设备树

Linux_for_Tegra/source/public/hardware/nvidia/platform/t19x/galen/kernel-dts/tegra194-p2888-0001-p2822-0000.dts

#include "common/tegra194-p2888-0001-p2822-0000-common.dtsi"
#include "common/tegra194-p2822-camera-modules.dtsi"
#include "t19x-common-modules/tegra194-camera-plugin-manager.dtsi"
#include "user/user-gpio.dtsi"

Linux_for_Tegra/source/public/hardware/nvidia/platform/t19x/galen/kernel-dts/user/user-gpio.dtsi

#include <dt-bindings/gpio/tegra194-gpio.h>/ {user-gpios {compatible = "user,user-init-gpio";status = "okay";out-gpios-num = <2>;out-1-gpios = <&tegra_main_gpio TEGRA194_MAIN_GPIO(N, 1) GPIO_ACTIVE_HIGH>;out-2-gpios = <&tegra_main_gpio TEGRA194_MAIN_GPIO(H, 7) GPIO_ACTIVE_LOW>;input-gpios-num = <1>;in-1-gpios = <&tegra_main_gpio TEGRA194_MAIN_GPIO(H, 0) GPIO_ACTIVE_HIGH>;};
};

驱动

Linux_for_Tegra/source/public/kernel/kernel-4.9/drivers/gpio/gpio-user.c

#include <linux/list.h>
#include <linux/kernel.h>
#include <linux/clk.h>
#include <linux/io.h>
#include <linux/module.h>
#include <linux/of.h>
#include <linux/of_device.h>
#include <linux/of_gpio.h>
#include <linux/gpio.h>
#include <linux/platform_device.h>
#include <linux/time.h>
#include <linux/delay.h>
#include <linux/interrupt.h>
#include <linux/slab.h>
#include <linux/kobject.h>
#include <linux/sysfs.h>
#include <linux/kthread.h>#include <dt-bindings/gpio/tegra194-gpio.h>#define GPIOX_MAX_NUM 30enum direction_type_t {GPIO_IN,GPIO_OUT,GPIO_IRQ
};struct gpiox_device_t {int gpio;struct device * dev;int active_low;int direction;int edge;int value;int irq_num;
};struct gpiox_class_t {struct class *gpio_class;struct gpiox_device_t gpio_devs[GPIOX_MAX_NUM];int gpio_cnt;
};static ssize_t gpiox_active_low_show(struct device * dev, struct device_attribute * attr, char * buf)
{struct gpiox_device_t * xdev = dev_get_drvdata(dev);if(xdev == NULL)return 0;if(!strcmp(attr->attr.name, "active_low")){if(xdev->active_low == 0)return strlcpy(buf, "0\n", 3);elsereturn strlcpy(buf, "1\n", 3);}return strlcpy(buf, "0\n", 3);
}static ssize_t gpiox_active_low_store(struct device * dev, struct device_attribute * attr, const char * buf, size_t count)
{struct gpiox_device_t * xdev = dev_get_drvdata(dev);unsigned long on = simple_strtoul(buf, NULL, 10);if(xdev == NULL)return 0;if(!strcmp(attr->attr.name, "active_low")){}xdev->active_low = on ? 1 : 0;return count;
}static ssize_t gpiox_direction_show(struct device * dev, struct device_attribute * attr, char * buf)
{struct gpiox_device_t * xdev = dev_get_drvdata(dev);if(xdev == NULL)return 0;if(!strcmp(attr->attr.name, "direction")){switch(xdev->direction){case GPIO_IN:return strlcpy(buf, "in\n", 4);break;case GPIO_OUT:return strlcpy(buf, "out\n", 5);break;case GPIO_IRQ:return strlcpy(buf,"irq\n", 5);break;}}return strlcpy(buf, "none\n", 6);
}static ssize_t gpiox_direction_store(struct device * dev, struct device_attribute * attr, const char * buf, size_t count)
{int direction = 0;struct gpiox_device_t * xdev = dev_get_drvdata(dev);unsigned long on = simple_strtoul(buf, NULL, 10);if(xdev == NULL)return 0;if(!strcmp(attr->attr.name, "direction")){direction = (on==1)? GPIO_OUT :(on==0)? GPIO_IN:GPIO_IRQ; /* not used */}return 0;
}static ssize_t gpiox_edge_show(struct device * dev, struct device_attribute * attr, char * buf)
{struct gpiox_device_t * xdev = dev_get_drvdata(dev);if(xdev == NULL)return 0;if(!strcmp(attr->attr.name, "edge")){if(xdev->edge == 0)return strlcpy(buf, "0\n", 3);elsereturn strlcpy(buf, "1\n", 3);}return strlcpy(buf, "0\n", 3);
}static ssize_t gpiox_edge_store(struct device * dev, struct device_attribute * attr, const char * buf, size_t count)
{struct gpiox_device_t * xdev = dev_get_drvdata(dev);unsigned long on = simple_strtoul(buf, NULL, 10);if(xdev == NULL)return 0;if(!strcmp(attr->attr.name, "edge")){if(on)gpio_direction_output(xdev->gpio, 1);elsegpio_direction_output(xdev->gpio, 0);}xdev->edge = on ? 1 : 0;return count;
}static ssize_t gpiox_value_show(struct device * dev, struct device_attribute * attr, char * buf)
{struct gpiox_device_t * xdev = dev_get_drvdata(dev);if(xdev == NULL)return 0;if(!strcmp(attr->attr.name, "value")){switch(xdev->direction){case GPIO_IN:xdev->value = gpio_get_value(xdev->gpio);case GPIO_OUT:if(xdev->value == 0)return strlcpy(buf, "0\n", 3);elsereturn strlcpy(buf, "1\n", 3);break;case GPIO_IRQ:break;}}return strlcpy(buf, "0\n", 3);
}static ssize_t gpiox_value_store(struct device * dev, struct device_attribute * attr, const char * buf, size_t count)
{struct gpiox_device_t * xdev = dev_get_drvdata(dev);unsigned long on = simple_strtoul(buf, NULL, 10);if(xdev == NULL)return 0;if(!strcmp(attr->attr.name, "value")){if(on)gpio_direction_output(xdev->gpio, 1);elsegpio_direction_output(xdev->gpio, 0);}xdev->value = on ? 1 : 0;return count;
}static DEVICE_ATTR(value, 0664, gpiox_value_show, gpiox_value_store);
static DEVICE_ATTR(direction, 0664, gpiox_direction_show, gpiox_direction_store);
static DEVICE_ATTR(edge, 0664, gpiox_edge_show, gpiox_edge_store);
static DEVICE_ATTR(active_low, 0664, gpiox_active_low_show, gpiox_active_low_store);
static struct attribute * gpiox_attrs[] = {&dev_attr_value.attr,&dev_attr_direction.attr,&dev_attr_edge.attr,&dev_attr_active_low.attr,NULL
};static const struct attribute_group gpiox_group = {.attrs = gpiox_attrs,
};static int init_device_data(struct gpiox_device_t *dev,int gpio,int active,int direction,int edge,int value)
{int irq_num;if(dev == NULL)return -1;value =(value==0)?1:0;dev->gpio = gpio;dev->active_low = active;dev->direction = direction;dev->edge = edge;dev->value = value;switch(direction){ case GPIO_IN:printk("set gpio%d direction input \n",dev->gpio);gpio_direction_input(dev->gpio);break;case GPIO_OUT:printk("set gpio%d direction output[%d] \n",dev->gpio,value);gpio_direction_output(dev->gpio,value);break;case GPIO_IRQ:irq_num = gpio_to_irq(dev->gpio);dev->irq_num = (irq_num>0)?irq_num:-1;break;}return 0;
}static int create_device_nodes(struct gpiox_class_t *cls,int gpio_num,enum direction_type_t direction,int flag)
{int ret = 0;char name[10];if(cls == NULL)return -1;if(cls->gpio_cnt>=GPIOX_MAX_NUM)  return -2;memset(name,0,sizeof(name));sprintf(name,"gpio%d",gpio_num);cls->gpio_devs[cls->gpio_cnt].dev = device_create(cls->gpio_class, NULL,MKDEV(0, cls->gpio_cnt), NULL, "%s", name);ret = sysfs_create_group(&cls->gpio_devs[cls->gpio_cnt].dev->kobj,&gpiox_group);init_device_data(&cls->gpio_devs[cls->gpio_cnt],gpio_num,1,direction,0,flag);dev_set_drvdata(cls->gpio_devs[cls->gpio_cnt].dev, &cls->gpio_devs[cls->gpio_cnt]);cls->gpio_cnt++;return 0;
}static int user_gpio_probe(struct platform_device * pdev)
{struct device_node * node = pdev->dev.of_node;struct gpiox_class_t * gpiox_class;enum of_gpio_flags flags;int gpio;int ret,i;int cnt = 0;char gpio_name[32];if(!node)return -ENODEV;gpiox_class = kzalloc(sizeof(struct gpiox_class_t), GFP_KERNEL);if (!gpiox_class){printk("%s -ENOMEM\n",__func__);return -ENOMEM;}gpiox_class->gpio_cnt = 0;gpiox_class->gpio_class = class_create(THIS_MODULE, "gpio_usr");ret = of_property_read_u32(node, "out-gpios-num", &cnt);if (ret || !cnt) {pr_err("no gpio\n");goto INIT_ERR_FREE;}printk("get out-gpios-num:%d\n",cnt);for (i = 0; i < cnt; i++) {sprintf(gpio_name, "out-%d-gpios", i + 1);//gpio = of_get_named_gpio(node, gpio_name,0);gpio = of_get_named_gpio_flags(node, gpio_name,0,&flags);if (gpio_request(gpio, NULL)) {pr_err("out-%d-gpios(%d) gpio_request fail\n",i + 1,gpio);continue;}printk("out-%d-gpios(%d) gpio_is_valid\n", i + 1, gpio);create_device_nodes(gpiox_class,gpio,GPIO_OUT,flags);}ret = of_property_read_u32(node, "input-gpios-num", &cnt);if (ret || !cnt) {pr_err("no in gpio\n");cnt = 0;}printk("get input-gpios-num:%d\n",cnt);for (i = 0; i < cnt; i++) {sprintf(gpio_name, "in-%d-gpios", i + 1);gpio = of_get_named_gpio(node, gpio_name,0);if (gpio_request(gpio, NULL)) {pr_err("in-%d-gpios(%d) gpio_request fail\n",i + 1,gpio);continue;}printk("in-%d-gpios(%d) gpio_is_valid\n", i + 1, gpio);create_device_nodes(gpiox_class,gpio,GPIO_IN,flags);}dev_set_drvdata(&pdev->dev, gpiox_class);pr_info("gpio_init finish\n");return 0;INIT_ERR_FREE:pr_err("gpio_init err\n");kfree(gpiox_class);return -1;
}static int user_gpio_remove(struct platform_device *pdev)
{int i = 0;struct gpiox_class_t * xdev = dev_get_drvdata(&pdev->dev);if(xdev != NULL){for(i=0;i<xdev->gpio_cnt;i++){gpio_free(xdev->gpio_devs[i].gpio);printk("gpio%d free %d\n",i,xdev->gpio_devs[i].gpio);sysfs_remove_group(&xdev->gpio_devs[i].dev->kobj, &gpiox_group);device_destroy(xdev->gpio_class,MKDEV(0, i));}class_destroy(xdev->gpio_class);}return 0;
}#ifdef CONFIG_PM
static int user_gpio_suspend(struct device *dev)
{return 0;
}static int user_gpio_resume(struct device *dev)
{return 0;
}
#else
#define user_gpio_suspend NULL
#define user_gpio_resume NULL
#endifstatic const struct dev_pm_ops user_gpio_pm_ops = {.suspend = user_gpio_suspend,.resume = user_gpio_resume,
};static struct of_device_id user_gpio_of_match[] = {{ .compatible = "user,user-init-gpio" },{},
};
MODULE_DEVICE_TABLE(of, user_gpio_of_match);static struct platform_driver user_gpio_driver = {.driver      = {.name   = "user-gpio",.owner = THIS_MODULE,.pm  = &user_gpio_pm_ops,.of_match_table    = of_match_ptr(user_gpio_of_match),},.probe        = user_gpio_probe,.remove      = user_gpio_remove,
};
module_platform_driver(user_gpio_driver);MODULE_DESCRIPTION("user gpio driver");
MODULE_AUTHOR("zhengweiqing, 1548889230@qq.com");
MODULE_LICENSE("GPL");

Makefile

Linux_for_Tegra/source/public/kernel/kernel-4.9/drivers/gpio/Makefile
最后添加：

obj-$(CONFIG_GPIO_USER)    += gpio-user.o

Kconfig

Linux_for_Tegra/source/public/kernel/kernel-4.9/drivers/gpio/Kconfig
增加GPIO_USER部分：

config GPIO_LOONGSON1tristate "Loongson1 GPIO support"depends on MACH_LOONGSON32select GPIO_GENERIChelpSay Y or M here to support GPIO on Loongson1 SoCs.config GPIO_USERtristate "USER GPIO support"depends on GPIOLIBdefault mhelpSay Y or M here to support USER GPIO .endmenumenu "Port-mapped I/O GPIO drivers"

tegra_defconfig

Linux_for_Tegra/source/public/kernel/kernel-4.9/arch/arm64/configs/tegra_defconfig
增加

CONFIG_GPIO_USER=m

编译

cd  Linux_for_Tegra/source/public/kernel/kernel-4.9
./build.sh

build.sh内容:

export CROSS_COMPILE=aarch64-linux-gnu-
make ARCH=arm64 tegra_defconfig
make ARCH=arm64 -j12#TOP_PATH=/home/z/nvidia/Linux_for_Tegra
TOP_PATH=`pwd`/../../../../
cp arch/arm64/boot/Image $TOP_PATH/kernel/Image
cp arch/arm64/boot/dts/* $TOP_PATH/kernel/dtb/sudo make ARCH=arm64 modules_install INSTALL_MOD_PATH=$TOP_PATH/rootfs/

更新设备树以及驱动上传

agx进入Recovery模式后，执行

cd  Linux_for_Tegra./flash.sh -k kernel-dtb jetson-agx-xavier-devkit mmcblk0p1

更新完成后，重启板子，将生成驱动文件 gpio-user.ko放到板子中加载。

测试

sudo insmod gpio-user.ko ls /sys/class/gpio_usr/
gpio344  gpio351  gpio393~$ cat /sys/class/gpio_usr/gpio351/direction
out
~$ cat /sys/class/gpio_usr/gpio393/direction
out
~$ cat /sys/class/gpio_usr/gpio344/direction
in~$ cat /sys/class/gpio_usr/gpio344/value
0

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jetson agx xavier gpio-user驱动

设备树

驱动

Makefile

Kconfig

tegra_defconfig

编译

更新设备树以及驱动上传

测试

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