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Linux驱动基础篇（一）GPIO（上）LED驱动
Linux驱动基础（一）GPIO（上）LED驱动
一、开发环境准备
ubuntu22.04 + Vscode + OrangePi+1.安装交叉编译工具+编译内核
（1）安装交叉编译工具
📌选择交叉编译工具链
以官网下载页面为例
📌下载交叉编译工具
交叉编译工具链官方下载地址(国外)
交叉编译工具链清华开源镜像站下载地址(国内)📌解压、添加环境变量、测试安装结果
sudo tar -xvf arm-none-linux-gnueabihf-12.3-x86_64-.tar.xz -C /mnt # 解压到/mnt目录- 1
# 添加环境变量，在原有的双引号前输入：后粘贴复制工具链的路径 # 例如这里是/mnt/arm-none-linux-gnueabihf-12.3-x86_64/bin # 保存后重新登录或重启生效，输入arm-尝试tab能否补全命令以及arm-none-linux-gnueabihf-gcc -v进行测试 sudo vi /etc/environment- 1
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（2）修改Makefile指定编译器和架构
# 在内核源码顶层目录的Makefile，搜索CROSS_COMPILE或ARCH，添加以下内容 # 要配置上面步骤后，CROSS_COMPILE可以这样写；没有的话要写绝对路径 ARCH := arm CROSS_COMPILE := arm-none-linux-gnueabihf-- 1
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（3）生成配置文件.config
# 生成默认的配置文件，也可以make menuconfig进行配置，最后会保存到.config make defconfig- 1
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❓❓❓ 报错1：arch/arm是一个目录 ❓❓❓
解决：ARCH := arm （arm后面多了空格）
❓❓❓ 报错2：/bin/sh: 1: flex: not found ❓❓❓
sudo apt-get install flex
❓❓❓ 报错3：/bin/sh: 1: bison: not found ❓❓❓
sudo apt-get install bison
❓❓❓ 报错4：make menuconfig 打开失败❓❓❓
sudo apt-get install libncurses5-dev
（4）编译内核
# 建议这里可以将所有的CPU核心分配给虚拟机，提高速度 make -j24- 1
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❓❓❓ 报错5：scripts/extract-cert.c:21:10: fatal error: openssl/bio.h: 没有那个文件或目录❓❓❓
原因：没有安装libssl-dev或者安装版本过高
解决：（未安装）sudo apt-get install libssl-dev
（版本过高）sudo apt-get install aptitude（安装aptitude软件包管理器）
sudo aptitude install libssl-dev（使用aptitude安装libssl-dev）
选择不保持当前版本，出现提示输出n，确认y后降级
2.安装配置vscode
二、第一个驱动程序HelloWorld
1.简单的驱动框架使用
简单的驱动框架分为三步：①装载驱动、②操作驱动、③卸载驱动。个人认为这样划分容易理解和记忆！
#include#include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #define DEV_NAME "hello" static struct class *hello_cls; static int ERR; static struct device *device; static int hello_open(struct inode *inode, struct file *file){ printk("%s %s %d\n",__FILE__,__FUNCTION__ ,__LINE__); return 0; } static ssize_t hello_read (struct file *file, char __user *buf, size_t size, loff_t *offset){ printk("%s %s %d\n",__FILE__,__FUNCTION__ ,__LINE__); return 0; } static ssize_t hello_write (struct file *file, const char __user *buf, size_t size, loff_t * offset){ printk("%s %s %d\n",__FILE__,__FUNCTION__ ,__LINE__); return 0; } static int hello_release(struct inode *inode, struct file *file){ printk("%s %s %d\n",__FILE__,__FUNCTION__ ,__LINE__); return 0; } static unsigned int major = 0; static struct file_operations hello_fop = { .owner = THIS_MODULE, .open = hello_open, .read = hello_read, .write = hello_write, .release = hello_release }; /** * @brief 初始化驱动（注册设备register_chrdev()、创建设备节点device_create()） * 注册设备需要：设备号、设备名、设备file_operaction * 创建设备节点需要：class、devtype-由设备号确定、设备节点名 **/ static int __init hello_Driver_Init(void){ printk("%s %s %d\n",__FILE__,__FUNCTION__ ,__LINE__); major = register_chrdev(major,DEV_NAME,&hello_fop); hello_cls = class_create(THIS_MODULE,DEV_NAME); if(IS_ERR(hello_cls)){ ERR = PTR_ERR(hello_cls); pr_err("class create failed.(error code:%d)\n",ERR); unregister_chrdev(major,DEV_NAME); return ERR; } device = device_create(hello_cls,NULL, MKDEV(major,0),NULL,"hello"); if(IS_ERR(device)){ ERR = PTR_ERR(device); pr_err("device create failed.(error code:%d)\n",ERR); class_destroy(hello_cls); unregister_chrdev(major,DEV_NAME); return ERR; } return 1; } /** * @brief 卸载驱动（删除设备节点device_destroy()、注销设备unregister_chrdev()） **/ static void __exit hello_Driver_Exit(void){ printk("%s %s %d\n",__FILE__,__FUNCTION__ ,__LINE__); device_destroy(hello_cls, MKDEV(major,0)); class_destroy(hello_cls); unregister_chrdev(major,DEV_NAME); } module_init(hello_Driver_Init); module_exit(hello_Driver_Exit); MODULE_LICENSE("GPL"); - 1
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2.重要的几个宏/函数
2.1 错误指针判断IS_ERR( )、PTR_ERR( )和pr_err( )
2.2 用户和内核之间的数据拷贝copy_from_user( )、copy_to_user( )和get_user( )、put_user( )
三、第二个驱动程序点亮LED
1.阅读原理图和芯片手册
（1）找到OrangePi PC+的两个LED
📌
在原理图中搜索"LED",找到关于OrangePi+ LED部分的原理图
- 从原理图关于LED的部分可以看到，OrangePi PC+有两个LED：PWR-LED（供电时闪烁LED）、STATUS-LED（开机运行时状态LED）。
（2）找到两个LED和CPU连接的引脚
- PWR-LED连接到PL10、STATUS_LED连接到PA15
（3）在芯片手册找到PL10和PA15
（4）找到对应的配置寄存器
（5）找到对应的数据寄存器
2.从驱动开始点亮香橙派orangepi plus的LED
#include#include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #define PIO_BASE 0x01c20800 static volatile unsigned int *PA_CFG1_REG; static volatile unsigned int *PA_DATA_REG; static unsigned int major = 0; static struct class *led_class; static int led_open(struct inode *inode, struct file *file){ /* output: bit30-28 = 001 */ *PA_CFG1_REG &= ~(0x01 << 30); *PA_CFG1_REG &= ~(0x01 << 29); *PA_CFG1_REG |= (0x01 << 28); printk("======= led_open():PA_CFG_REG = 0x%x =========\n",*PA_CFG1_REG); return 0; } static int led_close(struct inode *inode, struct file *file){ /* default: bit30-28 = 111 */ *PA_CFG1_REG |= (0x01 << 30); *PA_CFG1_REG |= (0x01 << 29); *PA_CFG1_REG |= (0x01 << 28); printk("======= led_close():PA_CFG_REG = 0x%x =========\n",*PA_CFG1_REG); return 0; } static ssize_t led_read (struct file *file, char __user *buf, size_t size, loff_t *off){ return 0; } static ssize_t led_write (struct file *file, const char __user *buf, size_t size, loff_t *off){ char val; // 0-OFF 1-ON int ret = copy_from_user(&val,buf,1); ret = 3; if(val){ *PA_DATA_REG |= 0x1<<15; //bit15 = 1 }else{ *PA_DATA_REG &= ~(0x1<<15); //bit15 = 0 } return 1; } static struct file_operations led_ops = { .owner = THIS_MODULE, .open = led_open, .read = led_read, .write = led_write, .release = led_close, }; static int __init led_driver_init(void){ printk("======= %s %s %d ========\n",__FILE__,__FUNCTION__ ,__LINE__); major = register_chrdev(major,"led_driver",&led_ops); led_class = class_create(THIS_MODULE,"led_driver"); device_create(led_class,NULL, MKDEV(major,0),NULL,"led1"); PA_CFG1_REG = ioremap(PIO_BASE+0x04,4); PA_DATA_REG = ioremap(PIO_BASE+0x10,4); *PA_CFG1_REG &= ~(0x1<<30); *PA_CFG1_REG &= ~(0x1<<29); *PA_CFG1_REG |= 0x1<<28; return 0; } static void __exit led_driver_exit(void){ printk("======= %s %s %d ========\n",__FILE__,__FUNCTION__ ,__LINE__); iounmap(PA_CFG1_REG); iounmap(PA_DATA_REG); device_destroy(led_class, MKDEV(major,0)); class_destroy(led_class); unregister_chrdev(major,"led_driver"); } module_init(led_driver_init); module_exit(led_driver_exit); MODULE_LICENSE("GPL"); - 1
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这里为了没有写应用层的测试程序，只简单粗暴点个LED，加载驱动后led亮，香橙派OrangePi Plus上是红灯四、面向对象设计思想
上面所写的LED驱动程序，驱动和硬件操作绑定在一起，更换开发板平台所有的代码就完全不适用，不仅可维护性和可读性差，而且代码难以移植到其他平台，增加了代码冗余和维护的工作量。因此，内核驱动程序中采用面向对象的编程思想，将驱动和硬件操作的代码分离并进行合理的抽象和封装，通常是更好的选择📌改写LED驱动，实现应用层程序控制两个LED亮灭
【led_test_app.c】
#include#include #include #include #include #include #include /** ./test_led_app /dev/led1 on **/ /** ./test_led_app /dev/led2 off **/ int main(int argc,char **argv){ char *buf = (char *)malloc(36); int nwrite = 0; if(argc < 3){ printf("Usage:%s [dev-led1/led2] [status-on/off] \n",argv[0]); return -1; } int fd = open(argv[1],O_RDWR); if(fd < 0){ printf("open device error\n"); return -1; } int val_on = 1; int val_off = 0; if( 0 == strcmp(argv[2],"on")){ nwrite = write(fd,&val_on,sizeof(val_on)); }else if( 0 == strcmp(argv[2],"off")){ nwrite = write(fd,&val_off,sizeof(val_off)); }else{ printf("syntax error\n"); } close(fd); return 0; } - 1
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【orangepi_plus_leds.h】
#ifndef _ORANGEPI_PLUS_LEDS_H #define _ORANGEPI_PLUS_LEDS_H #define MIN(a,b) (a < b ? a : b) #define PIN_GROUP(pin) (pin >> 22) #define PIN_NUM(pin) (pin & 0x3FFFFF) struct GPIOx_PIN { /** bit[21:0] pin_num **/ /** bit[31:22] pin_group **/ int pin; int count; volatile unsigned int *GPIOx_CFG_REG; //配置寄存器 volatile unsigned int *GPIOx_DAT_REG; //数据寄存器 int (*gpio_init)(int pin); //初始化函数 int (*gpio_control)(int pin,int status); //控制函数 struct GPIOx_PIN *next; }; extern struct GPIOx_PIN *get_GPIOA_PIN15(void); extern struct GPIOx_PIN *get_GPIOL_PIN10(void); #endif- 1
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【orangepi_plus_led1.c】
#include#include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "orangepi_plus_leds.h" #define BASE_ADDR (0x01c20800) #define WHICH_CFG(pin_num) \ ((pin_num >= 0 && pin_num <= 7) ? 0x00 : \ (pin_num >= 8 && pin_num <= 15) ? 0x04 : \ (pin_num >= 15 && pin_num <= 21) ? 0x08 : 0x0c) int led1_init(int pin); int led1_control(int pin,int status); static struct GPIOx_PIN GPIOA_PIN15 = { .pin = (0 << 22)|(15), //第0组第15pin(GPIOA_15) .gpio_init = led1_init, .gpio_control = led1_control, .next = NULL }; int led1_init(int pin){ int pin_num = PIN_NUM(pin); GPIOA_PIN15.GPIOx_CFG_REG = ioremap(BASE_ADDR + PIN_GROUP(pin)* 0x24 + WHICH_CFG(pin_num),4); GPIOA_PIN15.GPIOx_DAT_REG = ioremap(BASE_ADDR + PIN_GROUP(pin)* 0x24 + 0x10,4); if(GPIOA_PIN15.GPIOx_CFG_REG == NULL || GPIOA_PIN15.GPIOx_DAT_REG == NULL){ pr_err("======== %s:ioremap address error =======\n",__FUNCTION__); return -1; } *(GPIOA_PIN15.GPIOx_CFG_REG) &= ~(0x1<<29); *(GPIOA_PIN15.GPIOx_CFG_REG) &= ~(0x1<<30); *(GPIOA_PIN15.GPIOx_CFG_REG) |= (0x1<<28); return 0; } int led1_control(int pin,int status){ //status 0-off 1-on switch(status){ case 0: //off *(GPIOA_PIN15.GPIOx_DAT_REG) &= ~(0x1 << PIN_NUM(pin)); break; case 1: //on *(GPIOA_PIN15.GPIOx_DAT_REG) |= (0x1 << PIN_NUM(pin)); break; default: break; } return 0; } struct GPIOx_PIN *get_GPIOA_PIN15(void){ return &GPIOA_PIN15; } EXPORT_SYMBOL(get_GPIOL_PIN10); MODULE_LICENSE("GPL"); - 1
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【orangepi_plus_led2.c】
#include#include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "orangepi_plus_leds.h" #define BASE_ADDR (0x01f02c00) #define WHICH_CFG(pin_num) \ ((pin_num >= 0 && pin_num <= 7) ? 0x00 : \ (pin_num >= 8 && pin_num <= 15) ? 0x04 : \ (pin_num >= 15 && pin_num <= 21) ? 0x08 : 0x0c) int led2_init(int pin); int led2_control(int pin,int status); static struct GPIOx_PIN GPIOL_PIN10 = { .pin = (0 << 22)|(10), //第0组第10pin(GPIOL_10) .gpio_init = led2_init, .gpio_control = led2_control, .next = NULL }; int led2_init(int pin){ int pin_num = PIN_NUM(pin); GPIOL_PIN10.GPIOx_CFG_REG = ioremap(BASE_ADDR + PIN_GROUP(pin)*0x24 + WHICH_CFG(pin_num),4); GPIOL_PIN10.GPIOx_DAT_REG = ioremap(BASE_ADDR + PIN_GROUP(pin)*0x24 + 0x10,4); if(GPIOL_PIN10.GPIOx_CFG_REG == NULL || GPIOL_PIN10.GPIOx_DAT_REG == NULL){ pr_err("======= %s ioremap address error ========\n",__FUNCTION__); return -1; } *(GPIOL_PIN10.GPIOx_CFG_REG) &= ~(0x1<<29); *(GPIOL_PIN10.GPIOx_CFG_REG) &= ~(0x1<<30); *(GPIOL_PIN10.GPIOx_CFG_REG) |= (0x1<<28); return 0; } int led2_control(int pin,int status){ //status 0-off 1-on switch(status){ case 0: //off *(GPIOL_PIN10.GPIOx_DAT_REG) &= ~(0x1<<PIN_NUM(pin)); break; case 1: //on *(GPIOL_PIN10.GPIOx_DAT_REG) |= (0x1<<PIN_NUM(pin)); break; default: break; } return 0; } struct GPIOx_PIN *get_GPIOL_PIN10(void){ return &GPIOL_PIN10; } EXPORT_SYMBOL(get_GPIOL_PIN10); MODULE_LICENSE("GPL"); - 1
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【led_driver.c】
#include#include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "orangepi_plus_leds.h" static int major = 0; static int error_check = 0; static int i = 0; static struct device *device_check; static unsigned int minor; static int kernel_buf = 0; static volatile int *GPIOx_base_address; static volatile int *PA_CFGx_REG; static volatile int *PA_DATA_REG; static struct GPIOx_PIN *led = NULL; static int gpio_open(struct inode *inode, struct file *file){ printk("========== %s %s %d ===============\n",__FILE__,__FUNCTION__ ,__LINE__); dev_t dev = inode->i_rdev; //应用层open文件的设备号 minor = MINOR(dev); //获取次设备号 0-1 switch (minor){ case 0: led = get_GPIOA_PIN15(); break; case 1: led = get_GPIOL_PIN10(); default: break; } led->gpio_init(led->pin); return 0; } static ssize_t gpio_read (struct file *file, char __user *buf, size_t size, loff_t *offset){ printk("========== %s %s %d =============\n",__FILE__,__FUNCTION__ ,__LINE__); return 0; } static ssize_t gpio_write (struct file *file, const char __user *buf, size_t size, loff_t * offset){ printk("========== %s %s %d =============\n",__FILE__,__FUNCTION__ ,__LINE__); if(copy_from_user(&kernel_buf,buf,4)){ pr_err("copy_from_user error.(%s)\n",__FUNCTION__); return -1; } led->gpio_control(led->pin,kernel_buf); return 0; } static int gpio_close(struct inode *inode, struct file *file){ printk("========== %s %s %d ===============\n",__FILE__,__FUNCTION__ ,__LINE__); iounmap(PA_DATA_REG); iounmap(PA_CFGx_REG); iounmap(GPIOx_base_address); return 0; } static struct file_operations gpio_ops = { .owner = THIS_MODULE, .open = gpio_open, .release = gpio_close, .write = gpio_write, .read = gpio_read, }; static struct class *gpio_cls; static int __init gpio_driver_init(void){ printk("============= %s %s %d ==================\n",__FILE__,__FUNCTION__ ,__LINE__); /* 1.注册字符设备 */ major = register_chrdev(major,"GPIO",&gpio_ops); /* 2.创建设备节点 */ gpio_cls = class_create(THIS_MODULE,"gpio_class"); if(IS_ERR(gpio_cls)){ error_check = PTR_ERR(gpio_cls); pr_err("class create failed.(error code:%d)\n",error_check); unregister_chrdev(major,"GPIO"); return -1; } for(i=0;i<2;i++){ device_check = device_create(gpio_cls,NULL,MKDEV(major,i),NULL,"led%d",i+1); if(IS_ERR(device_check)){ error_check = PTR_ERR(device_check); pr_err("device create failed.(error code:%d)\n",error_check); class_destroy(gpio_cls); unregister_chrdev(major,"GPIO"); return -1; } } return 0; } static void __exit gpio_driver_exit(void){ printk("============= %s %s %d ==================\n",__FILE__,__FUNCTION__ ,__LINE__); iounmap(PA_DATA_REG); iounmap(PA_CFGx_REG); iounmap(GPIOx_base_address); device_destroy(gpio_cls, MKDEV(major,0)); device_destroy(gpio_cls, MKDEV(major,1)); class_destroy(gpio_cls); unregister_chrdev(major,"GPIO"); } module_init(gpio_driver_init); module_exit(gpio_driver_exit); MODULE_LICENSE("GPL"); - 1
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【Makefile】
# KERNEL_DIR = /usr/src/linux-headers-5.4.65-sunxi/ KERNEL_DIR =/home/socket/Desktop/linux-5.4-orangepi # CROSS_COMPILE = arm-linux-gnueabihf- CROSS_COMPILE = arm-none-linux-gnueabihf- all: make -C $(KERNEL_DIR) M=`pwd` modules $(CROSS_COMPILE)gcc test_led_app.c -o test_led_app clean: make -C $(KERNEL_DIR) M=`pwd` modules clean rm -rf modules.order test_led_app OrangePiPlus_leds-y := led_driver.o orangepi_plus_led1.o orangepi_plus_led2.o obj-m += OrangePiPlus_leds.o- 1
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- 原文地址：https://blog.csdn.net/weixin_54429787/article/details/134007340
