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Linux设备树的驱动开发

news 2025/7/10 2:20:34

概述

本文介绍了platform框架下的设备驱动开发流程和方法，主要包括设备树、驱动程序和应用程序的开发。以随机数驱动为例，实现了应用程序调用库函数，通过系统调用陷入内核，最后执行硬件驱动，获取真随机数的过程。

添加设备树节点

在soc节点下添加名为trng子节点，内容如下：

trng: trng@0x53030000 {compatible = "acme,trng";reg = <0x00 0x53030000 0x00 0x1000>;interrupts = <0x34 IRQ_TYPE_LEVEL_HIGH>;interrupt-parent = <&plic>;
};

编译设备树dts，生成相应的dtb文件：

make dtbs

使用新的dtb启动Linux内核。Linux启动成功之后查看是否有trng这个节点：

ls /proc/device-tree/soc
# trng@0x53030000

进入trng目录，查看属性相关的文件：

/proc/device-tree/soc/trng@0x53030000# ls
compatible        interrupts        phandle
interrupt-parent  name              reg

编写设备驱动

Makefile

新建trng/driver目录，并创建Makefile，内如如下：

# 内核架构
ARCH := riscv
# 交叉工具链
CROSS_COMPILE := /path/to/riscv32-linux-
# 内核目录
KERNELDIR := /path/to/linux/linux-6.1
# 当前目录
PWD := $(shell pwd)
# 目标文件
obj-m := trng.o# 目标
build: kernel_modules# 编译模块
kernel_modules:$(MAKE) ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) -C $(KERNELDIR) M=$(PWD) modules# 清理
clean:$(MAKE) ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) -C $(KERNELDIR) M=$(PWD) clean

驱动

在trng/driver下新建trng.c文件，内容如下：

#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/interrupt.h>
#include <linux/fs.h>
#include <linux/of.h>
#include <linux/cdev.h>
#include <linux/io.h>
#include <linux/iopoll.h>
#include <linux/platform_device.h>/* TRNG寄存器 */
#define TRNG_CTRL           (0x0)#define TRNG_CTRL_CMD_MASK      (0x07)#define TRNG_CTRL_CMD_RNG       (0x01)#define TRNG_CTRL_CMD_SEED      (0x02)
#define TRNG_STAT           (0x4)#define TRNG_STAT_SEEDED        BIT(9)
#define TRNG_MODE           (0x8)#define TRNG_MODE_R256          BIT(3)
#define TRNG_ISTAT          (0x14)#define TRNG_ISTAT_RAND_RDY     BIT(0)#define TRNG_ISTAT_SEED_DONE    BIT(1)
#define TRNG_RAND0          (0x20)#define TRNG_TIMEOUT        (50000)#define DRIVER_NAME         "trng"struct trng_dev {dev_t devid;            /* 设备号 */struct cdev cdev;       /* cdev */struct class *class;    /* 类 */struct device *dev;     /* 设备 */int major;              /* 主设备号 */int minor;              /* 次设备号 */int irq;                /* 中断号 */void __iomem *base;     /* 基地址 */
};static int trng_init(void *base)
{int ret;unsigned int value;/* 模式 */value = readl(base + TRNG_MODE);value |= TRNG_MODE_R256;writel(value, base + TRNG_MODE);    /* 播种 */value = readl(base + TRNG_CTRL);value &= ~TRNG_CTRL_CMD_MASK;value |= TRNG_CTRL_CMD_SEED;writel(value, base + TRNG_CTRL);/* 等待播种完成 */ret = readl_relaxed_poll_timeout_atomic(base + TRNG_ISTAT,value, (value & TRNG_ISTAT_SEED_DONE),10, TRNG_TIMEOUT);if (ret == 0) {value |= TRNG_ISTAT_SEED_DONE;writel(value, base + TRNG_ISTAT);}return ret;
}static int trng_generate_random(void *base, unsigned char *buf)
{int ret;unsigned int value;/* 启动生成随机数 */value = readl(base + TRNG_CTRL);value &= ~TRNG_CTRL_CMD_MASK;value |= TRNG_CTRL_CMD_RNG;writel(value, base + TRNG_CTRL);/* 等待随机数准备好 */ret = readl_relaxed_poll_timeout_atomic(base + TRNG_ISTAT,value, (value & TRNG_ISTAT_RAND_RDY),10, TRNG_TIMEOUT);    if (ret) {return ret;}/* 清除准备好标志 */value = readl(base + TRNG_ISTAT);value &= ~TRNG_ISTAT_RAND_RDY;writel(value, base + TRNG_ISTAT);/* 读取随机数 */for (int i = 0; i < 8; i++) {*(unsigned int*)buf = readl(base + TRNG_RAND0 + i*4);buf += 4;}return 0;
}static irqreturn_t trng_irq_handler(int irq, void *dev_id)
{struct trng_dev *trng;trng = (struct trng_dev*)dev_id;dev_dbg(trng->dev, "TRNG interrupt received\n");return IRQ_HANDLED;
}static int trng_open(struct inode *inode, struct file *filp) 
{int ret;struct trng_dev *trng;trng = container_of(inode->i_cdev, struct trng_dev, cdev);filp->private_data = trng;dev_dbg(trng->dev, "Open trng\n");ret = trng_init(trng->base);if (ret) {dev_err(trng->dev, "Failed to init trng, ret=%d\n", ret);return ret;}return 0;
}static int trng_release(struct inode *inode, struct file *filp) 
{struct trng_dev *trng;trng = filp->private_data;dev_dbg(trng->dev, "Release trng\n");return 0;
}static ssize_t trng_read(struct file *filp, char __user *buffer, size_t len, loff_t *offset)
{  int ret;unsigned char random[32];size_t copyed_len, len_to_copy;struct trng_dev *trng;trng = filp->private_data;dev_info(trng->dev, "Read trng\n");copyed_len = 0;while (len) {ret = trng_generate_random(trng->base, random);if (ret) {dev_err(trng->dev, "Failed to generate random, ret=%d\n", ret);return ret;}// print_hex_dump(KERN_INFO, "random: ", DUMP_PREFIX_NONE, 16, 1, random, sizeof(random), false);len_to_copy = (len < sizeof(random)) ? len : sizeof(random);ret = copy_to_user(buffer, random, len_to_copy);if (ret) {dev_err(trng->dev, "Failed to copy to user\n");return -EFAULT;}copyed_len += len_to_copy;buffer += len_to_copy;len -= len_to_copy;}return copyed_len;  
}  static ssize_t trng_write(struct file *filp, const char __user *buffer, size_t len, loff_t *offset) 
{struct trng_dev *trng;trng = filp->private_data;dev_dbg(trng->dev, "Write trng\n");return len;
}static long trng_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
{struct trng_dev *trng;trng = filp->private_data;dev_dbg(trng->dev, "Ioctl trng\n");switch (cmd) {default:dev_err(trng->dev, "Unknown ioctl = 0x%x\n", cmd);break;}return -ENOTTY;
}static int trng_mmap(struct file *filp, struct vm_area_struct *vma) 
{struct trng_dev *trng;trng = filp->private_data;dev_dbg(trng->dev, "Mmap trng\n");return 0;
}static const struct file_operations trng_fops = {.owner = THIS_MODULE,.open = trng_open,.release = trng_release,.read = trng_read,.write = trng_write,.unlocked_ioctl = trng_ioctl,.mmap = trng_mmap,
};static int trng_probe(struct platform_device *pdev) 
{struct device *dev = &pdev->dev;struct trng_dev *trng;int ret;/* 分配内存 */trng = devm_kzalloc(dev, sizeof(*trng), GFP_KERNEL);if (!trng) {dev_err(dev, "Failed to allocate memory\n");return -ENOMEM;}/* 将设备的资源映射到内存空间 */trng->base = devm_platform_ioremap_resource(pdev, 0);if (IS_ERR(trng->base)) {dev_err(dev, "Failed to map device registers\n");return PTR_ERR(trng->base);}/* 获取设备的中断号 */trng->irq = platform_get_irq(pdev, 0);if (trng->irq <= 0) {dev_err(dev, "Failed to get irq %d\n", trng->irq);return trng->irq;        }/* 请求中断 */ret = devm_request_irq(dev, trng->irq, trng_irq_handler, 0,DRIVER_NAME, trng);if (ret) {dev_err(dev, "Failed to request IRQ\n");return ret;}/* 申请设备号 */ret = alloc_chrdev_region(&trng->devid, 0, 1, DRIVER_NAME);  if (ret < 0) {  dev_err(dev, "Failed to allocate device number\n");  return ret;  }trng->major = MAJOR(trng->devid); trng->minor = MINOR(trng->devid); /* 初始化cdev */trng->cdev.owner = THIS_MODULE;cdev_init(&trng->cdev, &trng_fops);/* 添加一个cdev */ret = cdev_add(&trng->cdev, trng->devid, 1);if (ret < 0) {dev_err(dev, "Failed to add cdev\n");unregister_chrdev_region(trng->devid, 1);return ret;} /* 创建类 */trng->class = class_create(THIS_MODULE, DRIVER_NAME);if (IS_ERR(trng->class)) {cdev_del(&trng->cdev);unregister_chrdev_region(trng->devid, 1);dev_err(dev, "Failed to create class\n");return PTR_ERR(trng->class);}/* 创建设备 */trng->dev = device_create(trng->class, NULL, trng->devid, NULL, DRIVER_NAME);if (IS_ERR(trng->dev)) {cdev_del(&trng->cdev);unregister_chrdev_region(trng->devid, 1);class_destroy(trng->class);dev_err(dev, "Failed to create device\n");return PTR_ERR(trng->dev);}/* 保存设备私有结构体 */platform_set_drvdata(pdev, trng);dev_info(dev, "TRNG platform driver probed\n");return 0;
}static int trng_remove(struct platform_device *pdev) 
{struct trng_dev *trng;/* 获取设备私有结构体 */trng = platform_get_drvdata(pdev);/* 删除cdev */cdev_del(&trng->cdev);/* 释放设备号 */unregister_chrdev_region(trng->devid, 1);/* 删除设备 */device_destroy(trng->class, trng->devid);/* 删除类 */class_destroy(trng->class);/* 释放设备内存 */// devm_kfree(&pdev->dev, trng);    // devm_kzalloc为设备分配的内存，在设备移除时会自动释放dev_info(&pdev->dev, "TRNG platform driver removed\n");return 0;
}static const struct of_device_id trng_of_match[] = {{ .compatible = "acme,trng" },{ /* sentinel */ }
};
MODULE_DEVICE_TABLE(of, trng_of_match);static struct platform_driver trng_driver = {.driver = {.name = DRIVER_NAME,.of_match_table = trng_of_match,},.probe = trng_probe,.remove = trng_remove,
};module_platform_driver(trng_driver);MODULE_AUTHOR("Author");
MODULE_DESCRIPTION("Trng driver");
MODULE_LICENSE("GPL");

使用platform平台驱动设备模型编写trng的驱动程序。

  • 当设备树中的节点与驱动匹配成功会执行trng_probe函数，完成驱动的加载。

  • 当应用需要获取随机数时，读取这个trng设备，陷入内核调用函数trng_read，进而调用函数trng_generate_random完成从硬件获取随机数。

  • 如果需要释放设备，会调用trng_remove函数卸载设备驱动。

执行make编译驱动程序，编译成功生成trng.ko。

Linux启动成功之后，可以挂载nfs，将trng.ko拷贝到trng目录：

mkdir trng
mount -t nfs -o nolock xx.xx.xx.xx:/nfs/trng /root/trng

执行如下命令，加载设备驱动：

insmod trng.ko
# [  177.821055] trng 53030000.trng: TRNG platform driver probed

如果设备驱动加载成功，可以在/dev下找到设备：

ls /dev/trng

另外可以查看trng的设备号：

cat /proc/devices
# 249 trng

如果需要卸载设备驱动，执行：

rmmod trng.ko
# [ 2947.495906] trng 53030000.trng: TRNG platform driver removed

应用App

Makefile

新建trng/app目录，并创建Makefile，内如如下：

# 交叉工具链
CROSS_COMPILE ?= /opt/andestech/nds32le-linux-glibc-v5d/bin/riscv32-linux-# 指定C编译器
CC := $(CROSS_COMPILE)gcc# 目标文件名
TARGET := trng# 源文件名
SRC := trng.c# 默认目标
all: $(TARGET)# 编译并链接
$(TARGET): $(SRC)$(CC) $(SRC) -o $(TARGET)# 清理
clean:rm -f $(TARGET)

应用

在trng/app下新建trng.c文件，内容如下：

#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h> #define TRNG_DEVICE                       "/dev/trng"static void hexdump(const char *name, const unsigned char *buffer, unsigned int len)
{printf("****************%s****************\n", name);for (unsigned int i = 0; i < len; i++) {printf("%02x ", buffer[i]);if ((i + 1) % 16 == 0) {printf("\n");}}if (len % 16 ) {printf("\n");}
}int main(int argc, char *argv[])
{uint8_t *buf = NULL;size_t num;int ret, fd;if (argc < 2) {printf("Usage: trng <num>\n");return -1;}num = atoi(argv[1]);buf = malloc(num);if (buf == NULL) {printf("Failed to malloc\n");return -1;}/* 打开设备 */fd = open(TRNG_DEVICE, O_RDONLY);if (fd < 0) {printf("Failed to open trng device\n");goto exit;}/* 读取随机数 */ret = read(fd, buf, num);if (ret < 0) {printf("Failed to read random, ret=%d\n", ret);goto exit;}hexdump("random", buf, num);
exit:close(fd);free(buf);return ret;
}

执行make编译应用程序，编译成功生成trng。

同理，将trng应用拷贝到trng目录，并执行：

./trng 16
# ****************random****************
# 6c 95 ea 3c a0 1f e8 c2 03 db 66 f6 19 4b 07 e3 
# c0 96 a3 93 20 a9 68 c5 9f 1f a1 55 c0 9c 24 c9 
# 5f 06 47 45 be 2c 21 b5 11 23 23 e6 36 94 3f d6 
# 9a 30 68 91 da c4 6d ff af 46 26 c9 ab f8 79 7c

如果随机数获取成功，说明驱动和应用程序运行正常。

编译进内核

在开发前期阶段，一般将驱动编译成模块，方便调试。当驱动开发完成后，可以将其编译进内核。

驱动

在linux-6.1/drivers下新建trng目录，并创建Makefile和Kconfig文件，内容分别如下：

# SPDX-License-Identifier: GPL-2.0
#
# Makefile for the TRNG device drivers.
#obj-$(CONFIG_TRNG) := trng.o

# SPDX-License-Identifier: GPL-2.0-only
#
# TRNG device configuration
#config TRNGtristate "TRNG support"helpThis driver provides support for TRNG in SoCs.To compile this driver as a module, choose M here: the modulewill be called acme-trng.If unsure, say Y.

在linux/drivers/Makefile中添加：

obj-$(CONFIG_TRNG)	+= trng/

在linux/drivers/Kconfig中添加：

source "drivers/trng/Kconfig"

将trng.c驱动文件拷贝到trng目录，最终目录文件如下：

$ tree linux-6.1/drivers/trng/
├── Kconfig
├── Makefile
└── trng.c

内核配置

配置内核，输入命令：

make menuconfig

选择Device Drivers->TRNG support，选择将trng编译进内核，这里可以有三种选择：

  • *：将该功能编译进内核
  • 空：不编译该功能
  • M：将该功能编译成内核中的模块

运行

编译Linux并启动，在启动日志中，如果打印如下，说明TRNG驱动运行正常：

[    4.974450] trng 53030000.trng: TRNG platform driver probed

可以执行命令，获取随机数：

cat /dev/trng | hexdump -n 32
0000000 df01 f5bc de33 2509 8d16 7b5f 8868 8bea
0000010 40f3 00f2 97a4 324d 03c2 10c8 b943 3d6d
0000020

问题解决

  1. 加载KO报异常trng: loading out-of-tree module taints kernel.

    原因在于没有将此驱动模块加入到Kconfig导致。

  2. 使用函数devm_kzalloc为设备分配的内存，在设备移除时会自动释放，可以不进行显示释放devm_kfree

  3. 宏container_of用于从结构体的某个成员的地址反推出整个结构体的地址，尤其注意第一个参数必须为成员的地址，如果结构体成员为指针变量，需要取该指针变量的地址。

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