Scrivere device driver su Linux. Better Embedded 2012 Andrea Righi
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1 Scrivere device driver su Linux
2 Agenda Overview Kernel-space vs user-space programming Hello, world! kernel module Writing a character device driver Example(s) Q/A
3 Overview
4 What's a kernel? The kernel provides an abstraction layer for the applications to use the physical hardware resources Kernel basic facilities Process management Memory management Device management System call interface
5 Linux kernel key features Portability Compatible with the POSIX standard Reliability (hard and detailed code review process) Modularity (drivers and features can be loaded/unloaded at runtime) Source code availability (GPLv2)
6
7 Kernel-space vs user-space programming
8 User space Good for debugging (gdb) Lots of user-space libraries available Unpredictable latency (context switch, scheduler, syscall,...) Overhead Impossibility to fully interact with interrupt routines Impossibility to access certain memory address More difficult to share certain features with other drivers Reliability: user processes can be terminated upon critical system events (OOM, filesystem errors, etc.)
9 Kernel space Written in C and assembly No debugging tool (kgdb, UML,...) Bugs can hang the entire system User memory is swappable, kernel memory can't be swapped out Kernel stack size is small (8K / 4K - THREAD_SIZE_ORDER) Floating point is forbidden Userspace libraries are not available Linux kernel must be portable (this is important if you consider to contribute mainstream) Closed source kernel modules taint the kernel
10 Hello, world! kernel module
11 Makefile NAME=hello ifndef KERNELRELEASE PWD := $(shell pwd) all: $(MAKE) -C /lib/modules/`uname -r`/build SUBDIRS=$(PWD) modules clean: rm -f *.o *.ko *.mod.*.*.cmd Module.symvers modules.order rm -rf.tmp_versions else obj-m := $(NAME).o endif
12 #include <linux/init.h> #include <linux/module.h> hello.c static int init hello_init(void) { printk(kern_info "Hello, world!\n"); return 0; } static void exit hello_exit(void) { printk(kern_info "Goodbye\n"); } module_init(hello_init); module_exit(hello_exit); MODULE_LICENSE("GPL"); MODULE_AUTHOR("Andrea Righi <>"); MODULE_DESCRIPTION("BetterEmbedded hello world example");
13 Writing a character device driver
14 Kernel interfaces virtual filesystem: procfs/sysfs/cgroupfs/configfs character devices block devices network devices syscall socket: netlink (AF_NETLINK)
15 Character vs block devices Character devices: Access the resource as a stream of bytes serial port, framebuffer, input devices, video capture devices, sound devices, I2C, SPI gateways, etc. Block devices: Access the resource as an array of fixed-size blocks hard disks, DVD drives, USB storage devices, SD/MMC cards, etc.
16 Major/minor numbers Used to map a device driver to a device file (/dev/) Major: identifies the particular device driver Minor: identifies a particular device Example: /dev/sda = block (8,0) major: 8 (SCSI driver) minor: 0 (first disk detected) /dev/zero = character (1,5) /dev/null = character (1,3)
17 Virtual memory Each process can see more memory than the physical memory actually available in the system
18 Virtual memory x86_64: overview Virtual memory (64-bit) Physical memory 0xfffffffffff xffffffff xffffc7ffffffffff 0xffff Kernel space (2GB) Physical RAM (64TB) 64TB 0 Kernel space 0x00007fffffffffff User space (128TB) User space 0x
19 Examples
20 rawmem: requirements Implement a character device that allows to map a virtual address in user-space to a generic physical memory address The mapped pages can be in kernel space, I/O mapped memory, or even a memory areas that belong to different user-space process
21 File operations /* File operations implemented for our rawmem device */ static const struct file_operations rawmem_fops = {.open = rawmem_open,.release = rawmem_release,.mmap = rawmem_mmap,.owner = THIS_MODULE, };
22 rawmem: core implementation static int rawmem_mmap(struct file *file, struct vm_area_struct *vma) { return remap_pfn_range(vma, /* virtual address */ vma->vm_start, /* page frame number: physical address */ vma->vm_pgoff, /* size of the area being mapped */ vma->vm_end - vma->vm_start, /* requested protection */ vma->vm_page_prot); } static struct file_operations rawmem_fops = {.mmap = rawmem_mmap, };
23 rawmem: detailed implementation Look at the source code...
24 References J. Corbet, A. Rubini, G. Kroah-Hartman: Linux Device Drivers 3rd Edition Linux cross reference: Linux weekly news: rawmem source code example Kernel source code...
25 Q/A You're very welcome! #bem2012
26
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