树莓派字符驱动程序 IO驱动的开发

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：