reset */
rv = (rv == -EPIPE) ? rv : -EIO;
/* no data to deliver */
dev->bulk_in_filled = 0;
/* report it */
goto exit;
}
/*
* if the buffer is filled we may satisfy the read
* else we need to start IO
*/
if (dev->bulk_in_filled) {
/* we had read data */
size_t available = dev->bulk_in_filled - dev->bulk_in_copied;
size_t chunk = min(available, count);
if (!available) {
/*
* all data has been used
* actual IO needs to be done
*/
rv = skel_do_read_io(dev, count);
if (rv < 0)
goto exit;
else
goto retry;
}
/*
* data is available
* chunk tells us how much shall be copied
*/
if (copy_to_user(buffer,
dev->bulk_in_buffer + dev->bulk_in_copied,
chunk))
rv = -EFAULT;
else
rv = chunk;
dev->bulk_in_copied += chunk;
/*
* if we are asked for more than we have,
* we start IO but don't wait
*/
if (available < count)
skel_do_read_io(dev, count - chunk);
} else {
/* no data in the buffer */
rv = skel_do_read_io(dev, count);
if (rv < 0)
goto exit;
else if (!(file->f_flags & O_NONBLOCK))
goto retry;
rv = -EAGAIN;
}
exit:
mutex_unlock(&dev->io_mutex);
return rv;
}
static void skel_write_bulk_callback(struct urb *urb)
{
struct usb_skel *dev;
dev = urb->context;
/* sync/async unlink faults aren't errors */
if (urb->status) {
if (!(urb->status == -ENOENT ||
urb->status == -ECONNRESET ||
urb->status == -ESHUTDOWN))
err("%s - nonzero write bulk status received: %d",
__func__, urb->status);
spin_lock(&dev->err_lock);
dev->errors = urb->status;
spin_unlock(&dev->err_lock);
}
/* free up our allocated buffer */
usb_free_coherent(urb->dev, urb->transfer_buffer_length,
urb->transfer_buffer, urb->transfer_dma);
up(&dev->limit_sem);
}
static ssize_t skel_write(struct file *file, const char *user_buffer,
size_t count, loff_t *ppos)
{
struct usb_skel *dev;
int retval = 0;
struct urb *urb = NULL;
char *buf = NULL;
size_t writesize = min(count, (size_t)MAX_TRANSFER);
dev = (struct usb_skel *)file->private_data;
/* verify that we actually have some data to write */
if (count == 0)
goto exit;
/*
* limit the number of URBs in flight to stop a user from using up all
* RAM
*/
if (!(file->f_flags & O_NONBLOCK)) {
if (down_interruptible(&dev->limit_sem)) {
retval = -ERESTARTSYS;
goto exit;
}
} else {
if (down_trylock(&dev->limit_sem)) {
retval = -EAGAIN;
goto exit;
}
}
spin_lock_irq(&dev->err_lock);
retval = dev->errors;
if (retval < 0) {
/* any error is reported once */
dev->errors = 0;
/* to preserve notifications about reset */
retval = (retval == -EPIPE) ? retval : -EIO;
}
spin_unlock_irq(&dev->err_lock);
if (retval < 0)
goto error;
/* create a urb, and a buffer for it, and copy the data to the urb */
urb = usb_alloc_urb(0, GFP_KERNEL);
if (!urb) {
retval = -ENOMEM;
goto error;
}
buf = usb_alloc_coherent(dev->udev, writesize, GFP_KERNEL,
&urb->transfer_dma);
if (!buf) {
retval = -ENOMEM;
goto error;
}
if (copy_from_user(buf, user_buffer, writesize)) {
retval = -EFAULT;
goto error;
}
/* this lock makes sure we don't submit URBs to gone devices */
mutex_lock(&dev->io_mutex);
if (!dev->interface) { /* disconnect() was called */
mutex_unlock(&dev->io_mutex);
retval = -ENODEV;
goto error;
}
/* initialize the urb properly */
usb_fill_bulk_urb(urb, dev->udev,
usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
buf, writesize, skel_write_bulk_callback, dev);
urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
usb_anchor_urb(urb, &dev->submitted);
/* send the data out the bulk port */
retval = usb_submit_urb(urb, GFP_KERNEL);
mutex_unlock(&dev->io_mutex);
if (retval) {
err("%s - failed submitting write urb, error %d", __func__,
retval);
goto error_unanchor;
}
/*
* release our reference to this urb, the USB core will eventually free
* it entirely
*/
usb_free_urb(urb);
return writesize;
error_unanchor:
usb_unanchor_urb(urb);
error:
if (urb) {
usb_free_coherent(dev->udev, writesize, buf, urb->transfer_dma);
usb_free_urb(urb);
}
up(&dev->limit_sem);
exit:
return retval;
}
static const struct file_operations skel_fops = {
.owner = THIS_MODULE,
.read = skel_read, //读操作
.write = skel_write, //写操作
.open = skel_open, //打开操作
.release = skel_release, //释放操作
.flush = skel_flush, //清除操作
};
/*在结构体skel_ops中定义了usb-skel设备的各种操作函数，当在usb-skel设备上发生相应的操作时，usb文件系统会调用相应的函数进行处理*/
/*
* usb class driver info in order to get a minor number from the usb core,
* and to have the device registered with the driver core
*/
static struct usb_class_driver skel_class = {
.name = "skel%d",
.fops = &skel_fops,
.minor_base = USB_SKEL_MINOR_BASE,
};
/*name变量中采用%d通配符表示十进制整数，当一个新的usb_skel 类型的设备被接入usb总线后，会按照子设备编号自动为该设备设置设备名称。Fops是设备的文件操作结构体变量。*/
static int skel_probe(struct usb_interface *interface,
const struct usb_device_id *id)
{
struct usb_skel *dev;
struct usb_host_interface *iface_desc;
struct usb_endpoint_descriptor *endpoint;
size_t buffer_size;
int i;
int retval = -ENOMEM;
/* allocate memory for our device state and initialize it */
dev = kzalloc(sizeof(*dev), GFP_KERNEL);
if (!dev) {
err("Out of memory");
goto error;
}
kref_init(&dev->kref);
sema_init(&dev->limit_sem, WRITES_IN_FLIGHT);
mutex_init(&dev->io_mutex);
spin_lock_init(&dev->err_lock);
init_usb_anchor(&dev->submitted);
init_completion(&dev->bulk_in_completion);
dev->udev = usb_get_dev(interface_to_usbdev(interface));
dev->interface = interface;
/* set up the endpoint information */
/* use only the first bulk-in and bulk-out endpoints */
iface_desc = interface->cur_altsetting;
for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
endpoint = &iface_desc->endpoint[i].desc;
if (!dev->bulk_in_endpointAddr &&
usb_endpoint_is_bulk_in(endpoint)) {
/* we found a bulk in endpoint */
buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
dev->bulk_in_size = buffer_size;
dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
dev->bulk_in_buffer = kmalloc(buffer_size, GFP_KERNEL);
if (!dev->bulk_in_buffer) {
err("Could not allocate bulk_in_buffer");
goto error;
}
dev->bulk_in_urb = usb_alloc_urb(0, GFP_KERNEL);
if (!dev->bulk_in_urb) {
err("Could not allocate bulk_in_urb");
goto error;
}
}
if (!dev->bulk_out_endpointAddr &&
usb_endpoint_is_bulk_out(endpoint)) {
/* we found a bulk out endpoint */
dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
}
}
if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
err("Could not find both bulk-in and bulk-out endpoints");
goto error;
}
/* save our data pointer in this interface device */
usb_set_intfdata(interface, dev);
/* we can register the device now, as it is ready */
retval = usb_register_dev(interface, &skel_class);
/* usb_register_dev 函数的作用是注册一个设备，函数原型如下：
int usb_register_dev(struct usb_interface *intf,
struct usb_class_driver *class_driver);
上述函数中第二个参数为usb_class_driver结构体，usb_class_driver结构体的fops成员中的write()、read()、ioctl()和windows中的write,read等类似；
*/
if (retval) {
/* something prevented us from registering this driver */
err("Not able to get a minor for this device.");
usb_set_intfdata(interface, NULL);
goto error;
}
/* let the user know what node this device is now attached to */
dev_info(&interface->dev,
"USB Skeleton device now attached to USBSkel-%d",
interface->minor);
return 0;
error:
if (dev)
/* this frees allocated memory */
kref_put(&dev->kref, skel_delete);
return retval;
}
static void skel_disconnect(struct usb_interface *interface)
{
struct usb_skel *dev;
int minor = interface->minor;
dev = usb_get_intfdata(interface);
usb_set_intfdata(interface, NULL);
/* give back our minor */
usb_deregister_dev(interface, &skel_class);
/* prevent more I/O from starting */
mutex_lock(&dev->io_mutex);
dev->interface = NULL;
mutex_unlock(&dev->io_mutex);
usb_kill_anchored_urbs(&dev->submitted);
/* decrement our usage count */
kref_put(&dev->kref, skel_delete);
dev_info(&interface->dev, "USB Skeleton #%d now disconnected", minor);
}
static void skel_draw_down(struct usb_skel *dev)
{
int time;
time = usb_wait_anchor_empty_timeout(&dev->submitted, 1000);
if (!time)
usb_kill_anchored_urbs(&dev->submitted);
usb_kill_urb(dev->bulk_in_urb);
}
static int skel_suspend(struct usb_interface *intf, pm_message_t message)
{
struct usb_skel *dev = usb_get_intfdata(intf);
if (!dev)
return 0;
skel_draw_down(dev);
return 0;
}
static int skel_resume(struct usb_interface *intf)
{
return 0;
}
static int skel_pre_reset(struct usb_interface *intf)
{
struct usb_skel *dev = usb_get_intfdata(intf);
mutex_lock(&dev->io_mutex);
skel_draw_down(dev);
return 0;
}
static int skel_post_reset(struct usb_interface *intf)
{
struct usb_skel *dev = usb_get_intfdata(intf);
/* we are sure no URBs are active - no locking needed */
dev->errors = -EPIPE;
mutex_unlock(&dev->io_mutex);
return 0;
}
static struct usb_driver skel_driver = {
.name = "skeleton",
.probe = skel_probe,
.disconnect = skel_disconnect,
.suspend = skel_suspend,
.resume = skel_resume,
.pre_reset = skel_pre_reset,
.post_reset = skel_post_reset,
.id_table = skel_table, //保存Pid和vid
.supports_autosuspend = 1,
};
/*结构体usb_driver定义了驱动的名字和驱动的接口函数，在驱动注册的时候，在驱动注册的时候，这些信息被注册到系统中，调用系统的这些函数访问设备时，就会调用对应到驱动的相应的接口函数，变量name为一个字符串，它是对驱动程序进行描述。probe 为探测函数指针，当id_table中的变量的信息匹配时，该函数被调用。在usb驱动的探测函数中有usb_register_dev注册一个usb设备，将文件操作结构体和usb驱动程序对应起来，而在断开连接的函数中又有usb_deregister_dev函数对usb设备进行去注册，释放所有为设备分配的资源，设置设备的数据指针为NULL,注销USB设备。对探测函数的调用发生在USB设备被安装且USB核心认为该驱动程序与安装的USB设备对应时（usb_driver的id_table成员在此时发挥作用），而对断开函数的调用则发生在驱动因为种种原因不再控制该设备的时候。对这两个函数的调用都是在内核线程中进行的，因此，可以在其中进行任何可能引起睡眠的操作。但是，由于USB核心对所有探测和断开函数的调用都发生在单一线程内，因此，太慢的probe()或disconnect()将拖延其他USB设备的探测时间。
而skel_driver是在驱动初始化的时候注册的，当用户使用insmod时，就会关联这个结构体；在usb_skel_init函数有usb_register(&skel_driver);该函数的作用为：usb_register函数将你的驱动提交给设备模型，添加到usb总线的驱动链表里。
*/
static int __init usb_skel_init(void)
{
int result;
/* register this driver with the USB subsystem */
result = usb_register(&skel_driver);
if (result)
err("usb_register failed. Error number %d", result);
return result;
}
/* usb_skel_init 为初始化函数，当驱动加载时进行调用，它主要调用usb_register 函数对skel_driver 进行注册*/
static void __exit usb_skel_exit(void)
{
/* deregister this driver with the USB subsystem */
usb_deregister(&skel_driver);
}
/*usb_skel_exit为退出驱动 rmmod时调用的函数，主要调用usb_deregister函数对usb驱动进行去注册*/
module_init(usb_skel_init);
module_exit(usb_skel_exit);
/*模块初始化和退出宏，对应Insmod和rmmod指令*/
MODULE_LICENSE("GPL");
Usb bus就像一条高速公路，而货物、人流之类的可以看成是系统与设备交互的数据，而urb就可以看成是汽车。我们就说过USB的endpoint有4种不同类型，也就是说能在这条高速公路上流动的数据就有四种。但是这对汽车是没有要求的，所以urb可以运载四种数据。有了路，有了车，那么就可以装载货物了了，根据端点的不同，usb提供了不同的装载函数，对于usb 控制端点，装载函数为：usb_fill_control_urb ，对于同步端点，装载函数为usb_fill_bulk_urb ，对于中断端点，usb装载函数为usb_fill_int_urb，而对于usb同步端点，usb没有提供装载函数，需要手动填充；当货物装载完了，就可以运货了，运货的的函数都是一样的，函数都是usb_submit_urb。
实际上，当货物不是很大时，不必要使用卡车来运送货物，系统提供了不使用urb的方法：如对bulk数据：函数为usb_bulk_msg，对控制数据，函数为：usb_contrl_msg。
系统没有提供类似的中断和同步的函数。
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