STM32MP157A单片机移植Linux驱动

在stm32mp157a单片机移植Linux操作系统，并移植内核驱动，在应用程序中使用3个线程，分别实现控制单片机上3个led流水灯的功能、蜂鸣器控制的功能、风扇控制的功能。

需求整理：

1.驱动程序-->led1.c，led2.c，led3.c，beep.c，fan.c。实现对led字符设备驱动的注册（register_chrdev）和注销（unregister_chrdev）功能、对字符设备相关操作方法的封装（用户空间和内核空间进行数据传递-->copy_to_user,copy_from_user）、物理内存映射虚拟内存（ioremap，iounmap），通过原理图可知---led1->PE10,led2->PF10,led3->PE8,beep->PB6,fan->PE9；

2.头文件-->led.h，beep.h，fan.h。物理内存的寄存器地址；

3.脚本文件生成驱动程序-->Makefile-->生成led1.ko，led2.ko，led3.ko，beep.ko，fan.ko；

4.流水灯应用程序-->application_test.c。使用3个线程实现对led流水灯的控制、蜂鸣器控制、风扇控制。

5.shell命令创建设备文件-->/dev/led1，/dev/led2，/dev/led3，/dev/beep，/dev/fan。用于流水灯应用程序对led的文件描述符。

分析：

仅使用open、write、read、close对io进行控制，直接在write对应的回调函数中进行数据处理，再此基础上实现多线程驱动的逻辑代码。

方案实现：

1.驱动程序

led1.c

#include <linux/init.h>
#include <linux/module.h>
#include <linux/fs.h>
#include <linux/uaccess.h>
#include <linux/io.h>
#include "led.h"//字符设备描述符
unsigned int major;
//接收数据buf
char myled1_buf[128] = {};
//虚拟映射寄存器地址
unsigned int* vir_rcc;
unsigned int* vir_moder;
unsigned int* vir_odr;int myled1_open(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}
//
ssize_t myled1_write(struct file *file, const char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_from_user(myled1_buf, ubuf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}	//printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);if (myled1_buf[0] == 1){(*vir_odr) |= (0x1<<10);	//高电平}else if (myled1_buf[0] == 0){(*vir_odr) &=  (~(0x1<<10));	//低电平}return 0;
}ssize_t myled1_read(struct file *file, char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_to_user(ubuf, myled1_buf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}int myled1_close(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}
//定义字符设备的回调函数接口
struct file_operations fops = {.open    = myled1_open,  .read    = myled1_read,  .write   = myled1_write, .release = myled1_close,                                 
};//字符设备注册
static int __init myled1_init(void)
{major = register_chrdev(0, "myled1", &fops);if (major < 0){printk("字符设备注册失败\n");}printk("字符设备注册成功 major = %d\n", major);//硬件寄存器映射到虚拟寄存器地址 ioremapvir_rcc = ioremap(PHY_RCC_GPIO, 4);if (vir_rcc == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);return -1;}vir_moder = ioremap(PHY_GPIOE_MODER, 4);if (vir_moder == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);return -1;}vir_odr = ioremap(PHY_GPIOE_ODR, 4);if (vir_odr == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);iounmap(vir_moder);return -1;}printk("物理内存映射成功\n");//初始化PE10(*vir_rcc) |= (0x1<<4);	//使能rcc(*vir_moder) &= (~(0x3<<20));(*vir_moder) |= (0x1<<20);(*vir_odr) &=  (~(0x1<<10));//默认低电平return 0;
}
//字符设备注销
static void __exit myled1_exit(void)
{iounmap(vir_rcc);iounmap(vir_moder);iounmap(vir_odr);unregister_chrdev(major, "myled1");printk("字符设备注销成功\n");
}
//模块
module_init(myled1_init);
module_exit(myled1_exit);
//遵循GPL开源协议
MODULE_LICENSE("GPL");

led2.c

#include <linux/init.h>
#include <linux/module.h>
#include <linux/fs.h>
#include <linux/uaccess.h>
#include <linux/io.h>
#include "led.h"unsigned int major;
char myled2_buf[128] = {};
unsigned int* vir_rcc;
unsigned int* vir_moder;
unsigned int* vir_odr;int myled2_open(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}
//
ssize_t myled2_write(struct file *file, const char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_from_user(myled2_buf, ubuf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}	//printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);if (myled2_buf[0] == 1){(*vir_odr) |= (0x1<<10);	//高电平}else if (myled2_buf[0] == 0){(*vir_odr) &=  (~(0x1<<10));	//低电平}return 0;
}ssize_t myled2_read(struct file *file, char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_to_user(ubuf, myled2_buf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}int myled2_close(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}struct file_operations fops = {.open    = myled2_open,  .read    = myled2_read,  .write   = myled2_write, .release = myled2_close,                                 
};static int __init myled2_init(void)
{major = register_chrdev(0, "myled2", &fops);if (major < 0){printk("字符设备注册失败\n");}printk("字符设备注册成功 major = %d\n", major);//硬件寄存器映射到虚拟寄存器地址 ioremapvir_rcc = ioremap(PHY_RCC_GPIO, 4);if (vir_rcc == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);return -1;}vir_moder = ioremap(PHY_GPIOF_MODER, 4);if (vir_moder == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);return -1;}vir_odr = ioremap(PHY_GPIOF_ODR, 4);if (vir_odr == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);iounmap(vir_moder);return -1;}printk("物理内存映射成功\n");//初始化PF10(*vir_rcc) |= (0x1<<5);	//使能rcc(*vir_moder) &= (~(0x3<<20));(*vir_moder) |= (0x1<<20);(*vir_odr) &=  (~(0x1<<10));//默认低电平return 0;
}static void __exit myled2_exit(void)
{iounmap(vir_rcc);iounmap(vir_moder);iounmap(vir_odr);unregister_chrdev(major, "myled2");printk("字符设备注销成功\n");
}module_init(myled2_init);
module_exit(myled2_exit);
MODULE_LICENSE("GPL");

 led3.c

#include <linux/init.h>
#include <linux/module.h>
#include <linux/fs.h>
#include <linux/uaccess.h>
#include <linux/io.h>
#include "led.h"unsigned int major;
char myled3_buf[128] = {};
unsigned int* vir_rcc;
unsigned int* vir_moder;
unsigned int* vir_odr;int myled3_open(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}
//
ssize_t myled3_write(struct file *file, const char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_from_user(myled3_buf, ubuf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}	//printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);if (myled3_buf[0] == 1){(*vir_odr) |= (0x1<<8);	//高电平}else if (myled3_buf[0] == 0){(*vir_odr) &=  (~(0x1<<8));	//低电平}return 0;
}ssize_t myled3_read(struct file *file, char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_to_user(ubuf, myled3_buf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}int myled3_close(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}struct file_operations fops = {.open    = myled3_open,  .read    = myled3_read,  .write   = myled3_write, .release = myled3_close,                                 
};static int __init myled3_init(void)
{major = register_chrdev(0, "myled3", &fops);if (major < 0){printk("字符设备注册失败\n");}printk("字符设备注册成功 major = %d\n", major);//硬件寄存器映射到虚拟寄存器地址 ioremapvir_rcc = ioremap(PHY_RCC_GPIO, 4);if (vir_rcc == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);return -1;}vir_moder = ioremap(PHY_GPIOE_MODER, 4);if (vir_moder == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);return -1;}vir_odr = ioremap(PHY_GPIOE_ODR, 4);if (vir_odr == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);iounmap(vir_moder);return -1;}printk("物理内存映射成功\n");//初始化PE8(*vir_rcc) |= (0x1<<4);	//使能rcc(*vir_moder) &= (~(0x3<<16));(*vir_moder) |= (0x1<<16);(*vir_odr) &=  (~(0x1<<8));//默认低电平return 0;
}static void __exit myled3_exit(void)
{iounmap(vir_rcc);iounmap(vir_moder);iounmap(vir_odr);unregister_chrdev(major, "myled3");printk("字符设备注销成功\n");
}module_init(myled3_init);
module_exit(myled3_exit);
MODULE_LICENSE("GPL");

beep.c

#include <linux/init.h>
#include <linux/module.h>
#include <linux/fs.h>
#include <linux/uaccess.h>
#include <linux/io.h>
#include "beep.h"unsigned int major;
char mybeep_buf[128] = {};
unsigned int* vir_rcc;
unsigned int* vir_moder;
unsigned int* vir_odr;int mybeep_open(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}
//
ssize_t mybeep_write(struct file *file, const char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_from_user(mybeep_buf, ubuf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}		printk("%s:%s:%d:mybeep_buf=%d\n", __FILE__, __func__, __LINE__, mybeep_buf[0]);if (mybeep_buf[0] == 1){(*vir_odr) |= (0x1<<6);	//高电平}else if (mybeep_buf[0] == 0){(*vir_odr) &=  (~(0x1<<6));	//低电平}return 0;
}ssize_t mybeep_read(struct file *file, char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_to_user(ubuf, mybeep_buf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}//printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}int mybeep_close(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
} struct file_operations fops = {.open    = mybeep_open,  .read    = mybeep_read,  .write   = mybeep_write, .release = mybeep_close,    
};static int __init mybeep_init(void)
{major = register_chrdev(0, "mybeep", &fops);if (major < 0){printk("字符设备注册失败\n");}printk("字符设备注册成功 major = %d\n", major);//硬件寄存器映射到虚拟寄存器地址 ioremapvir_rcc = ioremap(PHY_RCC_GPIO, 4);if (vir_rcc == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);return -1;}vir_moder = ioremap(PHY_GPIOB_MODER, 4);if (vir_moder == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);return -1;}vir_odr = ioremap(PHY_GPIOB_ODR, 4);if (vir_odr == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);iounmap(vir_moder);return -1;}printk("物理内存映射成功\n");//初始化PB6(*vir_rcc) |= (0x1<<1);	//使能rcc(*vir_moder) &= (~(0x3<<12));(*vir_moder) |= (0x1<<12);(*vir_odr) &=  (~(0x1<<6));//默认低电平return 0;
}static void __exit mybeep_exit(void)
{iounmap(vir_rcc);iounmap(vir_moder);iounmap(vir_odr);unregister_chrdev(major, "mybeep");printk("字符设备注销成功\n");
}module_init(mybeep_init);
module_exit(mybeep_exit);
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Johnson");
MODULE_DESCRIPTION("A simple Linux char driver for beep control");
MODULE_VERSION("1.0");

fan.c

#include <linux/init.h>
#include <linux/module.h>
#include <linux/fs.h>
#include <linux/uaccess.h>
#include <linux/io.h>
#include "fan.h"unsigned int major;
char myfan_buf[128] = {};
unsigned int* vir_rcc;
unsigned int* vir_moder;
unsigned int* vir_odr;int myfan_open(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}
//
ssize_t myfan_write(struct file *file, const char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_from_user(myfan_buf, ubuf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}	printk("%s:%s:%d:myfan_buf[0]=%d\n", __FILE__, __func__, __LINE__, myfan_buf[0]);if (myfan_buf[0] == 1){(*vir_odr) |= (0x1<<9);	//高电平}else if (myfan_buf[0] == 0){(*vir_odr) &=  (~(0x1<<9));	//低电平}return 0;
}ssize_t myfan_read(struct file *file, char __user *ubuf, size_t size, loff_t *lft)
{unsigned long n = copy_to_user(ubuf, myfan_buf, size);if (n > 0){printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return n;}printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}int myfan_close(struct inode *inode, struct file *file)
{printk("%s:%s:%d\n", __FILE__, __func__, __LINE__);return 0;
}struct file_operations fops = {.open    = myfan_open,  .read    = myfan_read,  .write   = myfan_write, .release = myfan_close,                                 
};static int __init myfan_init(void)
{major = register_chrdev(0, "myfan", &fops);if (major < 0){printk("字符设备注册失败\n");}printk("字符设备注册成功 major = %d\n", major);//硬件寄存器映射到虚拟寄存器地址 ioremapvir_rcc = ioremap(PHY_RCC_GPIO, 4);if (vir_rcc == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);return -1;}vir_moder = ioremap(PHY_GPIOE_MODER, 4);if (vir_moder == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);return -1;}vir_odr = ioremap(PHY_GPIOE_ODR, 4);if (vir_odr == NULL){printk("硬件寄存器映射失败：%d\n", __LINE__);iounmap(vir_rcc);iounmap(vir_moder);return -1;}printk("物理内存映射成功\n");//初始化PE9(*vir_rcc) |= (0x1<<4);	//使能rcc(*vir_moder) &= (~(0x3<<18));(*vir_moder) |= (0x1<<18);(*vir_odr) &=  (~(0x1<<9));//默认低电平return 0;
}static void __exit myfan_exit(void)
{iounmap(vir_rcc);iounmap(vir_moder);iounmap(vir_odr);unregister_chrdev(major, "myfan");printk("字符设备注销成功\n");
}module_init(myfan_init);
module_exit(myfan_exit);
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Johnson");
MODULE_DESCRIPTION("A simple Linux char driver for fan control");
MODULE_VERSION("1.0");

2.头文件

由于都是控制GPIO，使能相同的RCC时钟，为便利这里分为3个头文件。

led.h

#ifndef __LED_H__
#define __LED_H__#define PHY_RCC_GPIO	0x50000a28
#define PHY_GPIOE_MODER	0X50006000
#define PHY_GPIOE_ODR	0X50006014
#define PHY_GPIOF_MODER 0x50007000
#define PHY_GPIOF_ODR	0x50007014#endif

beep.h

#ifndef __BEEP_H__
#define __BEEP_H__#define PHY_RCC_GPIO	0x50000a28
#define PHY_GPIOB_MODER	0X50003000
#define PHY_GPIOB_ODR	0X50003014#endif

fan.h

#ifndef __FAN_H__
#define __FAN_H__#define PHY_RCC_GPIO	0x50000a28
#define PHY_GPIOE_MODER	0X50006000
#define PHY_GPIOE_ODR	0X50006014#endif

3.Makefile

Makefile

modname ?= led
arch ?= arm
ifeq ($(arch),arm)
KERNELDIR := ~/FSMP1A/stm32mp1-openstlinux-5.4-dunfell-mp1-20-06-24/sources/arm-ostl-linux-gnueabi/linux-stm32mp-5.4.31-r0/linux-5.4.31/
else
KERNELDIR := /lib/modules/$(shell uname -r)/build/
endifPWD := $(shell pwd)all:make -C $(KERNELDIR) M=$(PWD) modulesobj-m = $(modname).o
#obj-m = demo.oclean:make -C $(KERNELDIR) M=$(PWD) clean

4.应用程序

application_test.c

#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <string.h>
#include <pthread.h>char buf[5] = {};void* led_control(void* args)
{char led1_buf[1] = {};char led2_buf[1] = {};char led3_buf[1] = {};int fd1 = open("/dev/myled1", O_RDWR);if (fd1 < 0){perror("/dev/myled1");pthread_exit(NULL); return 0;}int fd2 = open("/dev/myled2", O_RDWR);if (fd2 < 0){perror("/dev/myled2");close(fd1);pthread_exit(NULL); return 0; }int fd3 = open("/dev/myled3", O_RDWR);if (fd3 < 0){perror("/dev/myled3");close(fd1);close(fd2);pthread_exit(NULL); return 0;}while(1){led1_buf[0] = buf[0];led2_buf[0] = buf[1];led3_buf[0] = buf[2];write(fd1, led1_buf, sizeof(led1_buf));write(fd2, led2_buf, sizeof(led2_buf));write(fd3, led3_buf, sizeof(led3_buf));sleep(1);}close(fd1);close(fd2);close(fd3);pthread_exit(NULL); return 0;
}void* beep_control(void* args)
{char beep_buf[1] = {};int fd1 = open("/dev/mybeep", O_RDWR);if (fd1 < 0){perror("/dev/mybeep");pthread_exit(NULL); return 0;}while(1){beep_buf[0] = buf[3];write(fd1, beep_buf, sizeof(beep_buf));sleep(1);}close(fd1);pthread_exit(NULL); return 0;
}void* fan_control(void* args)
{char fan_buf[1] = {};int fd1 = open("/dev/myfan", O_RDWR);if (fd1 < 0){perror("/dev/myfan");pthread_exit(NULL); return 0;}while(1){fan_buf[0] = buf[4];write(fd1, fan_buf, sizeof(fan_buf));sleep(1);}close(fd1);pthread_exit(NULL); return 0;
}void* main_control(void* args)
{int module, control;while(1){printf("请选择控制的模块：1（led1）2（led2）3（led3）4（beep）5（fan）>");scanf("%d", &module);if (module != 1 && module != 2 && module != 3 && module != 4 && module != 5){printf("模块[%d]不存在\n", module);}switch(module){case 1:printf("模块[%d]请选择开灯（1）或关灯（0）>", module);scanf("%d", &control);if (control != 0 && control != 1){printf("输入错误，请重新选择\n");break;}buf[0] = control;break;case 2:printf("模块[%d]请选择开灯（1）或关灯（0）>", module);scanf("%d", &control);if (control != 0 && control != 1){printf("输入错误，请重新选择\n");break;}buf[1] = control;break;case 3:printf("模块[%d]请选择开灯（1）或关灯（0）>", module);scanf("%d", &control);if (control != 0 && control != 1){printf("输入错误，请重新选择\n");break;}buf[2] = control;break;case 4:printf("模块[%d]请选择蜂鸣器响（1）或灭（0）>", module);scanf("%d", &control);if (control != 0 && control != 1){printf("输入错误，请重新选择\n");break;}buf[3] = control;break;case 5:printf("模块[%d]请选择风扇开（1）或关（0）>", module);scanf("%d", &control);if (control != 0 && control != 1){printf("输入错误，请重新选择\n");break;}buf[4] = control;break;default:break;}sleep(1);}pthread_exit(NULL); return 0;
}int main(int argc, char const *argv[])
{pthread_t threadled, threadbeep, threadfan, threadmain;int thread_led = 10;int thread_beep = 10;int thread_fan = 10;int thread_main = 10;if (pthread_create(&threadled , NULL, led_control, &thread_led) != 0){perror("pthread_create");exit(EXIT_FAILURE);}if (pthread_create(&threadbeep , NULL, beep_control, &thread_beep) != 0){perror("pthread_create");exit(EXIT_FAILURE);}if (pthread_create(&threadfan , NULL, fan_control, &thread_fan) != 0){perror("pthread_create");exit(EXIT_FAILURE);}if (pthread_create(&threadmain , NULL, main_control, &thread_main) != 0){perror("pthread_create");exit(EXIT_FAILURE);}if (pthread_join(threadled, NULL) != 0){perror("pthread_join");exit(EXIT_FAILURE);}if (pthread_join(threadbeep, NULL) != 0){perror("pthread_join");exit(EXIT_FAILURE);}if (pthread_join(threadfan, NULL) != 0){perror("pthread_join");exit(EXIT_FAILURE);}if (pthread_join(threadmain, NULL) != 0){perror("pthread_join");exit(EXIT_FAILURE);}// 主线程退出return 0;
}

5.mknod创建字符设备文件

mknod 字符设备文件名 字符设备类型（c/b） 主设备号 次设备号

mknod /dev/led1 c 主设备号 次设备号

mknod /dev/led2 c 主设备号 次设备号

mknod /dev/led3 c 主设备号 次设备号

mknod /dev/beep c 主设备号 次设备号

mknod /dev/fan c 主设备号 次设备号

在终端执行以上命令创建字符设备文件，否则在应用程序中open无法正常打开字符设备，导致线程退出。