pcDuino的linux移植五GPIO驅動開發

調試完pcDuino的led裸板程式，再調pcDuino基於linux核心的gpio驅動開發，以前的問題迎刃而解。本文是在pcDuino的linux移植四簡單驅動開發的基礎上，做GPIO驅動開發。然後寫一個應用測試程式，通過敲命令控制pcduino的TX led亮、滅。同時如果你GPIO4、GPIO5接個LED，也會跟著亮、滅。

開發環境：

系統：ubuntu 10.04.4

單板：pcDuino

編譯器：arm-2009q3-67-arm-none-linux-gnueabi-i686-pc-linux-gnu.tar.bz2

目標：敲命令控制pcDuino上的TX_LED亮、滅

一、硬體介紹

仔細看pcDuino上的原理圖和pcDuino的手冊，發現二者不是完全對應的，還是以原理圖為準。根據原理圖知道TX_LED是接到PH15上，可以當做普通IO口用，不需要連跳線


二、編寫GPIO驅動代碼

主要包括2部分，驅動代碼first_drv.c和應用測試程式firstdrvtest.c以及Makefile。

驅動代碼first_drv.c

#include <linux/module.h>#include <linux/kernel.h>#include <linux/fs.h>#include <linux/init.h>#include <linux/delay.h>#include <asm/uaccess.h>#include <asm/irq.h>#include <asm/io.h>#include <mach/gpio.h>#include <mach/hardware.h>#include <linux/device.h>static struct class *firstdrv_class;static struct class_device *firstdrv_class_dev;volatile unsigned long *gphcfg1;//0x100 ph9 [6:4]001volatile unsigned long *gphdat; //0x10cstatic int first_drv_open(struct inode *inode, struct file *file){printk("first_drv_open\n");/* 配置GPh9為輸出引腳 gpio4*/*gphcfg1 |= ((0x1<<4)|(0x1<<8)|(0X1<<28));return 0;}static ssize_t first_drv_write(struct file *file, const char __user *buf, size_t count,loff_t *ppos){int val;printk("first_drv_write\n");copy_from_user(&val, buf, count); //copy_to_user();if (val == 1){// 點燈*gphdat &= ~((0X1<<9)|(0X1<<10)|(1<<15));}else{// 滅燈*gphdat |= ((0X1<<9)|(0X1<<10)|(1<<15));}return 0;}static struct file_operations first_drv_fops ={.owner = THIS_MODULE,.open  = first_drv_open,.write = first_drv_write,};int major;static int first_drv_init(void){major = register_chrdev(0, "first_drv", &first_drv_fops);firstdrv_class = class_create(THIS_MODULE, "firstdrv");firstdrv_class_dev = device_create(firstdrv_class,NULL,MKDEV(major, 0), NULL, "xyz");gphcfg1 = (volatile unsigned long *)ioremap(0x01c20900, 16);gphdat = (volatile unsigned long *)ioremap(0x01c2090c, 16);//gphcfg1 + 3;return 0;}static void first_drv_exit(void){unregister_chrdev(major,"first_drv");device_unregister(firstdrv_class_dev);class_destroy(firstdrv_class);iounmap(gphcfg1);iounmap(gphdat);}module_init(first_drv_init);module_exit(first_drv_exit);MODULE_LICENSE("GPL");

檔案Makefile：

KERN_DIR = /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0all:make -C $(KERN_DIR) M=`pwd` modulesclean:make -C $(KERN_DIR) M=`pwd`  modules cleanrm -rf modules.orderobj-m+= first_drv.o

應用測試程式firstdrvtest.c：

#include <sys/types.h>#include <sys/stat.h>#include <fcntl.h>#include <stdio.h>/* firstdrvtest on  * firstdrvtest off  */int main(int argc, char **argv){int fd;int val = 1;fd = open("/dev/xyz", O_RDWR);if (fd < 0){printf("can't open!\n");}if (argc != 2){printf("Usage :\n");printf("%s <on|off>\n", argv[0]);return 0;}if (strcmp(argv[1], "on") == 0){val  = 1;}else{val = 0;}write(fd, &val, 4);return 0;}

三、編譯測試

1.編譯驅動first_drv.c
change@change:~/Si/A10/2_led$  cd ../pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/
change@change:~/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv$  ls
first_drv.c   first_drv.mod.c  first_drv.o   firstdrvtest.c  modules.order
first_drv.ko  first_drv.mod.o  firstdrvtest  Makefile        Module.symvers
change@change:~/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv$  make clean
make -C /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0 M=`pwd`  modules clean
make[1]: Entering directory `/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0'
  LD      /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/built-in.o
  CC [M]  /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.o
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c: In function 'first_drv_write':
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c:30: warning: ignoring return value of 'copy_from_user', declared with attribute warn_unused_result
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c: In function 'first_drv_init':
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c:57: warning: assignment from incompatible pointer type
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c: In function 'first_drv_exit':
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c:66: warning: passing argument 1 of 'device_unregister' from incompatible pointer type
include/linux/device.h:692: note: expected 'struct device *' but argument is of type 'struct class_device *'
  Building modules, stage 2.
  MODPOST 1 modules
  CC      /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.mod.o
  LD [M]  /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.ko
  CLEAN   /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/.tmp_versions
  CLEAN   /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/Module.symvers
make[1]: Leaving directory `/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0'
rm -rf modules.order
change@change:~/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv$  make
make -C /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0 M=`pwd` modules
make[1]: Entering directory `/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0'
  CC [M]  /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.o
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c: In function 'first_drv_write':
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c:30: warning: ignoring return value of 'copy_from_user', declared with attribute warn_unused_result
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c: In function 'first_drv_init':
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c:57: warning: assignment from incompatible pointer type
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c: In function 'first_drv_exit':
/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.c:66: warning: passing argument 1 of 'device_unregister' from incompatible pointer type
include/linux/device.h:692: note: expected 'struct device *' but argument is of type 'struct class_device *'
  Building modules, stage 2.
  MODPOST 1 modules
  CC      /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.mod.o
  LD [M]  /home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv/first_drv.ko
make[1]: Leaving directory `/home/change/Si/A10/pcduino/linux-sunxi-sunxi-3.0'

2.編譯應用測試程式firstdrvtest.c

change@change:~/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv$  /home/change/tools/arm-2009q3/bin/arm-none-linux-gnueabi-gcc -o firstdrvtest firstdrvtest.c

其中/home/change/tools/arm-2009q3/bin/arm-none-linux-gnueabi-gcc是我的交叉編譯路徑，根據自己情況修改。

change@change:~/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv$ ls
first_drv.c   first_drv.mod.c  first_drv.o   firstdrvtest.c  modules.order
first_drv.ko  first_drv.mod.o  firstdrvtest  Makefile        Module.symvers
change@change:~/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv$cpfirst_drv.ko firstdrvtest /home/change/work/rootfs_dir/fs_mini/home/linux3.0.62/pcduino/

change@change:~/Si/A10/pcduino/linux-sunxi-sunxi-3.0/drivers/mydrv/led_drv$
其中/home/change/work/rootfs_dir/fs_mini是我的NFS共用目錄，詳細配置見我的ubuntu 開發環境配置。程式比較簡單，就不分析了，有問題直接留言吧，開始測試吧。

3.測試

啟動前面pcDuino的linux移植一、二、三、四搭建的驅動開發平台，上電進入pcDuino啟動控制台，串口輸出如下
/ # ifconfig eth0 172.16.1.111
<4>wemac wemac.0: WARNING: no IRQ resource flags set.
[   18.250000] wemac wemac.0: WARNING: no IRQ resource flags set.
<6>wemac wemac.0: eth0: link up, 100Mbps, full-duplex, lpa 0x45E1
[   18.400000] wemac wemac.0: eth0: link up, 100Mbps, full-duplex, lpa 0x45E1
/ # ping 172.16.1<7>eth0: no IPv6 routers present
[   28.860000] eth0: no IPv6 routers present

PING 172.16.1 (172.16.0.1): 56 data bytes
^C
--- 172.16.1 ping statistics ---
4 packets transmitted, 0 packets received, 100% packet loss
/ # ping 172.16.1.137
PING 172.16.1.137 (172.16.1.137): 56 data bytes
64 bytes from 172.16.1.137: seq=0 ttl=64 time=10.015 ms
64 bytes from 172.16.1.137: seq=1 ttl=64 time=1.013 ms
64 bytes from 172.16.1.137: seq=2 ttl=64 time=1.735 ms
64 bytes from 172.16.1.137: seq=3 ttl=64 time=0.814 ms
^C
--- 172.16.1.137 ping statistics ---
4 packets transmitted, 4 packets received, 0% packet loss
round-trip min/avg/max = 0.814/3.394/10.015 ms
/ # ls
bin      etc      lib      mnt      run      sys      usr
dev      home     linuxrc  proc     sbin     tmp      var
/ # mount -t nfs -o nolock 172.16.1.137:/home/change/work/rootfs_dir/fs_mini /mn
t/
/ # ls /mnt/
bin      etc      lib      mnt      root     sys      usr
dev      home     linuxrc  proc     sbin     tmp
/ # cd /mnt/home/linux-3.0.62/pcduino/
/mnt/home/linux-3.0.62/pcduino # ls
first_drv.ko  firstdrvtest  gpio_drv.ko   gpiodrvtest
/mnt/home/linux-3.0.62/pcduino # insmod first_drv.ko 
/mnt/home/linux-3.0.62/pcduino # lsmod 
first_drv 1768 0 - Live 0xbf000000
/mnt/home/linux-3.0.62/pcduino # ./firstdrvtest off
first_drv_open
[  303.610000] first_drv_open
first_drv_write
[  303.610000] first_drv_write
/mnt/home/linux-3.0.62/pcduino # ./firstdrvtest on
first_drv_open
[  309.510000] first_drv_open
first_drv_write
[  309.510000] first_drv_write
/mnt/home/linux-3.0.62/pcduino #
可以看到執行./firstdrvtest off ,pcDuino上的TX LED就滅，執行./firstdrvtest on,pcDuino上的TX LED就亮。測試基本正常，卸載剛剛載入的驅動如下;
/mnt/home/linux-3.0.62/pcduino # rmmod first_drv
/mnt/home/linux-3.0.62/pcduino # lsmod 
/mnt/home/linux-3.0.62/pcduino #
基本OK了，下一步繼續完善驅動。