Linux用户空间操作gpio

1.sysfs的方式

​ 以nvidia NX的核心板为例:

• 1.1.内核源码GPIO相关

  #define TEGRA194_MAIN_GPIO_PORT_A 0
  #define TEGRA194_MAIN_GPIO_PORT_B 1
  #define TEGRA194_MAIN_GPIO_PORT_C 2
  #define TEGRA194_MAIN_GPIO_PORT_D 3
  #define TEGRA194_MAIN_GPIO_PORT_E 4
  #define TEGRA194_MAIN_GPIO_PORT_F 5
  #define TEGRA194_MAIN_GPIO_PORT_G 6
  #define TEGRA194_MAIN_GPIO_PORT_H 7
  #define TEGRA194_MAIN_GPIO_PORT_I 8
  #define TEGRA194_MAIN_GPIO_PORT_J 9
  #define TEGRA194_MAIN_GPIO_PORT_K 10
  #define TEGRA194_MAIN_GPIO_PORT_L 11
  #define TEGRA194_MAIN_GPIO_PORT_M 12
  #define TEGRA194_MAIN_GPIO_PORT_N 13
  #define TEGRA194_MAIN_GPIO_PORT_O 14
  #define TEGRA194_MAIN_GPIO_PORT_P 15
  #define TEGRA194_MAIN_GPIO_PORT_Q 16
  #define TEGRA194_MAIN_GPIO_PORT_R 17
  #define TEGRA194_MAIN_GPIO_PORT_S 18
  #define TEGRA194_MAIN_GPIO_PORT_T 19
  #define TEGRA194_MAIN_GPIO_PORT_U 20
  #define TEGRA194_MAIN_GPIO_PORT_V 21
  #define TEGRA194_MAIN_GPIO_PORT_W 22
  #define TEGRA194_MAIN_GPIO_PORT_X 23
  #define TEGRA194_MAIN_GPIO_PORT_Y 24
  #define TEGRA194_MAIN_GPIO_PORT_Z 25
  #define TEGRA194_MAIN_GPIO_PORT_FF 26
  #define TEGRA194_MAIN_GPIO_PORT_GG 27
  
  //设备树中使用下面宏定义的，GPIO_BASE编号为288（通过cat /sys/class/gpio/gpiochipX/base得到）
  #define TEGRA194_MAIN_GPIO(port, offset) \
  	((TEGRA194_MAIN_GPIO_PORT_##port * 8) + offset)
  
  //设备树中使用下面宏定义的，GPIO_BASE编号为248（通过cat /sys/class/gpio/gpiochipX/base得到）
  #define TEGRA194_AON_GPIO(port, offset) \
  	((TEGRA194_AON_GPIO_PORT_##port * 8) + offset)
  

• 1.2.使用sysfs interface 接口控制gpio：

  #确定gpiochipx的base值，X为gpio所在的gpiochip后的编号
  cat /sys/class/gpio/gpiochipX/base
  
  #GPIO11使用的编号为 288+(16*8+6) = 422 ,将422号GPIO导出到/sys/gpio
  echo 422 > /sys/class/gpio/export
  #设置为输出
  echo out > /sys/class/gpio/gpio422/direction
  #输出高电平
  echo 1 > /sys/class/gpio/gpio422/value
  #输出低电平
  echo 0 > /sys/class/gpio/gpio422/value
  #设置为输入
  echo in > /sys/class/gpio/gpio422/direction
  #获取输入值
  cat /sys/class/gpio/gpio22/value
  #取消导出
  echo 422 > /sys/class/gpio/unexport
  

2.用libgpiod库读写IO

​ 内核版本>4.8。

• 2.1.通过libgpiod提供的gpioset、gpioget、gpiomon可以快速的读写GPIO和检测输入事件

  • 1)安装gpiod命令行工具

    sudo apt install gpiod
    

  • 2)使用gpiod命令行工具

    #查看系统支持多少个gpiochip
    sudo gpiodetect
    #查看指定的chip有多少lines
    sudo gpioinfo 0
    #设置指定的gpiochip的某个line输出低电平,(134 = 16*8+6)和上面使用sysfs使操作的是同一个gpio)
    sudo gpioset -m wait 0 134=0
    #设置指定的gpiochip的某个line输出高电平
    sudo gpioset -m wait 0 134=1
    #设置指定的gpiochip的某个line为输入，并获取其电平状态
    sudo gpioget 0 134
    

• 2.2.通过调用libgpiod库函数，对gpio进行用户空间的编程

  • 1).下载编译libgpiod库

    #下载地址,需要选择合适的版本
    https://mirrors.edge.kernel.org/pub/software/libs/libgpiod/
    
    #配置安装
    cd libgpiod
    ./configure
    make
    make install
    
    #安装命令行工具(或使用 sudo apt install gpiod )
    cd tools
    make
    sudo make install
    
    #配置动态库
    sudo export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
    sudo ldconfig
    

  • 2).编写测试程序调用libgpiod库

    #include <stdio.h>
    #include <unistd.h>
    #include <string.h>
    #include <gpiod.h>
    
    int main(int argc, char *argv[])
    {
    	struct gpiod_chip *output_chip;
    	struct gpiod_line *output_line;
    	struct gpiod_chip *input_chip;
    	struct gpiod_line *input_line;
    	struct gpiod_line_event event;
    
    	char *chip_out = "gpiochip0";
    	unsigned int offset_out = 134;
    	char *chip_in = "gpiochip0";
    	unsigned int offset_in = 148;
    
    	int line_value = 0;
    
    	/* Configure a GPIO as output */
    	output_chip = gpiod_chip_open_by_name(chip_out);
    	if(!output_chip) {
    		perror("gpiod_chip_open_by_name failed\n");
    		return EXIT_FAILURE;
    	}
    	output_line = gpiod_chip_get_line(output_chip, offset_out);
    	if(!output_line) {
    		perror("gpiod_chip_get_line failed\n");
    		return EXIT_FAILURE;
    	}
    	if(gpiod_line_request_output(output_line, "out1", GPIOD_LINE_ACTIVE_STATE_LOW) < 0){
    		perror("gpiod_line_request_output failed\n");
    		return EXIT_FAILURE;
    	}
    	gpiod_line_set_value(output_line, line_value);
    
    	/* Configure a GPIO as input */
    	input_chip = gpiod_chip_open_by_name(chip_in);
    	if(!input_chip) {
    		perror("gpiod_chip_open_by_name failed\n");
    		return EXIT_FAILURE;
    	}
    	input_line = gpiod_chip_get_line(input_chip, offset_in);
    	if(!input_line) {
    		perror("gpiod_chip_get_line failed\n");
    		return EXIT_FAILURE;
    	}
    	if (gpiod_line_request_rising_edge_events(input_line, "in1") < 0){
    		perror("gpiod_line_request_rising_edge_events failed\n");
    		return EXIT_FAILURE;
    	}
    
    	while (1)
    	{
    		gpiod_line_event_wait(input_line, NULL);
    		if (gpiod_line_event_read(input_line, &event) != 0)
    			continue;
    		/* this should always be a rising event in our example */
    		if (event.event_type != GPIOD_LINE_EVENT_RISING_EDGE)
    			continue;
    
    		if(gpiod_line_get_value(input_line)==1) {
    			line_value = !line_value;
    			gpiod_line_set_value(output_line, line_value);
    			printf("out1_value: %d\n", line_value);
    		}
    		usleep(5000);
    	}
    
    	gpiod_chip_close(output_chip);
        gpiod_chip_close(input_chip);
    
    	return EXIT_SUCCESS;
    }
    
    

  • 3).编译测试程序

    gcc -o gpiotest gpiotest.c -lgpiod -L/usr/local/lib -I/usr/local/include --static
    

  • 4).执行测试程序

    sudo ./gpiotest