底层驱动代码
#include <linux/fs.h> //file_operations声明
#include <linux/module.h> //module_init module_exit声明
#include <linux/init.h> //__init __exit 宏定义声明
#include <linux/device.h> //class devise声明
#include <linux/uaccess.h> //copy_from_user 的头文件
#include <linux/types.h> //设备号 dev_t 类型声明
#include <asm/io.h> //ioremap iounmap的头文件
static struct class *pin7_class;
static struct device *pin7_class_dev;
static dev_t devno; //设备号
static int major =231; //主设备号
static int minor =0; //次设备号
static char *module_name="pin7"; //模块名
volatile unsigned int *GPFSEL0 = NULL;
volatile unsigned int *GPSET0 = NULL;
volatile unsigned int *GPCLR0 = NULL;
//led_open函数
static int pin7_open(struct inode *inode,struct file *file)
{
printk("pin7_open\n"); //内核的打印函数和printf类似
//配置pin7引脚为输出模式,23-21的数值配置成001
*GPFSEL0 &= ~(0x6 << 12);
*GPFSEL0 |= (0x1 << 12);
return 0;
}
//led_write函数
static ssize_t pin7_write(struct file *file,const char __user *buf,size_t count, loff_t *ppos)
{
int usercmd;
printk("pin7_write\n");
copy_from_user(&usercmd,buf,count);
print("get usercmd\n");
if(usercmd == 0)
{
*GPCLR0 |= (0x1<<4);
printk("set 0\n");
}else if(usercmd == 1)
{
*GPSET0 |= (0x1<<4);
printk("set 1\n");
}else
{
printk("undo\n");
}
return 0;
}
static struct file_operations pin7_fops = {
.owner = THIS_MODULE,
.open = pin7_open,
.write = pin7_write,
};
int __init pin7_drv_init(void)
{
int ret;
printk("insmod pin7 drive success\n");
devno = MKDEV(major,minor); //创建设备号
ret = register_chrdev(major, module_name,&pin7_fops); //注册驱动 告诉内核,把这个驱动加入到内核驱动的链表中
pin7_class=class_create(THIS_MODULE,"myfirstdemo");
pin7_class_dev =device_create(pin7_class,NULL,devno,NULL,module_name); //创建设备文件
GPFSEL0 = (volatile unsigned int *)ioremap(0x3f200000,4);//用于把物理地址映射成虚拟地址
GPSET0 = (volatile unsigned int *)ioremap(0x3f20001C,4);
GPCLR0 = (volatile unsigned int *)ioremap(0x3f200028,4);
return 0;
}
void __exit pin7_drv_exit(void)
{
iounmap(GPFSEL0);
iounmap(GPSET0);
iounmap(GPCLR0);
device_destroy(pin7_class,devno);
class_destroy(pin7_class);
unregister_chrdev(major, module_name); //卸载驱动
}
module_init(pin7_drv_init); //入口
module_exit(pin7_drv_exit);
MODULE_LICENSE("GPL v2");
上层测试代码
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
int main()
{
int fd;
int cmd;
int data;
fd=open("/dev/pin7",O_RDWR);
printf("input cmd:\n1: pin7 hight\n0: pin7 low\n");
scanf("%d",&cmd);
if(cmd == 1)
{
data = 1;
}
if(cmd == 0)
{
data = 0;
}
fd = write(fd,&data,1);
printf("data=%d\n",data);
}
把以上代码写好后移入ubuntu中,编译内核模块后把.ko文件传入树莓派,编译上层测试文件后把生成的可执行文件移入树莓派中。
执行结果:
内核输出信息: