Embedded Linux Kernel and Drivers

EmbeddedLinuxdriverdevelopment
EmbeddedLinux kernelanddriver development

SebastienJan MichaelOpdenacker ThomasPetazzoni FreeElectrons
Copyright20042011,FreeElectrons. CreativeCommonsBYSA3.0license Latestupdate:Mar2,2011, Documentsources,updatesandtranslations: http://freeelectrons.com/docs/kernel Corrections,suggestions,contributionsandtranslationsarewelcome!
FreeElectrons.Kernel,driversandembeddedLinuxdevelopment,consulting,trainingandsupport.http://freeelectrons.com
Contents
Driverdevelopment
Loadablekernelmodules Memorymanagement I/Omemoryandports Characterdrivers Processesandscheduling Sleeping,Interruptmanagement Handlingconcurrency Debugging mmap Deviceanddrivermodel
2
Driverdevelopment
Loadablekernelmodules
3
hellomodule
/*hello.c*/ #include<linux/init.h> #include<linux/module.h> #include<linux/kernel.h> staticint__inithello_init(void) { printk(KERN_ALERT"Goodmorrow"); printk(KERN_ALERT"tothisfairassembly.\n"); return0; } staticvoid__exithello_exit(void) { printk(KERN_ALERT"Alas,poorworld,whattreasure"); printk(KERN_ALERT"hastthoulost!\n"); } module_init(hello_init); module_exit(hello_exit); MODULE_LICENSE("GPL"); MODULE_DESCRIPTION("Greetingmodule"); MODULE_AUTHOR("WilliamShakespeare");
__init: removedafterinitialization (statickernelormodule). __exit:discardedwhen modulecompiledstatically intothekernel.
Exampleavailableonhttp://freeelectrons.com/doc/c/hello.c
Hellomoduleexplanations
HeadersspecifictotheLinuxkernel:<linux/xxx.h>
NoaccesstotheusualClibrary,we'redoingkernelprogramming
Aninitializationfunction
Calledwhenthemoduleisloaded,returnsanerrorcode(0on success,negativevalueonfailure) Declaredbythemodule_init()macro:thenameofthefunction doesn'tmatter,eventhoughmodulename_init()isaconvention.
Acleanupfunction
Calledwhenthemoduleisunloaded Declaredbythemodule_exit()macro.
MetadatainformationsdeclaredusingMODULE_LICENSE(), MODULE_DESCRIPTION()andMODULE_AUTHOR()
5
Symbolsexportedtomodules
Fromakernelmodule, onlyalimitednumberofkernelfunctionscanbecalled Functionsandvariableshavetobeexplicitlyexported bythekerneltobevisiblefromakernelmodule Twomacrosareusedinthekernel toexportfunctionsandvariables: EXPORT_SYMBOL(symbolname),whichexportsa functionorvariabletoallmodules EXPORT_SYMBOL_GPL(symbolname),whichexportsa functionorvariableonlytoGPLmodules Anormaldrivershouldnotneedanynonexportedfunction.
6
Symbolsexportedtomodules(2)
kernel
voidfunc1(){} voidfunc2(){} EXPORT_SYMBOL(func2); voidfunc3(){} EXPORT_SYMBOL_GPL(func3);
GPLmoduleA
voidfunc4(){} EXPORT_SYMBOL_GPL(func4);
func1(); func2(); func3(); func4();
NOK OK OK OK
nonGPLmoduleB
func1(); func2(); func3(); func4(); NOK OK NOK NOK
func1(); func2(); func3(); func4();
OK OK OK NOK
GPLmoduleC
func1(); func2(); func3(); func4(); NOK OK OK OK
7
Modulelicense
Severalusages
Usedtorestrictthekernelfunctionsthatthemodulecanuseifit isn'taGPLlicensedmodule
DifferencebetweenEXPORT_SYMBOL()and EXPORT_SYMBOL_GPL()
Usedbykerneldeveloperstoidentifyissuescomingfrom proprietarydrivers,whichtheycan'tdoanythingabout (Taintedkernelnoticeinkernelcrashesandoopses). Usefulforuserstocheckthattheirsystemis100%free (check/proc/sys/kernel/tainted)
Values
GPL,GPLv2,GPLandadditionalrights,DualMIT/GPL,Dual BSD/GPL,DualMPL/GPL,Proprietary
8
Compilingamodule
Twosolutions
Outoftree
Whenthecodeisoutsideofthekernelsourcetree,inadifferent directory Advantage:Mightbeeasiertohandlethanmodificationstothekernel itself Drawbacks:Notintegratedtothekernelconfiguration/compilation process,needstobebuiltseparately,thedrivercannotbebuilt statically
Insidethekerneltree
Wellintegratedintothekernelconfiguration/compilationprocess Drivercanbebuiltstaticallyifneeded
9
Compilingaoutoftreemodule
ThebelowMakefileshouldbereusableforanysinglefile outoftreeLinux2.6module Thesourcefileishello.c Justrunmaketobuildthehello.kofile Caution:makesurethereisa[Tab]characteratthe beginningofthe$(MAKE)line(makesyntax) Either
ifneq($(KERNELRELEASE),) objm:=hello.o else KDIR:=/path/to/kernel/sources all: $(MAKE)C$(KDIR)M=`pwd`modules endif
[Tab]! (nospaces)
fullkernel sourcedirectory (configuredand compiled) orjustkernel headersdirectory (minimum needed)
10
Compilinganoutoftreemodule(2)
Step1:themoduleMakefileisinterpretedwithKERNELRELEASEundefined, soitcallsthekernelMakefile,passingthemoduledirectoryintheMvariable
Modulesource
/path/to/module_source
Kernelsource
/path/to/kernel_source
hello.c hello.ko Makefile ...
drivers kernel include Makefile ...
Step2:thekernelMakefileknowshowtocompileamodule,andthankstothe Mvariable,knowswheretheMakefileforourmoduleis.ThemoduleMakefile isinterpretedwithKERNELRELEASEdefined,sothekernelseestheobjm definition.
11
Modulesandkernelversion
Tobecompiled,akernelmoduleneedsaccesstothekernel headers,containingthefunctions,typesandconstantsdefinitions Twosolutions
Fullkernelsources Onlykernelheaders(linuxheaders*packagesin Debian/Ubuntudistributions)
Thesourcesorheadersmustbeconfigured
Manymacrosorfunctionsdependontheconfiguration
AkernelmodulecompiledagainstversionXofkernelheaders willnotloadinkernelversionY
modprobe/insmodwillsayInvalidmoduleformat
12
Newdriverinkernelsources(1)
Toaddanewdrivertothekernelsources: Addyournewsourcefiletotheappropriatesourcedirectory. Example:drivers/usb/serial/navman.c
Singlefiledriversinthecommoncase,evenifthefileisseveral thousandlinesofcode.Onlyreallybigdriversaresplitinseveral filesorhavetheirowndirectory.

Describetheconfigurationinterfaceforyournewdriver byaddingthefollowinglinestotheKconfigfileinthisdirectory:
configUSB_SERIAL_NAVMAN tristate"USBNavmanGPSdevice" dependsonUSB_SERIAL help Tocompilethisdriverasamodule,chooseMhere:the modulewillbecallednavman.
13
Newdriverinkernelsources(2)
AddalineintheMakefilefilebasedontheKconfigsetting: obj$(CONFIG_USB_SERIAL_NAVMAN)+=navman.o Ittellsthekernelbuildsystemtobuildnavman.cwhenthe USB_SERIAL_NAVMANoptionisenabled.Itworksbothifcompiled staticallyorasamodule. Runmakexconfigandseeyournewoptions! Runmakeandyournewfilesarecompiled! SeeDocumentation/kbuild/fordetailsandmoreelaborate exampleslikedriverswithseveralsourcefiles,ordriversintheir ownsubdirectory,etc.
14
HowtocreateLinuxpatches
Theoldschoolway Beforemakingyourchanges,makesureyouhavetwokerneltrees cpalinux2.6.37/linux2.6.37patch/ Makeyourchangesinlinux2.6.37patch/ Runmakedistcleantokeeponlysourcefiles. Createapatchfile: diffNurlinux2.6.37/\ linux2.6.37patch/>patchfile Notpractical,doesnotscaletomultiplepatches Thenewschoolways Usequilt(tooltomanageastackofpatches) Usegit(revisioncontrolsystemusedbytheLinuxkerneldevelopers)
ThankstoNicolasRougier(Copyright2003, http://webloria.loria.fr/~rougier/)fortheTuximage 15
hellomodulewithparameters
/*hello_param.c*/ #include<linux/init.h> #include<linux/module.h> #include<linux/moduleparam.h> MODULE_LICENSE("GPL"); /*Acoupleofparametersthatcanbepassedin:howmanytimeswesay hello,andtowhom*/ staticchar*whom="world"; module_param(whom,charp,0); staticinthowmany=1; module_param(howmany,int,0); staticint__inithello_init(void) { inti; for(i=0;i<howmany;i++) printk(KERN_ALERT"(%d)Hello,%s\n",i,whom); return0; } staticvoid__exithello_exit(void) { printk(KERN_ALERT"Goodbye,cruel%s\n",whom); } module_init(hello_init); module_exit(hello_exit);
Thanksto JonathanCorbet fortheexample!
Exampleavailableonhttp://freeelectrons.com/doc/c/hello_param.c
16
Declaringamoduleparameter
#include<linux/moduleparam.h> module_param( name, /*nameofanalreadydefinedvariable*/ type, /*eitherbyte,short,ushort,int,uint,long, ulong,charp,orbool. (checkedatcompiletime!)*/ perm /*for/sys/module/<module_name>/parameters/<param> 0:nosuchmoduleparametervaluefile*/ ); Example intirq=5; module_param(irq,int,S_IRUGO);
Modulesparameterarraysarealsopossiblewith module_param_array(),buttheyarelesscommon.
17
PracticallabWritingmodules
Writeakernelmodulewithseveral capabilities,includingmodule parameters. Accesskernelinternalsfromyour module. Setuptheenvironmenttocompileit
18
Driverdevelopment
Memorymanagement
19
Physicalandvirtualmemory
Physicaladdressspace
0xFFFFFFFF
0xFFFFFFFFF
Virtualaddressspaces
0xFFFFFFFF 0xC0000000
Kernel
I/Omemory3 I/Omemory2 I/Omemory1

Memory Management Unit
Process1
0x00000000
0x00000000
Flash
MMU
CPU
0xFFFFFFFF
RAM1 RAM0 Alltheprocesseshavetheir ownvirtualaddressspace,and runasiftheyhadaccesstothe wholeaddressspace.
Kernel
0xC0000000
Process2
0x00000000
0x00000000
20
Virtualmemoryorganization:1GB/3GB
0xFFFFFFFF
1GBreservedforkernelspace Kernel Containskernelcodeandcoredatastructures, identicalinalladdressspaces Mostmemorycanbeadirectmappingofphysical memoryatafixedoffset Complete3GBexclusivemappingavailableforeach userspaceprocess Processcodeanddata(program,stack,) Processn Memorymappedfiles Notnecessarilymappedtophysicalmemory (demandfaultpagingusedfordynamicmappingto physicalmemorypages) Differsfromoneaddressspacetotheother
0xC0000000
0x00000000
21
Physical/virtualmemorymapping
0xFFFFFFFF
Virtualaddressspace
0xFFFFFFFF
I/Omemory
Kernel
0xC0000000
ZONE_HIGHMEM
RAM
RAM
ZONE_NORMAL
Processn
ZONE_DMA
0x00000000
0x00000000 22
Accessingmorephysicalmemory
Onlylessthan1GBmemoryaddressabledirectlythroughkernel virtualaddressspace Ifmorephysicalmemoryispresentontheplatform:
Partofthememorywillnotbeaccessablebykernelspace,butcan beusedbyuserspace Toallowkerneltoaccesstomorephysicalmemory:
Change1GB/3GBmemorysplit(2GB/2GB)?=>butreducestotal memoryavailableforeachprocess Changefora64bitsarchitecture;) Activatethe'highmem'supportifavailableforyourarchitecture: Allowskerneltomappartsofitsnondirectlyaccessablememory Mappingmustberequestedexplicitly Limitedaddressesrangesreservedforthisusage
23
Accessingevenmorephysicalmemory!
Ifyour32bitsplatformhostsmorethan4GB,theyjust cannotbemapped ThePAE(PhysicalAddressExpansion)maybesupported byyourarchitecture Addssomeaddressextensionbitsusedtoindexmemory areas Allowsaccessingupto64GBofphysicalmemoryby4GB pages Notethateachuserspaceprocessisstilllimitedtoa3GB memoryspace
24
Notesonuserspacememory
Newuserspacememoryisallocatedeitherfromthealready allocatedprocessmemory,orusingthemmapsystemcall Notethatmemoryallocatedmaynotbephysicallyallocated:
Kernelusesdemandfaultpagingtoallocatethephysicalpage(the physicalpageisallocatedwhenaccesstothevirtualaddress generatesapagefault) ...ormayhavebeenswappedout,whichalsoinducesapagefault
Userspacememoryallocationisallowedtoovercommitmemory (morethanavailablephysicalmemory)=>canleadtooutof memory OOMkillerentersinactionandselectsaprocesstokilltoretrieve somememory

25
Backtokernelmemory
Kernelmemoryallocators(seefollowingslides)allocatephysical pages,andkernelallocatedmemorycannotbeswappedout,so nofaulthandlingrequiredforkernelmemory Mostkernelmemoryallocationfunctionsalsoreturnakernel virtualaddresstobeusedwithinthekernelspace Kernelmemorylowlevelallocatormanagespages.Thisisthe finestgranularity(usually4kB,architecturedependent) However,thekernelmemorymanagementhandlessmaller memoryallocationsthroughitsallocator(seeslabs/SLUB allocatorusedbykmalloc)
26
Allocatorsinthekernel
Somekernelcode
kmalloc()allocator
Usesasetofanonymous SLABcaches.
vmalloc()allocator
Nonphysicallycontiguous memory
SLABallocator
Allowstocreatecaches,eachcachestoringobjectsofthesame size.Sizecanbelowerorgreaterthanapagesize.
Pageallocator
Allowstoallocatecontiguousareasofphysicalpages(4k,8k,16k,32k,etc.) 27
Pageallocator
Appropriateforlargeallocations Apageisusually4K,butcanbemadegreaterinsomearchitectures (sh,mips:4,8,16or64K,butnotconfigurableini386orarm). Buddyallocatorstrategy,soonlyallocationsofpoweroftwonumberof pagesarepossible:1page,2pages,4pages,8pages,16pages,etc. Typicalmaximumsizeis8192KB,butitmightdependonthekernel configuration. Theallocatedareaisvirtuallycontiguous(ofcourse),butalso physicallycontiguous.Itisallocatedintheidentitymappedpartofthe kernelmemoryspace. Thismeansthatlargeareasmaynotbeavailableorhardtoretrieve duetophysicalmemoryfragmentation.
28
PageallocatorAPI
unsignedlongget_zeroed_page(intflags); Returnsthevirtualaddressofafreepage,initializedtozero unsignedlong__get_free_page(intflags); Same,butdoesn'tinitializethecontents unsignedlong__get_free_pages(intflags, unsignedintorder); Returnsthestartingvirtualaddressofanareaofseveralcontiguous pagesinphysicalRAM,withorderbeing log2(<number_of_pages>).Canbecomputedfromthesizewith theget_order()function. voidfree_page(unsignedlongaddr); Freesonepage. voidfree_pages(unsignedlongaddr, unsignedintorder); Freesmultiplepages.Needtousethesameorderasinallocation.
29
Pageallocatorflags
Themostcommononesare: GFP_KERNEL Standardkernelmemoryallocation.Theallocationmayblockinorder tofindenoughavailablememory.Fineformostneeds,exceptin interrupthandlercontext. GFP_ATOMIC RAMallocatedfromcodewhichisnotallowedtoblock(interrupt handlersorcriticalsections).Neverblocks,allowstoaccessemegency pools,butcanfailifnofreememoryisreadilyavailable. GFP_DMA AllocatesmemoryinanareaofthephysicalmemoryusableforDMA transfers. Othersaredefinedininclude/linux/gfp.h(GFP: __get_free_pages).
30
SLABallocator
TheSLABallocatorallowstocreatecaches,whichcontainsa setofobjectsofthesamesize Theobjectsizecanbesmallerorgreaterthanthepagesize TheSLABallocatortakescareofgrowingorreducingthesize ofthecacheasneeded,dependingonthenumberofallocated objects.Itusesthepageallocatortoallocateandfreepages. SLABcachesareusedfordatastructuresthatarepresentin manymanyinstancesinthekernel:directoryentries,file objects,networkpacketdescriptors,processdescriptors,etc. See/proc/slabinfo Theyarerarelyusedforindividualdrivers. Seeinclude/linux/slab.hfortheAPI
31
SLABallocator(2)
Cache1
Objectsof512bytes
4KBpage
Allocated512bytesobject
Cache2
Objectsof1024 bytes
Free1024bytesobject
32
DifferentSLABallocators
Therearethreedifferent,butAPIcompatible,implementationsofaSLAB allocatorintheLinuxkernel.Aparticularimplementationischoosenat configurationtime. SLAB:original,wellprovenallocatorinLinux2.6. SLOB:muchsimpler.Morespaceefficientbutdoesn'tscalewell.Saves afewhundredsofKBinsmallsystems(dependson CONFIG_EMBEDDED) SLUB:thenewdefaultallocatorsince2.6.23,simplerthanSLAB, scalingmuchbetter(inparticularforhugesystems)andcreatingless fragmentation.
33
kmallocallocator
Thekmallocallocatoristhegeneralpurposememoryallocatorin theLinuxkernel,forobjectsfrom8bytesto128KB Forsmallsizes,itreliesongenericSLABcaches,named kmallocXXXin/proc/slabinfo Forlargersizes,itreliesonthepageallocator Theallocatedareaisguaranteedtobephysicallycontiguous Theallocatedareasizeisroundeduptothenextpoweroftwo size(whileusingtheSLABallocatordirectlyallowstohavemore flexibility) Itusesthesameflagsasthepageallocator(GFP_KERNEL, GFP_ATOMIC,GFP_DMA,etc.)withthesamesemantics. Shouldbeusedastheprimaryallocatorunlessthereisastrong reasontouseanotherone.
34
kmallocAPI
#include<linux/slab.h> void*kmalloc(size_tsize,intflags);
Allocatesizebytes,andreturnapointertothearea(virtual address) size:numberofbytestoallocate flags:sameflagsasthepageallocator

voidkfree(constvoid*objp);
Freeanallocatedarea
Example:(drivers/infiniband/core/cache.c) structib_update_work*work; work=kmalloc(sizeof*work,GFP_ATOMIC); ... kfree(work);
35
kmallocAPI(2)
void*kzalloc(size_tsize,gfp_tflags); Allocatesazeroinitializedbuffer void*kcalloc(size_tn,size_tsize, gfp_tflags); Allocatesmemoryforanarrayofnelementsofsizesize, andzeroesitscontents. void*krealloc(constvoid*p,size_tnew_size, gfp_tflags); Changesthesizeofthebufferpointedbyptonew_size,by reallocatinganewbufferandcopyingthedata,unlessthe new_sizefitswithinthealignmentoftheexistingbuffer.
36
vmallocallocator
Thevmallocallocatorcanbeusedtoobtainvirtually contiguousmemoryzones,butnotphysicallycontiguous. Therequestedmemorysizeisroundeduptothenextpage. Theallocatedareaisinthekernelspacepartoftheaddress space,butoutsideoftheidenticallymappedarea Allocationsoffairlylargeareasispossible,sincephysical memoryfragmentationisnotanissue,butareascannotbe usedforDMA,asDMAusuallyrequiresphysically contiguousbuffers. APIin<linux/vmalloc.h> void*vmalloc(unsignedlongsize);
Returnsavirtualaddress
voidvfree(void*addr);
37
Kernelmemorydebugging
Debuggingfeaturesavailablesince2.6.31 Kmemcheck Dynamiccheckerforaccesstouninitializedmemory. Onlyavailableonx86sofar,butwillhelptoimprovearchitecture independentcodeanyway. SeeDocumentation/kmemcheck.txtfordetails. Kmemleak Dynamiccheckerformemoryleaks Thisfeatureisavailableforallarchitectures. SeeDocumentation/kmemleak.txtfordetails. Bothhaveasignificantoverhead.Onlyusethemindevelopment!
38
Driverdevelopment
UsefulgeneralpurposekernelAPIs
39
Memory/stringutilities
In<linux/string.h>
Memoryrelated:memset,memcpy,memmove,
memscan,memcmp,memchr
Stringrelated:strcpy,strcat,strcmp,strchr,
strrchr,strlenandvariants
Allocateandcopyastring:kstrdup,kstrndup Allocateandcopyamemoryarea:kmemdup
In<linux/kernel.h>
Stringtointconversion:simple_strtoul,
simple_strtol,simple_strtoull, simple_strtoll
Otherstringfunctions:sprintf,sscanf
40
Linkedlists
Convenientlinkedlistfacilityin<linux/list.h> Usedinthousandsofplacesinthekernel Addastructlist_headmembertothestructurewhoseinstances willbepartofthelinkedlist.Itisusuallynamednodewheneach instanceneedstoonlybepartofasinglelist. DefinethelistwiththeLIST_HEADmacroforagloballist,ordefinea structlist_headelementandinitializeitwithINIT_LIST_HEAD forlistsembeddedinastructure. Thenusethelist_*()APItomanipulatethelist Addelements:list_add(),list_add_tail() Remove,moveorreplaceelements:list_del(), list_move(),list_move_tail(),list_replace() Testthelist:list_empty() Iterateoverthelist:list_for_each_*()familyofmacros
41
Linkedlistsexample
Frominclude/linux/atmel_tc.h structatmel_tc{ /*somemembers*/ structlist_headnode; }; Fromdrivers/misc/atmel_tclib.c staticLIST_HEAD(tc_list);
Definitionofalistelement,witha structlist_headmember
Thegloballist
structatmel_tc*atmel_tc_alloc(unsignedblock,constchar*name){ structatmel_tc*tc; list_for_each_entry(tc,&tc_list,node){ /*Dosomethingwithtc*/ Iterateoverthelistelements } [...] } staticint__inittc_probe(structplatform_device*pdev){ structatmel_tc*tc; tc=kzalloc(sizeof(structatmel_tc),GFP_KERNEL); list_add_tail(&tc>node,&tc_list); }
Addanelementtothelist
42
Driverdevelopment
I/Omemoryandports
43
PortI/Ovs.MemoryMappedI/O
MMIO Sameaddressbustoaddress memoryandI/Odevices AccesstotheI/Odevices usingregularinstructions MostwidelyusedI/Omethod acrossthedifferent architecturessupportedby Linux PIO Differentaddressspacesfor memoryandI/Odevices UsesaspecialclassofCPU instructionstoaccessI/O devices Exampleonx86:INandOUT instructions
44
MMIOvsPIO
MMIO registers
RAM PIO registers

Physicalmemory addressspace,accessedwithnormal load/storeinstructions SeparateI/Oaddressspace, accessedwithspecificCPU instructions
45
RequestingI/Oports
/proc/ioportsexample(x86) 0000001f:dma1 00200021:pic1 00400043:timer0 00500053:timer1 0060006f:keyboard 00700077:rtc 0080008f:dmapagereg 00a000a1:pic2 00c000df:dma2 00f000ff:fpu 0100013f:pcmcia_socket0 01700177:ide1 01f001f7:ide0 03760376:ide1 0378037a:parport0 03c003df:vga+ 03f603f6:ide0 03f803ff:serial 0800087f:0000:00:1f.0 08000803:PM1a_EVT_BLK 08040805:PM1a_CNT_BLK 0808080b:PM_TMR 08200820:PM2_CNT_BLK 0828082f:GPE0_BLK ...
Tellsthekernelwhichdriverisusingwhich I/Oports Allowstopreventotherdriversfromusingthe sameI/Oports,butispurelyvoluntary.

structresource*request_region( unsignedlongstart, unsignedlonglen, char*name); Triestoreservethegivenregionandreturns NULLifunsuccessful. request_region(0x0170,8,"ide1"); voidrelease_region( unsignedlongstart, unsignedlonglen);
46
AccessingI/Oports
Functionstoread/writebytes(b),word(w)andlongs(l)toI/O ports:
unsignedin[bwl](unsignedlong*addr); voidout[bwl](unsignedport,unsignedlong*addr);
Andthestringsvariants:oftenmoreefficientthanthe correspondingCloop,iftheprocessorsupportssuchoperations!
voidins[bwl](unsignedport,void*addr, unsignedlongcount); voidouts[bwl](unsignedport,void*addr, unsignedlongcount);
Examples
read8bits
oldlcr=inb(baseio+UART_LCR);
write8bits
outb(MOXA_MUST_ENTER_ENCHANCE,baseio+UART_LCR);
47
RequestingI/Omemory
/proc/iomemexample 000000000009efff:SystemRAM 0009f0000009ffff:reserved 000a0000000bffff:VideoRAMarea 000c0000000cffff:VideoROM 000f0000000fffff:SystemROM 001000003ffadfff:SystemRAM 001000000030afff:Kernelcode 0030b000003b4bff:Kerneldata 3ffae0003fffffff:reserved 40000000400003ff:0000:00:1f.1 4000100040001fff:0000:02:01.0 4000100040001fff:yenta_socket 4000200040002fff:0000:02:01.1 4000200040002fff:yenta_socket 40400000407fffff:PCICardBus#03 4080000040bfffff:PCICardBus#03 40c0000040ffffff:PCICardBus#07 41000000413fffff:PCICardBus#07 a0000000a0000fff:pcmcia_socket0 a0001000a0001fff:pcmcia_socket1 e0000000e7ffffff:0000:00:00.0 e8000000efffffff:PCIBus#01 e8000000efffffff:0000:01:00.0 ...
Functionsequivalentto request_region()and release_region(),butforI/Omemory.

structresource*request_mem_region( unsignedlongstart, unsignedlonglen, char*name); voidrelease_mem_region( unsignedlongstart, unsignedlonglen);
48
MappingI/Omemoryinvirtualmemory
Load/storeinstructionsworkwithvirtualaddresses ToaccessI/Omemory,driversneedtohaveavirtual addressthattheprocessorcanhandle,becauseI/O memoryisnotmappedbydefaultinvirtualmemory. Theioremapfunctionssatisfythisneed: #include<asm/io.h>; void*ioremap(unsignedlongphys_addr, unsignedlongsize); voidiounmap(void*address); Caution:checkthatioremapdoesn'treturnaNULL address!
49
ioremap()
ioremap(0xFFEBC00,4096)=0xCDEFA000
MMIO registers
0xFFEBC000
0xCDEFA000
RAM
RAM
Physicalmemory addressspace
Virtual addressspace
50
User
Kernel
AccessingMMIOdevices
Directlyreadingfromorwritingtoaddressesreturnedby ioremap(pointerdereferencing)maynotworkonsome architectures. TodoPCIstyle,littleendianaccesses,conversionbeingdone automatically
unsignedread[bwl](void*addr); voidwrite[bwl](unsignedval,void*addr);
Todorawaccess,withoutendianessconversion
unsigned__raw_read[bwl](void*addr); void__raw_write[bwl](unsignedval,void*addr);
Example
32bitswrite
__raw_writel(1<<KS8695_IRQ_UART_TX, membase+KS8695_INTST);
51
NewAPIformixedaccesses
AnewAPIallowstowritedriversthatcanworkoneitherdevices accessedoverPIOorMMIO.Afewdriversuseit,buttheredoesn't seemtobeaconsensusinthekernelcommunityaroundit. Mapping
ForPIO:ioport_map()andioport_unmap().Theydon'treally map,buttheyreturnaspecialcookie. ForMMIO:ioremap()andiounmap().Asusual.
Access,worksbothonaddressesreturnedbyioport_map()and
ioremap()
ioread[8/16/32]()andiowrite[8/16/32]forsingleaccess ioread_rep[8/16/32]()andiowrite_rep[8/16/32]()for
repeatedaccesses
52
AvoidingI/Oaccessissues
CachingonI/Oportsormemoryalreadydisabled Usethemacros,theydotherightthingforyourarchitecture Thecompilerand/orCPUcanreordermemoryaccesses,which mightcausetroublesforyourdevicesistheyexpectoneregister toberead/writtenbeforeanotherone. Memorybarriersareavailabletopreventthisreordering rmb()isareadmemorybarrier,preventsreadstocrossthe barrier wmb()isawritememorybarrier mb()isareadwritememorybarrier StartstobeaproblemwithCPUthatreorderinstructionsand SMP. SeeDocumentation/memorybarriers.txtfordetails
53
/dev/mem
Usedtoprovideuserspaceapplications withdirectaccesstophysicaladdresses. Usage:open/dev/memandreadorwriteatgivenoffset. Whatyoureadorwriteisthevalue atthecorrespondingphysicaladdress. UsedbyapplicationssuchastheXserver towritedirectlytodevicememory. Onx86,armandtile:CONFIG_STRICT_DEVMEMoption torestrict/dev/memnonRAMaddresses,forsecurity reasons(2.6.37rc2status).
54
PracticallabI/Omemoryandports
Makearemoteconnectiontoyour boardthroughssh. Accessthesystemconsolethrough thenetwork. ReservetheI/Omemoryaddresses usedbytheserialport. Readdeviceregistersandwritedata tothem,tosendcharactersonthe serialport.
55
Driverdevelopment
Characterdrivers
56
Usefulnessofcharacterdrivers
Exceptforstoragedevicedrivers,mostdriversfordeviceswith inputandoutputflowsareimplementedascharacterdrivers. So,mostdriversyouwillfacewillbecharacterdrivers Youwillregretifyousleepduringthispart!
57
Creatingacharacterdriver
Userspaceneeds Thenameofadevicefilein/devto interactwiththedevicedriverthrough regularfileoperations(open,read,write, close...) Thekernelneeds
Copytouser
Userspace
Read buffer read /dev/foo major/minor Copyfromuser 58 Write string write
Toknowwhichdriverisinchargeofdevice fileswithagivenmajor/minornumberpair Foragivendriver,tohavehandlers(file operations)toexecutewhenuserspace opens,reads,writesorclosesthedevice file.
Read handler
Write handler
Devicedriver Kernelspace
Implementingacharacterdriver
Fourmajorsteps
Implementoperationscorrespondingtothesystemcallsan applicationcanapplytoafile:fileoperations Defineafile_operationsstructureassociatingfunctionpointers totheirimplementationinyourdriver Reserveasetofmajorandminorsforyourdriver Tellthekerneltoassociatethereservedmajorandminortoyour fileoperations
ThisisaverycommondesignschemeintheLinuxkernel
Acommonkernelinfrastructuredefinesasetofoperationstobe implementedbyadriverandfunctionstoregisteryourdriver Yourdriveronlyneedstoimplementthissetofwelldefined operations
59
Fileoperations
Beforeregisteringcharacterdevices,youhavetodefine file_operations(calledfops)forthedevicefiles. Thefile_operationsstructureisgenerictoallfileshandledbytheLinux kernel.Itcontainsmanyoperationsthataren'tneededforcharacter drivers. Herearethemostimportantoperationsforacharacterdriver.Allof themareoptional.
structfile_operations{ [...] ssize_t(*read)(structfile*,char__user*,size_t,loff_t*); ssize_t(*write)(structfile*,constchar__user*,size_t,loff_t*); long(*unlocked_ioctl)(structfile*,unsignedint,unsignedlong); int(*mmap)(structfile*,structvm_area_struct*); int(*open)(structinode*,structfile*); int(*release)(structinode*,structfile*); [...] };
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open()andrelease()
intfoo_open(structinode*i,structfile*f) Calledwhenuserspaceopensthedevicefile. inodeisastructurethatuniquelyrepresentafileinthesystem(be itaregularfile,adirectory,asymboliclink,acharacterorblock device) fileisastructurecreatedeverytimeafileisopened.Severalfile structurescanpointtothesameinodestructure. Containsinformationslikethecurrentposition,theopening mode,etc. Hasavoid*private_datapointerthatonecanfreelyuse. Apointertothefilestructureispassedtoallotheroperations intfoo_release(structinode*i, structfile*f) Calledwhenuserspaceclosesthefile.
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read()
ssize_tfoo_read ( structfile*f, __userchar*buf, size_tsz,loff_t*off)
Calledwhenuserspaceusestheread()systemcallonthe device. Mustreaddatafromthedevice,writeatmostszbytesinthe userspacebufferbuf,andupdatethecurrentpositioninthefile off.fisapointertothesamefilestructurethatwaspassedin theopen()operation Mustreturnthenumberofbytesread. OnUnix,read()operationstypicallyblockwhenthereisn't enoughdatatoreadfromthedevice
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write()
ssize_tfoo_write( structfile*f, __userconstchar*buf, size_tsz,loff_t*off)
Calledwhenuserspaceusesthewrite()systemcallonthe device Theoppositeofread,mustreadatmostszbytesfrombuf, writeittothedevice,updateoffandreturnthenumberof byteswritten.
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Exchangingdatawithuserspace(1)
Kernelcodeisn'tallowedtodirectlyaccess userspacememory,usingmemcpyor directpointerdereferencing Doingsodoesnotworkonsome architectures Iftheaddresspassedbytheapplication wasinvalid,theapplicationwould segfault Tokeepthekernelcodeportableandhave propererrorhandling,yourdrivermustuse specialkernelfunctionstoexchangedata withuserspace
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Asinglevalue
get_user(v,p);
Thekernelvariablevgetsthevaluepointerbytheuserspace pointerp
put_user(v,p);
Thevaluepointedbytheuserspacepointerpissettothecontents ofthekernelvariablev.
Abuffer
unsignedlongcopy_to_user(void__user*to, constvoid*from, unsignedlongn); unsignedlongcopy_from_user(void*to, constvoid__user*from,unsignedlongn);
Thereturnvaluemustbechecked.Zeroonsuccess,nonzeroon failure.Ifnonzero,theconventionistoreturnEFAULT.
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void*to void*from
copy_from_user()
copy_to_user()
void__user*from
void__user*to
Bufferofdatainthe userspaceapplication Bufferofdatainthe kernelspacedriver Kernel User 66
readoperationexample
staticssize_t acme_read(structfile*file,char__user*buf,size_tcount,loff_t*ppos) { /*Theacme_bufaddresscorrespondstoadeviceI/Omemoryarea*/ /*ofsizeacme_bufsize,obtainedwithioremap()*/ intremaining_size,transfer_size; remaining_size=acme_bufsize(int)(*ppos);//byteslefttotransfer if(remaining_size==0){/*Allread,returning0(EndOfFile)*/ return0; } /*Sizeofthistransfer*/ transfer_size=min(remaining_size,(int)count); if(copy_to_user(buf/*to*/,acme_buf+*ppos/*from*/,transfer_size)){ returnEFAULT; }else{/*Increasethepositionintheopenfile*/ *ppos+=transfer_size; returntransfer_size; } }
Readmethod
Pieceofcodeavailablein http://freeelectrons.com/doc/c/acme.c
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writeoperationexample
staticssize_t acme_write(structfile*file,constchar__user*buf,size_tcount,loff_t*ppos) { intremaining_bytes; /*Numberofbytesnotwrittenyetinthedevice*/ remaining_bytes=acme_bufsize(*ppos); if(count>remaining_bytes){ /*Can'twritebeyondtheendofthedevice*/ returnEIO; } if(copy_from_user(acme_buf+*ppos/*to*/,buf/*from*/,count)){ returnEFAULT; }else{ /*Increasethepositionintheopenfile*/ *ppos+=count; returncount; } }
Writemethod
Pieceofcodeavailablein http://freeelectrons.com/doc/c/acme.c
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unlocked_ioctl()
longunlocked_ioctl(structfile*f, unsignedintcmd,unsignedlongarg) Associatedtotheioctl()systemcall Calledunlockedbecauseitdoesn'tholdtheBigKernelLock. Allowstoextendthedrivercapabilitiesbeyondthelimited read/writeAPI Forexample:changingthespeedofaserialport,settingvideo outputformat,queryingadeviceserialnumber... cmdisanumberidentifyingtheoperationtoperform argistheoptionalargumentpassedasthirdargumentofthe ioctl()systemcall.Canbeaninteger,anaddress,etc. Thesemanticofcmdandargisdriverspecific.
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ioctl()example:kernelside
staticlongphantom_ioctl(structfile*file,unsignedintcmd, unsignedlongarg) { structphm_regr; void__user*argp=(void__user*)arg; switch(cmd){ casePHN_SET_REG: if(copy_from_user(&r,argp,sizeof(r))) returnEFAULT; /*Dosomething*/ break; casePHN_GET_REG: if(copy_to_user(argp,&r,sizeof(r))) returnEFAULT; /*Dosomething*/ break; default: returnENOTTY; } return0; }
Selectedexcerptfromdrivers/misc/phantom.c
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Ioctl()example:applicationside
intmain(void) { intfd,ret; structphm_regreg; fd=open(/dev/phantom); assert(fd>0); reg.field1=42; reg.field2=67; ret=ioctl(fd,PHN_SET_REG,&reg); assert(ret==0); return0; }
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fileoperationsdefinitionexample(3)
Definingafile_operationsstructure: #include<linux/fs.h> staticstructfile_operationsacme_fops= { .owner=THIS_MODULE, .read=acme_read, .write=acme_write, }; Youjustneedtosupplythefunctionsyouimplemented!Defaultsfor otherfunctions(suchasopen,release...)arefineifyoudonot implementanythingspecial.
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dev_tdatatype
Kerneldatatypetorepresentamajor/minornumberpair Alsocalledadevicenumber. Definedin<linux/kdev_t.h> Linux2.6:32bitsize(major:12bits,minor:20bits) Macrotocomposethedevicenumber: MKDEV(intmajor,intminor); Macrotoextracttheminorandmajornumbers: MAJOR(dev_tdev); MINOR(dev_tdev);
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Registeringdevicenumbers(1)
#include<linux/fs.h> intregister_chrdev_region( dev_tfrom, /*Startingdevicenumber*/ unsignedcount, /*Numberofdevicenumbers*/ constchar*name); /*Registeredname*/ Returns0iftheallocationwassuccessful. Example
staticdev_tacme_dev=MKDEV(202,128); if(register_chrdev_region(acme_dev,acme_count,acme)){ printk(KERN_ERRFailedtoallocatedevicenumber\n); ...
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Registeringdevicenumbers(2)
Ifyoudon'thavefixeddevicenumbersassignedtoyourdriver Betternottochoosearbitraryones. Therecouldbeconflictswithotherdrivers. ThekernelAPIoffersaalloc_chrdev_regionfunction tohavethekernelallocatefreeonesforyou.Youcanfindthe allocatedmajornumberin/proc/devices.
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Informationonregistereddevices
Registereddevicesarevisiblein/proc/devices:
Characterdevices: 1mem 4/dev/vc/0 4tty 4ttyS 5/dev/tty 5/dev/console 5/dev/ptmx 6lp 10misc 13input 14sound ... Blockdevices: 1ramdisk 3ide0 8sd 9md 22ide1 65sd 66sd 67sd 68sd
Major number
Registered name
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Characterdeviceregistration(1)
Thekernelrepresentscharacterdriverswithacdevstructure Declarethisstructureglobally(withinyourmodule): #include<linux/cdev.h> staticstructcdevacme_cdev; Intheinitfunction,initializethestructure: cdev_init(&acme_cdev,&acme_fops);
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Characterdeviceregistration(2)
Then,nowthatyourstructureisready,addittothesystem: intcdev_add( structcdev*p, /*Characterdevicestructure*/ dev_tdev, /*Startingdevicemajor/minornumber*/ unsignedcount); /*Numberofdevices*/ Afterthisfunctioncall,thekernelknowstheassociationbetween themajor/minornumbersandthefileoperations.Yourdeviceis readytobeused! Example(continued):
if(cdev_add(&acme_cdev,acme_dev,acme_count)){ printk(KERN_ERRChardriverregistrationfailed\n);
...
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Characterdeviceunregistration
Firstdeleteyourcharacterdevice: voidcdev_del(structcdev*p); Then,andonlythen,freethedevicenumber: voidunregister_chrdev_region(dev_tfrom, unsignedcount); Example(continued): cdev_del(&acme_cdev); unregister_chrdev_region(acme_dev,acme_count);
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Linuxerrorcodes
Thekernelconventionforerrormanagementis Return0onsuccess return0; Returnanegativeerrorcodeonfailure returnEFAULT; Errorcodes include/asmgeneric/errnobase.h include/asmgeneric/errno.h
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Chardriverexamplesummary(1)
staticvoid*acme_buf; staticintacme_bufsize=8192; staticintacme_count=1; staticdev_tacme_dev=MKDEV(202,128); staticstructcdevacme_cdev; staticssize_tacme_write(...){...} staticssize_tacme_read(...){...} staticstructfile_operationsacme_fops= { .owner=THIS_MODULE, .read=acme_read, .write=acme_write };
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Chardriverexamplesummary(2)
Showshowtohandleerrorsanddeallocateresourcesintherightorder!
staticint__initacme_init(void) { interr; acme_buf=ioremap(ACME_PHYS, acme_bufsize); if(!acme_buf){ err=ENOMEM; gotoerr_exit; } if(register_chrdev_region(acme_dev, acme_count,acme)){ err=ENODEV; gotoerr_free_buf; } cdev_init(&acme_cdev,&acme_fops); if(cdev_add(&acme_cdev,acme_dev, acme_count)){ err=ENODEV; gotoerr_dev_unregister; }
return0; err_dev_unregister: unregister_chrdev_region( acme_dev,acme_count); err_free_buf: iounmap(acme_buf); err_exit: returnerr; } staticvoid__exitacme_exit(void) { cdev_del(&acme_cdev); unregister_chrdev_region(acme_dev, acme_count); iounmap(acme_buf); }
Completeexamplecodeavailableonhttp://freeelectrons.com/doc/c/acme.c
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Characterdriversummary
Definethefileoperationscallbacksforthedevicefile:read,write,ioctl... Inthemoduleinitfunction,reservemajorandminornumberswith register_chrdev_region(),initacdevstructurewithyourfileoperationsandadditto thesystemwithcdev_add(). Inthemoduleexitfunction,callcdev_del()andunregister_chrdev_region()
Loadthecharacterdrivermodule Createdevicefileswithmatchingmajorandminornumbersifneeded Thedevicefileisreadytouse!
Systemuser Kernel
Openthedevicefile,read,write,orsendioctl'stoit. Executesthecorrespondingfileoperations
Kernel
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Userspace
Systemadministration
Kernel
Characterdriverwriter
PracticallabCharacterdrivers
Writingasimplecharacterdriver,to writedatatotheserialport. Onyourworkstation,checkingthat transmitteddataisreceivedcorrectly. Exchangingdatabetweenuserspace andkernelspace. Practicingwiththecharacterdevice driverAPI. Usingkernelstandarderrorcodes.
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EmbeddedLinuxDriverDevelopment
Driverdevelopment
Processesandscheduling
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Process,thread?
Confusionaboutthetermsprocess,threadandtask InUnix,aprocessiscreatedusingfork()andiscomposedof
Anaddressspace,whichcontainstheprogramcode,data,stack, sharedlibraries,etc. Onethread,thatstartsexecutingthemain()function. Uponcreation,aprocesscontainsonethread
Additionalthreadscanbecreatedinsideanexistingprocess, usingpthread_create()
Theyruninthesameaddressspaceastheinitialthreadofthe process Theystartexecutingafunctionpassedasargumentto pthread_create()
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Process,thread:kernelpointofview
Thekernelrepresentseachthreadrunninginthesystembya structureoftypetask_struct Fromaschedulingpointofview,itmakesnodifferencebetween theinitialthreadofaprocessandalladditionalthreadscreated dynamicallyusingpthread_create()
Thread A Addressspace
Processafterfork()
Thread A
Thread B
Addressspace
Sameprocessafterpthread_create() 87
Athreadlife
Threadcreated
Taskterminatedbutits resourcesarenotfreedyet. Waitingforitsparent toacknowledgeitsdeath.
EXIT_ZOMBIE
byfork()or pthread_create()
Thethreadiselected bythescheduler
TASK_RUNNING
Readybut notrunning Thethreadispreempted bytheschedulertorun ahigherprioritytask
TASK_RUNNING
Actuallyrunning
Theeventoccurs ortheprocessreceives asignal.Threadbecomes runnableagain
TASK_INTERRUPTIBLE TASK_UNINTERRUPTIBLE orTASK_KILLABLE

Waiting
Decidestosleep onawaitqueue foraspecificevent
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Executionofsystemcalls
Theexecutionofsystemcallstakesplaceinthe contextofthethreadrequestingthem.
Processcontinuinginuserspace... (orreplacedbyahigherpriorityprocess) (canbepreempted)
Processexecutinginuserspace... (canbepreempted) Systemcall orexception
Kernelcodeexecuted onbehalfofuserspace (canbepreemptedtoo!)
Stillhasaccesstoprocess data(openfiles...)
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Driverdevelopment
Sleeping
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Sleeping
Sleepingisneededwhenaprocess(userspaceorkernelspace) iswaitingfordata.
Userspaceprocess... readdevicefile Systemcall... askfor data sleep
Other processes are scheduled ...Systemcall wakeup Interrupt handler datareadynotification
...Userspace return
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Howtosleep(1)
Mustdeclareawaitqueue Awaitqueuewillbeusedtostorethelistofthreadswaiting foranevent. Staticqueuedeclaration usefultodeclareasaglobalvariable DECLARE_WAIT_QUEUE_HEAD(module_queue); Ordynamicqueuedeclaration usefultoembedthewaitqueueinsideanotherdata structure wait_queue_head_tqueue; init_waitqueue_head(&queue);
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Howtosleep(2)
Severalwaystomakeakernelprocesssleep wait_event(queue,condition); SleepsuntilthetaskiswokenupandthegivenCexpressionistrue. Caution:can'tbeinterrupted(can'tkilltheuserspaceprocess!) intwait_event_killable(queue,condition);(SinceLinux2.6.25) Canbeinterrupted,butonlybyafatalsignal(SIGKILL).Returns ERESTARSYSifinterrupted. intwait_event_interruptible(queue,condition); Canbeinterruptedbyanysignal.ReturnsERESTARTSYSifinterrupted. intwait_event_timeout(queue,condition,timeout); Alsostopssleepingwhenthetaskiswokenupandthetimeoutexpired.Returns0 ifthetimeoutelapsed,nonzeroiftheconditionwasmet. intwait_event_interruptible_timeout(queue,condition, timeout); Sameasabove,interruptible.Returns0ifthetimeoutelapsed,ERESTARTSYS ifinterrupted,positivevalueiftheconditionwasmet
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HowtosleepExample
ret=wait_event_interruptible (sonypi_device.fifo_proc_list, kfifo_len(sonypi_device.fifo)!=0); if(ret) returnret;
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Wakingup!
Typicallydonebyinterrupthandlerswhendatasleepingprocesses arewaitingforbecomesavailable. wake_up(&queue); Wakesupallprocessesinthewaitqueue wake_up_interruptible(&queue); Wakesupallprocesseswaitinginaninterruptiblesleeponthe givenqueue
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Exclusivevs.nonexclusive
wait_event_interruptible()putsataskinanonexclusive wait
Allnonexclusivetasksarewokenupbywake_up()/ wake_up_interruptible()
wait_event_interruptible_exclusive()putsataskin anexclusivewait
wake_up()/wake_up_interruptible()wakesupallnon exclusivetasksandonlyoneexclusivetask wake_up_all()/wake_up_interruptible_all()wakes upallnonexclusiveandallexclusivetasks
Exclusivesleepsareusefultoavoidwakingupmultipletasks whenonlyonewillbeabletoconsumetheevent Nonexclusivesleepsareusefulwhentheeventcanbenefitto multipletasks

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Sleepingandwakingupimplementation
Theschedulerdoesn'tkeepevaluatingthesleepingcondition!
#define__wait_event(wq,condition)\ do{\ DEFINE_WAIT(__wait);\ \ for(;;){\ prepare_to_wait(&wq,&__wait,TASK_UNINTERRUPTIBLE);\ if(condition)\ break;\ schedule();\ }\ finish_wait(&wq,&__wait);\ }while(0)
wait_event_interruptible(&queue,condition); TheprocessisputintheTASK_INTERRUPTIBLEstate. wake_up_interruptible(&queue); Allprocesseswaitinginqueuearewokenup,sotheyget scheduledlaterandhavetheopportunitytoreavalutethe condition.
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Driverdevelopment
Interruptmanagement
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Registeringaninterrupthandler(1)
Definedininclude/linux/interrupt.h intrequest_irq( Returns0ifsuccessful unsignedintirq, Requestedirqchannel irq_handler_thandler, Interrupthandler unsignedlongirq_flags, Optionmask(seenextpage) constchar*devname, Registeredname void*dev_id); Pointertosomehandlerdata CannotbeNULLandmustbeuniqueforsharedirqs! voidfree_irq(unsignedintirq,void*dev_id); dev_idcannotbeNULLandmustbeuniqueforsharedirqs. Otherwise,onasharedinterruptline, free_irqwouldn'tknowwhichhandlertofree.
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Registeringaninterrupthandler(2)
irq_flagsbitvalues(canbecombined,noneisfinetoo) IRQF_DISABLED "Quick"interrupthandler.Runwithallinterruptsdisabledonthecurrentcpu (insteadofjustthecurrentline).Forlatencyreasons,shouldonlybeused whenneeded! IRQF_SHARED Runwithinterruptsdisabledonlyonthecurrentirqlineandonthelocalcpu. Theinterruptchannelcanbesharedbyseveraldevices.Requiresa hardwarestatusregistertellingwhetheranIRQwasraisedornot.
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Interrupthandlerconstraints
Noguaranteeonwhichaddressspacethesystemwill beinwhentheinterruptoccurs:can'ttransferdatato andfromuserspace InterrupthandlerexecutionismanagedbytheCPU,not bythescheduler.Handlerscan'trunactionsthatmay sleep,becausethereisnothingtoresumetheir execution.Inparticular,needtoallocatememorywith GFP_ATOMIC.
Havetocompletetheirjobquicklyenough: theyshouldn'tblocktheirinterruptlinefortoolong.
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Informationoninstalledhandlers
/proc/interrupts IGEPv2(OMAP3ARM) exampleonLinux2.6.33
CPU0 7:2INTCTWL4030PIH Registeredname 11:0INTCprcm 12:6946564INTCDMA 25:2INTCOMAPDSS 37:50993360INTCgptimer 56:598INTCi2c_omap 61:0INTCi2c_omap 72:1INTCserialidle 73:1INTCserialidle 74:35INTCserialidle,serial 77:8792082INTCehci_hcd:usb1 83:5421922INTCmmc0 86:126INTCmmc1 92:1INTCmusb_hdrc 93:0INTCmusb_hdrc 336:11781580GPIOeth0 376:0twl4030twl4030_pwrbutton 378:2twl4030twl4030_usb 379:0twl4030rtc0 384:0twl4030mmc0 Err:0 Spuriousinterruptcount 102
Interrupthandlerprototype
irqreturn_tfoo_interrupt (intirq,void*dev_id) Arguments irq,theIRQnumber dev_id,theopaquepointerpassedatrequest_irq() Returnvalue IRQ_HANDLED:recognizedandhandledinterrupt IRQ_NONE:notonadevicemanagedbythemodule.Usefulto shareinterruptchannelsand/orreportspuriousinterruptsto thekernel.
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Theinterrupthandler'sjob
Acknowledgetheinterrupttothedevice (otherwisenomoreinterruptswillbegenerated,orthe interruptwillkeepfiringoverandoveragain) Read/writedatafrom/tothedevice Wakeupanywaitingprocesswaitingforthecompletion ofthisread/writeoperation: wake_up_interruptible(&module_queue);
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Tophalfandbottomhalfprocessing(1)
Splittingtheexecutionofinterrupthandlersin2parts Tophalf:theinterrupthandlermustcompleteasquickly aspossible.Onceitacknowledgedtheinterrupt,itjust schedulesthelengthyrestofthejobtakingcareofthe data,foralaterexecution. Bottomhalf:completingtherestoftheinterrupthandler job.Handlesdata,andthenwakesupanywaitinguser process. Canbeimplementedusingtaskletsorworkqueues.
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Tasklets
Declarethetaskletinthemodulesourcefile: DECLARE_TASKLET(module_tasklet,/*name*/ module_do_tasklet,/*function*/ data/*params*/ ); Schedulethetaskletinthetophalfpart(interrupthandler): tasklet_schedule(&module_tasklet); Notethatatasklet_hi_schedulefunctionisavailableto definehighprioritytaskletstorunbeforeordinaryones. Taskletsareexecutedwithallinterruptsenabled,butin interruptcontext,sosleepingisnotallowed.
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Interruptmanagementsummary
Devicedriver Whenthedevicefileisfirst opened,registeraninterrupt handlerforthedevice's interruptchannel. Interrupthandler Calledwhenaninterruptis raised. Acknowledgetheinterrupt Ifneeded,scheduleatasklet takingcareofhandlingdata. Otherwise,wakeupprocesses waitingforthedata.
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Tasklet Processthedata Wakeupprocesseswaiting forthedata Devicedriver Whenthedeviceisnolonger openedbyanyprocess, unregistertheinterrupt handler.
PracticallabInterrupts
Addingreadcapabilitytothe characterdriverdevelopedearlier. Registeraninterrupthandler. Waitingfordatatobeavailableinthe readfileoperation. Wakingupthecodewhendatais availablefromthedevice.
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Driverdevelopment
Concurrentaccesstoresources
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Sourcesofconcurrencyissues
Thesameresourcescanbeaccessedbyseveralkernel processesinparallel,causingpotentialconcurrencyissues Severaluserspaceprogramsaccessingthesamedevicedata orhardware.Severalkernelprocessescouldexecutethesame codeonbehalfofuserprocessesrunninginparallel. Multiprocessing:thesamedrivercodecanberunningon anotherprocessor.ThiscanalsohappenwithsingleCPUswith hyperthreading. Kernelpreemption,interrupts:kernelcodecanbeinterruptedat anytime(justafewexceptions),andthesamedatamaybe accessbyanotherprocessbeforetheexecutioncontinues.
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Avoidingconcurrencyissues
Avoidusingglobalvariablesandshareddatawhenever possible (cannotbedonewithhardwareresources). Usetechniquestomanageconcurrentaccessto resources. SeeRustyRussell'sUnreliableGuideToLocking Documentation/DocBook/kernellocking/ inthekernelsources.
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Concurrencyprotectionwithlocks
Process1
Acquirelock Success Criticalcodesection
Failed Tryagain Success
Process2
Waitlockrelease
Sharedresource
Releaselock
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Linuxmutexes
ThemainlockingprimitivesinceLinux2.6.16. Betterthancountingsemaphoreswhenbinaryonesare enough. Theprocessrequestingthelockblockswhenthelockis alreadyheld.Mutexescanthereforeonlybeusedin contextswheresleepingisallowed. Mutexdefinition: #include<linux/mutex.h> Initializingamutexstatically: DEFINE_MUTEX(name); Orinitializingamutexdynamically: voidmutex_init(structmutex*lock);
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lockingandunlockingmutexes
voidmutex_lock(structmutex*lock); Triestolockthemutex,sleepsotherwise. Caution:can'tbeinterrupted,resultinginprocessesyoucannotkill! intmutex_lock_killable(structmutex*lock); Same,butcanbeinterruptedbyafatal(SIGKILL)signal.Ifinterrupted,returns anonzerovalueanddoesn'tholdthelock.Testthereturnvalue!!! intmutex_lock_interruptible(structmutex*lock); Same,butcanbeinterruptedbyanysignal. intmutex_trylock(structmutex*lock); Neverwaits.Returnsanonzerovalueifthemutexisnotavailable. intmutex_is_locked(structmutex*lock); Justtellswhetherthemutexislockedornot. voidmutex_unlock(structmutex*lock); Releasesthelock.Doitassoonasyouleavethecriticalsection.
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Spinlocks
Lockstobeusedforcodethatisnotallowedtosleep (interrupthandlers),orthatdoesn'twanttosleep(critical sections).Beverycarefulnottocallfunctionswhichcan sleep! Originallyintendedformultiprocessorsystems Spinlocksneversleepandkeepspinning inaloopuntilthelockisavailable.
Spinlock Stilllocked?
Spinlockscausekernelpreemptiontobedisabled ontheCPUexecutingthem. Thecriticalsectionprotectedbyaspinlockisnotallowedto sleep.
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Initializingspinlocks
Static spinlock_tmy_lock=SPIN_LOCK_UNLOCKED; Dynamic voidspin_lock_init(spinlock_t*lock);
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Usingspinlocks
Severalvariants,dependingonwherethespinlockiscalled: voidspin_[un]lock(spinlock_t*lock); Doesn'tdisableinterrupts.Usedforlockinginprocesscontext (criticalsectionsinwhichyoudonotwanttosleep). voidspin_lock_irqsave/spin_unlock_irqrestore (spinlock_t*lock,unsignedlongflags); Disables/restoresIRQsonthelocalCPU. Typicallyusedwhenthelockcanbeaccessedinbothprocess andinterruptcontext,topreventpreemptionbyinterrupts. voidspin_[un]lock_bh(spinlock_t*lock); Disablessoftwareinterrupts,butnothardwareones. Usefultoprotectshareddataaccessedinprocesscontext andinasoftinterrupt(bottomhalf).Noneedtodisable hardwareinterruptsinthiscase. Notethatreader/writerspinlocksalsoexist.
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Spinlockexample
Spinlockstructureembeddedintouart_port
structuart_port{ spinlock_tlock; /*Otherfields*/ };
Spinlocktaken/releasedwithprotectionagainstinterrupts
staticunsignedintulite_tx_empty(structuart_port*port) { unsignedlongflags; spin_lock_irqsave(&port>lock,flags); /*Dosomething*/ spin_unlock_irqrestore(&port>lock,flags); [] }
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Deadlocksituations
Theycanlockupyoursystem.Makesuretheyneverhappen! Don'tcallafunctionthatcan trytogetaccesstothesame lock Holdingmultiplelocksisrisky!
Getlock1 Getlock1 call Getlock2 Waitforlock1

Dead Lock! Dead Lock!
Getlock2
Getlock1
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Kernellockvalidator
FromIngoMolnarandArjanvandeVen Addsinstrumentationtokernellockingcode Detectviolationsoflockingrulesduringsystemlife,suchas: Locksacquiredindifferentorder (keepstrackoflockingsequencesandcomparesthem). Spinlocksacquiredininterrupthandlersandalsoinprocess contextwheninterruptsareenabled. Notsuitableforproductionsystemsbutacceptableoverheadin development. SeeDocumentation/lockdepdesign.txtfordetails
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Alternativestolocking
Aswehavejustseen,lockingcanhaveastrongnegative impactonsystemperformance.Insomesituations,youcould dowithoutit. ByusinglockfreealgorithmslikeReadCopyUpdate(RCU). RCUAPIavailableinthekernel (Seehttp://en.wikipedia.org/wiki/RCU). Whenavailable,useatomicoperations.
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Atomicvariables
Usefulwhenthesharedresourceisan integervalue Evenaninstructionliken++isnot guaranteedtobeatomiconall processors! Header #include<asm/atomic.h> Type atomic_t containsasignedinteger(atleast24 bits)
Operationswithoutreturnvalue:
voidatomic_inc(atomic_t*v); voidatomic_dec(atomic_t*v); voidatomic_add(inti,atomic_t*v); voidatomic_sub(inti,atomic_t*v);
Simularfunctionstestingtheresult:
intatomic_inc_and_test(...); intatomic_dec_and_test(...); intatomic_sub_and_test(...);
Functionsreturningthenewvalue:
intatomic_inc_and_return(...); intatomic_dec_and_return(...); intatomic_add_and_return(...); intatomic_sub_and_return(...);
Atomicoperations(mainones) Setorreadthecounter:
atomic_set(atomic_t*v,inti); intatomic_read(atomic_t*v);
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Atomicbitoperations
Supplyveryfast,atomicoperations Onmostplatforms,applytoanunsignedlongtype. Applytoavoidtypeonafewothers. Set,clear,toggleagivenbit: voidset_bit(intnr,unsignedlong*addr); voidclear_bit(intnr,unsignedlong*addr); voidchange_bit(intnr,unsignedlong*addr); Testbitvalue: inttest_bit(intnr,unsignedlong*addr); Testandmodify(returnthepreviousvalue): inttest_and_set_bit(...); inttest_and_clear_bit(...); inttest_and_change_bit(...);
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PracticallabLocking
Addlockingtothedrivertoprevent concurrentaccessestoshared ressources
124
Driverdevelopment
Debuggingandtracing
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Debuggingwithprintk
Universaldebuggingtechniqueusedsincethebeginningof programming(firstfoundincavemendrawings) Printedornotintheconsoleaccordingtothepriority. Thisiscontrolledbytheloglevelkernelparameter,or through/proc/sys/kernel/printk (seeDocumentation/sysctl/kernel.txt) Availablepriorities(include/linux/kernel.h):
#defineKERN_EMERG"<0>"/*systemisunusable*/ #defineKERN_ALERT"<1>"/*actionmustbetakenimmediately*/ #defineKERN_CRIT"<2>"/*criticalconditions*/ #defineKERN_ERR"<3>"/*errorconditions*/ #defineKERN_WARNING"<4>"/*warningconditions*/ #defineKERN_NOTICE"<5>"/*normalbutsignificantcondition*/ #defineKERN_INFO"<6>"/*informational*/ #defineKERN_DEBUG"<7>"/*debuglevelmessages*/
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Debuggingwith/procor/sys
Insteadofdumpingmessagesinthekernellog,youcanhaveyour driversmakeinformationavailabletouserspace Throughafilein/procor/sys,whichcontentsarehandledby callbacksdefinedandregisteredbyyourdriver. Canbeusedtoshowanypieceofinformation aboutyourdeviceordriver. Canalsobeusedtosenddatatothedriverortocontrolit. Caution:anybodycanusethesefiles. Youshouldremoveyourdebugginginterfaceinproduction! Sincethearrivalofdebugfs,nolongerthepreferreddebugging mechanism
127
Debugfs
Avirtualfilesystemtoexportdebugginginformationtouserspace. Kernelconfiguration:DEBUG_FS Kernelhacking>DebugFilesystem Muchsimplertocodethananinterfacein/procor/sys. ThedebugginginterfacedisappearswhenDebugfsisconfigured out. Youcanmountitasfollows: sudomounttdebugfsnone/mnt/debugfs Firstdescribedonhttp://lwn.net/Articles/115405/ APIdocumentedintheLinuxKernelFilesystemAPI:
http://freeelectrons.com/kerneldoc/latest/DocBook/filesystems/index.html
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Simpledebugfsexample
#include<linux/debugfs.h> staticchar*acme_buf; staticunsignedlongacme_bufsize; staticstructdebugfs_blob_wrapperacme_blob; staticstructdentry*acme_buf_dentry; staticu32acme_state; staticstructdentry*acme_state_dentry; //modulebuffer
//modulevariable
/*Moduleinit*/ acme_blob.data=acme_buf; acme_blob.size=acme_bufsize; acme_buf_dentry=debugfs_create_blob("acme_buf",S_IRUGO, NULL,&acme_blob); acme_state_dentry=debugfs_create_bool("acme_state",S_IRUGO, NULL,&acme_state); /*Moduleexit*/ debugfs_remove(acme_buf_dentry); debugfs_remove(acme_state_dentry);
//Create //newfiles //indebugfs
//removingthefilesfromdebugfs
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Debuggingwithioctl
Canusetheioctl()systemcalltoqueryinformation aboutyourdriver(ordevice)orsendcommandstoit. Thiscallstheunlocked_ioctlfileoperationthatyoucan registerinyourdriver. Advantage:yourdebugginginterfaceisnotpublic. Youcouldevenleaveitwhenyoursystem(oritsdriver)isin thehandsofitsusers.
130
UsingMagicSysRq
Allowstorunmultipledebug/rescuecommandsevenwhenthe kernelseemstobeindeeptrouble OnPC:Alt+SysRq+<character> Onembedded:breakcharacterontheserialline+<character> .Examplecommands: n:makesRTprocessesniceable. t:showsthekernelstackofallsleepingprocesses w:showsthekernelstackofallrunningprocesses b:rebootthesystem Youcanevenregisteryourown! DetailedinDocumentation/sysrq.txt
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kgdbAkerneldebugger
Theexecutionofthekernelisfullycontrolledbygdbfrom anothermachine,connectedthroughaserialline. Candoalmosteverything,includinginsertingbreakpointsin interrupthandlers. FeatureincludedinstandardLinuxsince2.6.26(x86and sparc).arm,mipsandppcsupportmergedin2.6.27.
132
Usingkgdb
Detailsavailableinthekerneldocumentation: http://freeelectrons.com/kerneldoc/latest/DocBook/kgdb/ RecommendedtoturnonCONFIG_FRAME_POINTERtoaid inproducingmorereliablestackbacktracesingdb. YoumustincludeakgdbI/Odriver.Oneofthemiskgdb overserialconsole(kgdboc:kgdboverconsole,enabled byCONFIG_KGDB_SERIAL_CONSOLE) Configurekgdbocatboottimebypassingtothekernel: kgdboc=<ttydevice>,[baud].Forexample: kgdboc=ttyS0,115200
133
Usingkgdb(2)
Thenalsopasskgdbwaittothekernel: itmakeskgdbwaitforadebuggerconnection. Bootyourkernel,andwhentheconsoleisinitialized,interruptthe kernelwith[Alt][SyrRq][g]. Onyourworkstation,startgdbasfollows: %gdb./vmlinux (gdb)setremotebaud115200 (gdb)targetremote/dev/ttyS0 Onceconnected,youcandebugakernelthewayyouwould debuganapplicationprogram.
134
DebuggingwithaJTAGinterface
TwotypesofJTAGdongles Thoseofferingagdbcompatibleinterface,overaserialportoranEthernet connexion.Gdbcandirectlyconnecttothem. Thosenotofferingagdbcompatibleinterfacearegenerallysupportedby OpenOCD(OpenOnChipDebugger) OpenOCDisthebridgebetweenthegdbdebugginglanguageandthe JTAGdonglespecificlanguage http://openocd.berlios.de/web/ Seetheverycompletedocumentation:http://openocd.berlios.de/doc/ Foreachboard,you'llneedanOpenOCDconfigurationfile(askyour supplier) SeeveryusefuldetailsonusingEclipse/gcc/gdb/OpenOCDonWindows: http://www2.amontec.com/sdk4arm/ext/jlynchtutorial20061124.pdfand http://www.yagarto.de/howto/yagarto2/
135
Morekerneldebuggingtips
EnableCONFIG_KALLSYMS_ALL (GeneralSetup>Configurestandardkernelfeatures) togetoopsmessageswithsymbolnamesinsteadofrawaddresses (thisobsoletestheksymoopstool). Ifyourkerneldoesn'tbootyetorhangswithoutanymessage,youcan activateLowLeveldebugging(KernelHackingsection,onlyavailableon arm): CONFIG_DEBUG_LL=y TechniquestolocatetheCinstructionwhichcausedanoops: http://kerneltrap.org/node/3648 MoreaboutkerneldebugginginthefreeLinuxDeviceDriversbook: http://lwn.net/images/pdf/LDD3/ch04.pdf
136
TracingwithSystemTap
http://sourceware.org/systemtap/ Infrastructuretoaddinstrumentationtoarunningkernel: tracefunctions,readandwritevariables,followpointers,gatherstatistics... Eliminatestheneedtomodifythekernelsourcestoaddone'sown instrumentationtoinvestigatedafunctionalorperformanceproblem. Usesasimplescriptinglanguage. Severalexamplescriptsandprobepointsareavailable. BasedontheKprobesinstrumentationinfrastructure. SeeDocumentation/kprobes.txtinkernelsources. Linux2.6.26:supportedonmostpopularCPUs(armincludedin2.6.25). However,lackofrecentsupportformips(2.6.16only!).
137
SystemTapscriptexample(1)
#!/usr/bin/envstap #Usingstatisticsandmapstoexaminekernelmemoryallocations globalkmalloc probekernel.function("__kmalloc"){ kmalloc[execname()]<<<$size } #Exitafter10seconds probetimer.ms(10000){exit()} probeend{ foreach([name]inkmalloc){ printf("Allocationsfor%s\n",name) printf("Count:%dallocations\n",@count(kmalloc[name])) printf("Sum:%dKbytes\n",@sum(kmalloc[name])/1024) printf("Average:%dbytes\n",@avg(kmalloc[name])) printf("Min:%dbytes\n",@min(kmalloc[name])) printf("Max:%dbytes\n",@max(kmalloc[name])) print("\nAllocationsbysizeinbytes\n") print(@hist_log(kmalloc[name])) printf("\n\n"); } }
138
SystemTapscriptexample(2)
#!/usr/bin/envstap #Logseachfilereadperformedbyeachprocess probekernel.function("vfs_read") { dev_nr=$file>f_dentry>d_inode>i_sb>s_dev inode_nr=$file>f_dentry>d_inode>i_ino printf("%s(%d)%s0x%x/%d\n", execname(),pid(),probefunc(),dev_nr,inode_nr) }
Nicetutorialonhttp://sources.redhat.com/systemtap/tutorial.pdf
139
Kernelcrashanalysiswithkexec/kdump
kexecsystemcall:makesitpossibleto callanewkernel,withoutrebootingand goingthroughtheBIOS/firmware. Idea:afterakernelpanic,makethe kernelautomaticallyexecuteanew, cleankernelfromareservedlocationin RAM,toperformpostmortemanalysis ofthememoryofthecrashedkernel. SeeDocumentation/kdump/kdump.txt inthekernelsourcesfordetails.
RegularRAM 1.Copydebug kernelto reserved RAM 3.Analyze crashed kernelRAM Standardkernel 2.kernel panic,kexec debugkernel Debugkernel
140
Kernelmarkers
Capabilitytoaddstaticmarkerstokernelcode, mergedinLinux2.6.24byMatthieuDesnoyers. Almostnoimpactonperformance,untilthemarkerisdynamically enabled,byinsertingaprobekernelmodule. Usefultoinserttracepointsthatwon'tbeimpactedbychangesin theLinuxkernelsources. Seemarkerandprobeexample insamples/markersinthekernelsources. Seehttp://en.wikipedia.org/wiki/Kernel_marker
141
LTTng
http://lttng.org ThesuccessoroftheLinuxTraceToolkit(LTT) Toolkitallowingtocollectandanalyzetracinginformationfrom thekernel,basedonkernelmarkersandkerneltracepoints. Sofar,basedonkernelpatches,butdoingitsbesttouseintree solutions,andtobemergedinthefuture. Veryprecisetimestamps,verylittleoverhead. Usefuldocumentationonhttp://lttng.org/?q=node/2#manuals
142
LTTV
ViewerforLTTngtraces Supportforhugetraces(testedwith15GBones) Cancombinemultipletracefilesinasingleview. Graphicalortextinterface Seehttp://lttng.org/files/lttvdoc/user_guide/
143
PracticallabKerneldebugging
Loadabrokendriverandseeitcrash Analyzetheerrorinformation dumpedbythekernel. Disassemblethecodeandlocate theexactCinstructionwhichcaused thefailure. UsetheJTAGandOpenOCDto remotelycontrolthekernelexecution
144
Driverdevelopment mmap
145
mmap(1)
Possibilitytohavepartsofthevirtualaddressspaceofaprogram mappedtothecontentsofafile!
>cat/proc/1/maps(initprocess) startend permoffsetmajor:minorinodemappedfilename 007710000077f000rxp0000000003:051165839/lib/libselinux.so.1 0077f00000781000rwp0000d00003:051165839/lib/libselinux.so.1 0097d00000992000rxp0000000003:051158767/lib/ld2.3.3.so 0099200000993000rp0001400003:051158767/lib/ld2.3.3.so 0099300000994000rwp0001500003:051158767/lib/ld2.3.3.so 0099600000aac000rxp0000000003:051158770/lib/tls/libc2.3.3.so 00aac00000aad000rp0011600003:051158770/lib/tls/libc2.3.3.so 00aad00000ab0000rwp0011700003:051158770/lib/tls/libc2.3.3.so 00ab000000ab2000rwp00ab000000:000 0804800008050000rxp0000000003:05571452/sbin/init(text) 0805000008051000rwp0000800003:05571452/sbin/init(data,stack) 08b4300008b64000rwp08b4300000:000 f6fdf000f6fe0000rwpf6fdf00000:000 fefd4000ff000000rwpfefd400000:000 ffffe000fffff000p0000000000:000
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mmap(2)
Particularlyusefulwhenthefileisadevicefile! AllowstoaccessdeviceI/Omemoryandportswithouthavingto gothrough(expensive)read,writeorioctlcalls! Xserverexample(mapsexcerpt)
startend permoffsetmajor:minorinodemappedfilename 08047000081be000rxp0000000003:05310295/usr/X11R6/bin/Xorg 081be000081f0000rwp0017600003:05310295/usr/X11R6/bin/Xorg ... f4e08000f4f09000rwse000000003:05655295/dev/dri/card0 f4f09000f4f0b000rws4281a00003:05655295/dev/dri/card0 f4f0b000f6f0b000rwse800000003:05652822/dev/mem f6f0b000f6f8b000rwsfcff000003:05652822/dev/mem
Amoreuserfriendlywaytogetsuchinformation:pmap<pid>
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mmapoverview
mmap system call(once)
Process
access virtual address
Devicedriver
mmapfopcalled initializesthemapping
MMU
access physical address
Processvirtualaddressspace
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HowtoimplementmmapUserspace
Openthedevicefile Callthemmapsystemcall(seemanmmapfordetails): void*mmap( void*start, /*Often0,preferredstartingaddress*/ size_tlength, /*Lengthofthemappedarea*/ intprot, /*Permissions:read,write,execute*/ intflags, /*Options:sharedmapping,privatecopy... */ intfd, /*Openfiledescriptor*/ off_toffset /*Offsetinthefile*/ ); Yougetavirtualaddressyoucanwritetoorreadfrom.
149
HowtoimplementmmapKernelspace
Characterdriver:implementammapfileoperation andaddittothedriverfileoperations: int(*mmap)( structfile*, /*Openfilestructure*/ structvm_area_struct* /*KernelVMAstructure*/ ); Initializethemapping. Canbedoneinmostcaseswiththeremap_pfn_range() function,whichtakescareofmostofthejob.
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remap_pfn_range()
pfn:pageframenumber Themostsignificantbitsofthepageaddress (withoutthebitscorrespondingtothepagesize). #include<linux/mm.h> intremap_pfn_range( structvm_area_struct*, /*VMAstruct*/ unsignedlongvirt_addr, /*Startinguservirtualaddress*/ unsignedlongpfn, /*pfnofthestartingphysicaladdress*/ unsignedlongsize, /*Mappingsize*/ pgprot_t /*Pagepermissions*/ );
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Simplemmapimplementation
staticintacme_mmap( structfile*file,structvm_area_struct*vma) { size=vma>vm_endvma>vm_start; if(size>ACME_SIZE) returnEINVAL; if(remap_pfn_range(vma, vma>vm_start, ACME_PHYS>>PAGE_SHIFT, size, vma>vm_page_prot)) returnEAGAIN; return0; }
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devmem2
http://freeelectrons.com/pub/mirror/devmem2.c,byJanDerkBakker Veryusefultooltodirectlypeek(read)orpoke(write)I/Oaddresses mappedinphysicaladdressspacefromashellcommandline! Veryusefulforearlyinteractionexperimentswithadevice,without havingtocodeandcompileadriver. Usesmmapto/dev/mem. Examples(b:byte,h:half,w:word) devmem20x000c0004h(reading) devmem20x000c0008w0xffffffff(writing) devmemisnowavailableinBusyBox,makingiteveneasiertouse.
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mmapsummary
Thedevicedriverisloaded. Itdefinesanmmapfileoperation. Auserspaceprocesscallsthemmapsystemcall. Themmapfileoperationiscalled. Itinitializesthemappingusingthedevicephysicaladdress. Theprocessgetsastartingaddresstoreadfromandwriteto (dependingonpermissions). TheMMUautomaticallytakescareofconvertingtheprocess virtualaddressesintophysicalones. Directaccesstothehardware! Noexpensivereadorwritesystemcalls!
154
Driverdevelopment
Kernelarchitecturefordevicedrivers
155
Kernelanddevicedrivers
Userspace Application
Systemcallinterface
Framework Kernel Driver
Businfrastructure
Hardware
156
Kernelanddevicedrivers
Manydevicedriversarenotimplementeddirectlyascharacter drivers Theyareimplementedunderaframework,specifictoagiven devicetype(framebuffer,V4L,serial,etc.)
Theframeworkallowstofactorizethecommonpartsofdriversfor thesametypeofdevices Fromuserspace,theyarestillseenascharacterdevicesbythe applications Theframeworkallowstoprovideacoherentuserspaceinterface (ioctl,etc.)foreverytypeofdevice,regardlessofthedriver
Thedevicedriversrelyonthebusinfrastructuretoenumerate thedevicesandcommunicatewiththem.
157
Kernelframeworks
158
Frameworks
Application Application Application
Systemcallinterface
Character driver Framebuffer core V4L core TTY core Block core
Framebuffer driver
V4L driver
TTY driver
Serial core
IDE core
SCSI core
Serial driver
IDE driver
USBstorage driver 159
Example:framebufferframework
KerneloptionCONFIG_FB
menuconfigFB tristate"Supportforframebufferdevices"
Implementedindrivers/video/
fb.c,fbmem.c,fbmon.c,fbcmap.c,fbsysfs.c, modedb.c,fbcvt.c
Implementsasinglecharacterdriveranddefinestheuser/kernel API
Firstpartofinclude/linux/fb.h
Definesthesetofoperationsaframebufferdrivermustimplement andhelperfunctionsforthedrivers
structfb_ops Secondpartofinclude/linux/fb.h (in#ifdef__KERNEL__)
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Framebufferdriverskeleton
Skeletondriverindrivers/video/skeletonfb.c Implementsthesetofframebufferspecificoperationsdefined bythestructfb_opsstructure
xxxfb_open() xxxfb_read() xxxfb_write() xxxfb_release() xxxfb_checkvar() xxxfb_setpar() xxxfb_setcolreg() xxxfb_blank() xxxfb_pan_display()
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xxxfb_fillrect() xxxfb_copyarea() xxxfb_imageblit() xxxfb_cursor() xxxfb_rotate() xxxfb_sync() xxxfb_ioctl() xxxfb_mmap()
Aftertheimplementationoftheoperations,definitionofastruct fb_opsstructure
staticstructfb_opsxxxfb_ops={ .owner=THIS_MODULE, .fb_open=xxxfb_open, .fb_read=xxxfb_read, .fb_write=xxxfb_write, .fb_release=xxxfb_release, .fb_check_var=xxxfb_check_var, .fb_set_par=xxxfb_set_par, .fb_setcolreg=xxxfb_setcolreg, .fb_blank=xxxfb_blank, .fb_pan_display=xxxfb_pan_display, .fb_fillrect=xxxfb_fillrect,/*Needed!!!*/ .fb_copyarea=xxxfb_copyarea,/*Needed!!!*/ .fb_imageblit=xxxfb_imageblit,/*Needed!!!*/ .fb_cursor=xxxfb_cursor,/*Optional!!!*/ .fb_rotate=xxxfb_rotate, .fb_sync=xxxfb_sync, .fb_ioctl=xxxfb_ioctl, .fb_mmap=xxxfb_mmap, };
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Intheprobe()function,registrationoftheframebufferdevice andoperations
staticint__devinitxxxfb_probe (structpci_dev*dev, conststructpci_device_id*ent) { structfb_info*info; [...] info=framebuffer_alloc(sizeof(structxxx_par),device); [...] info>fbops=&xxxfb_ops; [...] if(register_framebuffer(info)<0) returnEINVAL; [...] }
register_framebuffer()willcreatethecharacterdevice thatcanbeusedbyuserspaceapplicationwiththegeneric framebufferAPI

163
DeviceModelandBusInfrastructure
164
Unifieddevicemodel
Th2.6kernelincludedasignificantnewfeature:aunifieddevice model Insteadofhavingdifferentadhocmechanismsinthevarious subsystems,thedevicemodelunifiesthedescriptionofthe devicesandtheirtopology
Minimizationofcodeduplication Commonfacilities(referencecounting,eventnotification,power management,etc.) Enumeratethedevicesviewtheirinterconnections,linkthedevices totheirbusesanddrivers,etc.
Understandthedevicemodelisnecessarytounderstandhow devicedriversfitintotheLinuxkernelarchitecture.
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Busdrivers
Thefirstcomponentofthedevicemodelisthebusdriver
Onebusdriverforeachtypeofbus:USB,PCI,SPI,MMC,I2C,etc.
Itisresponsiblefor
Registeringthebustype(structbus_type) Allowingtheregistrationofadapterdrivers(USBcontrollers,I2C adapters,etc.),ableofdetectingtheconnecteddevices,and providingacommunicationmechanismwiththedevices Allowingtheregistrationofdevicedrivers(USBdevices,I2C devices,PCIdevices,etc.),managingthedevices Matchingthedevicedriversagainstthedevicesdetectedbythe adapterdrivers. ProvidesanAPItobothadapterdriversanddevicedrivers Definingdriveranddevicespecificstructure,typicallyxxx_driver andxxx_device 166
Example:USBbus
USBcore
Registersthebus_typestructure
USBadapter driverA
USBadapter driverB
USBdevice driver1
USBdevice driver2
USBdevice driver3
DEV1 USB1 System USB2 DEV3 DEV4
DEV2
DEV5
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Example:USBbus(2)
Coreinfrastructure(busdriver)
drivers/usb/core Thebus_typeisdefinedindrivers/usb/core/driver.cand registeredindrivers/usb/core/usb.c
Adapterdrivers
drivers/usb/host ForEHCI,UHCI,OHCI,XHCI,andtheirimplementationsonvarious systems(Atmel,IXP,Xilinx,OMAP,Samsung,PXA,etc.)
Devicedrivers
Everywhereinthekerneltree,classifiedbytheirtype
168
Exampleofdevicedriver
Toillustratehowdriversareimplementedtoworkwiththedevice model,wewillstudythesourcecodeofadriverforaUSB networkcard
ItisUSBdevice,soithastobeaUSBdevicedriver Itisanetworkdevice,soithastobeanetworkdevice Mostdriversrelyonabusinfrastructure(here,USB)andregister themselvesinaframework(here,network)
Wewillonlylookatthedevicedriverside,andnottheadapter driverside Thedriverwewilllookatisdrivers/net/usb/rtl8150.c
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Deviceidentifiers
Definesthesetofdevicesthatthisdrivercanmanage,sothatthe USBcoreknowsforwhichdevicesthisdrivershouldbeused TheMODULE_DEVICE_TABLEmacroallowsdepmodtoextractat compiletimetherelationbetweendeviceidentifiersanddrivers, sothatdriverscanbeloadedautomaticallybyudev.See /lib/modules/$(unamer)/modules.{alias,usbmap}
staticstructusb_device_idrtl8150_table[]={ {USB_DEVICE(VENDOR_ID_REALTEK,PRODUCT_ID_RTL8150) {USB_DEVICE(VENDOR_ID_MELCO,PRODUCT_ID_LUAKTX) {USB_DEVICE(VENDOR_ID_MICRONET,PRODUCT_ID_SP128AR) {USB_DEVICE(VENDOR_ID_LONGSHINE,PRODUCT_ID_LCS8138TX) {USB_DEVICE(VENDOR_ID_OQO,PRODUCT_ID_RTL8150) {USB_DEVICE(VENDOR_ID_ZYXEL,PRODUCT_ID_PRESTIGE) {} }; MODULE_DEVICE_TABLE(usb,rtl8150_table); 170
}, }, }, }, }, },
Instanciationofusb_driver
structusb_driverisastructuredefinedbytheUSBcore. EachUSBdevicedrivermustinstantiateit,andregisteritselfto theUSBcoreusingthisstructure Thisstructureinheritsfromstructdriver,whichisdefinedby thedevicemodel.
staticstructusb_driverrtl8150_driver={ .name ="rtl8150", .probe =rtl8150_probe, .disconnect =rtl8150_disconnect, .id_table =rtl8150_table, .suspend =rtl8150_suspend, .resume =rtl8150_resume };
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Driver(un)registration
Whenthedriverisloadedorunloaded,itmustregisteror unregisteritselffromtheUSBcore Doneusingusb_register()andusb_deregister(), providedbytheUSBcore.
staticint__initusb_rtl8150_init(void) { returnusb_register(&rtl8150_driver); } staticvoid__exitusb_rtl8150_exit(void) { usb_deregister(&rtl8150_driver); } module_init(usb_rtl8150_init); module_exit(usb_rtl8150_exit);
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Atinitialization
TheUSBadapterdriverthatcorrespondstotheUSBcontrollerof thesystemregistersitselftotheUSBcore Thertl8150USBdevicedriverregistersitselftotheUSBcore USBcore
usb_add_hcd() usb_register()
ohciat91
rtl8150
TheUSBcorenowknowstheassociationbetweenthe vendor/productIDsofrtl8150andtheusb_driverstructureof thisdriver
173
Whenadeviceisdetected
USBcore
Step2 IknowdevicesofIDX:Y, theycanbehandledby rtl8150 Step3 TheUSBcorecallsthe >probe()methodof theusb_driver structureregisteredby rtl8150
rtl8150
Step1 Ihavedetectedanew USBdeviceofIDX:Y
ohciat91
174
Probemethod
Theprobe()methodreceivesasargumentastructure describingthedevice,usuallyspecializedbythebus infrastructure(pci_dev,usb_interface,etc.) Thisfunctionisresponsiblefor
Initializingthedevice,mappingI/Omemory,registeringthe interrupthandlers.Thebusinfrastructureprovidesmethodsto gettheaddresses,interruptsnumbersandotherdevice specificinformation. Registeringthedevicetotheproperkernelframework,for examplethenetworkinfrastructure.
175
Probemethodexample
staticintrtl8150_probe( structusb_interface*intf, conststructusb_device_id*id) { rtl8150_t*dev; structnet_device*netdev; netdev=alloc_etherdev(sizeof(rtl8150_t)); [...] dev=netdev_priv(netdev); tasklet_init(&dev>tl,rx_fixup,(unsignedlong)dev); spin_lock_init(&dev>rx_pool_lock); [...] netdev>netdev_ops=&rtl8150_netdev_ops; alloc_all_urbs(dev); [...] usb_set_intfdata(intf,dev); SET_NETDEV_DEV(netdev,&intf>dev); register_netdev(netdev); return0; }
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Themodelisrecursive
ALSA Network stack
Chardriver infrastructure
Chardriver I2Cdevicedriver I2Ccore Networkdriver USBdevicedriver I2Cadapterdriver USBdevicedriver
System
PCIctrl Sounddevice USBctrl
USBcore ALSAdriver PCIdevicedriver USBadapterdriver PCIdevicedriver
I2Cctrl I2C thermometer
USB Netdevice
PCIcore PCIadapterdriver
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sysfs
Thebus,device,drivers,etc.structuresareinternaltothe kernel Thesysfsvirtualfilesystemoffersamechanismtoexportsuch informationtouserspace Usedforexamplebyudevtoprovideautomaticmoduleloading, firmwareloading,devicefilecreation,etc.
sysfsisusuallymountedin/sys /sys/bus/containsthelistofbuses /sys/devices/containsthelistofdevices
/sys/classenumeratesdevicesbyclass(net,input, block...),whateverthebustheyareconnectedto.Veryuseful!
Takeyourtimetoexplore/sysonyourworkstation.
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Platformdevices
Onembeddedsystems,devicesareoftennotconnected throughabusallowingenumeration,hotplugging,andproviding uniqueidentifiersfordevices. However,westillwantthedevicestobepartofthedevice model. Thesolutiontothisistheplatformdriver/platformdevice infrastructure. Theplatformdevicesarethedevicesthataredirectlyconnected totheCPU,withoutanykindofbus.
179
Implementationoftheplatformdriver
Thedriverimplementsaplatform_driverstructure (exampletakenfromdrivers/serial/imx.c)
staticstructplatform_driverserial_imx_driver={ .probe=serial_imx_probe, .remove=serial_imx_remove, .driver={ .name="imxuart", .owner=THIS_MODULE, }, };
Andregistersitsdrivertotheplatformdriverinfrastructure
staticint__initimx_serial_init(void) { ret=platform_driver_register(&serial_imx_driver); } staticvoid__exitimx_serial_cleanup(void) { platform_driver_unregister(&serial_imx_driver); } 180
Platformdeviceinstantiation(1)
Asplatformdevicescannotbedetecteddynamically,theyare definedstatically
Bydirectinstantiationofplatform_devicestructures,asdoneon ARM.DefinitiondoneintheboardspecificorSoCspecificcode. Byusingadevicetree,asdoneonPowerPC,fromwhich platform_devicestructuresarecreated
ExampleonARM,wheretheinstantiationisdonein arch/arm/machimx/mx1ads.c
staticstructplatform_deviceimx_uart1_device={ .name="imxuart", .id=0, .num_resources=ARRAY_SIZE(imx_uart1_resources), .resource=imx_uart1_resources, .dev={ .platform_data=&uart_pdata, } }; 181
Platformdeviceinstantiation(2)
Thedeviceispartofalist
staticstructplatform_device*devices[]__initdata={ &cs89x0_device, &imx_uart1_device, &imx_uart2_device, };
Andthelistofdevicesisaddedtothesystem duringboardinitialization
staticvoid__initmx1ads_init(void) { [...] platform_add_devices(devices,ARRAY_SIZE(devices)); } MACHINE_START(MX1ADS,"FreescaleMX1ADS") [...] .init_machine=mx1ads_init, MACHINE_END 182
Theresourcemechanism
Eachdevicemanagedbyaparticulardrivertypicallyuses differenthardwareresources:addressesfortheI/Oregisters, DMAchannels,IRQlines,etc. Theseinformationscanberepresentedusingthestruct resource,andanarrayofstructresourceisassociatedto aplatform_device Allowsadrivertobeinstantiatedformultipledevicesfunctioning similarly,butwithdifferentaddresses,IRQs,etc.
staticstructresourceimx_uart1_resources[]={ [0]={ .start=0x00206000, .end=0x002060FF, .flags=IORESOURCE_MEM, }, [1]={ .start=(UART1_MINT_RX), .end=(UART1_MINT_RX), .flags=IORESOURCE_IRQ, }, };
183
Usingresources
Whenaplatform_deviceisaddedtothesystemusing platform_add_device(),theprobe()methodoftheplatform drivergetscalled Thismethodisresponsibleforinitializingthehardware, registeringthedevicetotheproperframework(inourcase,the serialdriverframework) TheplatformdriverhasaccesstotheI/Oresources:
res=platform_get_resource(pdev,IORESOURCE_MEM,0); base=ioremap(res>start,PAGE_SIZE); sport>rxirq=platform_get_irq(pdev,0);
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platform_datamechanism
Inadditiontothewelldefinedresources,manydriversrequire driverspecificinformationsforeachplatformdevice Theseinformationscanbepassedusingtheplatform_data fieldofthestructdevice(fromwhichstruct platform_deviceinherits) Asitisavoid*pointer,itcanbeusedtopassanytypeof information.
Typically,eachdriverdefinesastructuretopassinformation throughplatform_data
185
platform_dataexample(1)
Thei.MXserialportdriverdefinesthefollowingstructuretobe passedthroughplatform_data
structimxuart_platform_data{ int(*init)(structplatform_device*pdev); void(*exit)(structplatform_device*pdev); unsignedintflags; void(*irda_enable)(intenable); unsignedintirda_inv_rx:1; unsignedintirda_inv_tx:1; unsignedshorttransceiver_delay; };
TheMX1ADSboardcodeinstantiatessuchastructure
staticstructimxuart_platform_datauart1_pdata={ .flags=IMXUART_HAVE_RTSCTS, };
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platform_dataexample(2)
Theuart_pdatastructureisassociatedtotheplatform_devicein theMX1ADSboardfile(therealcodeisslightlymore complicated)
structplatform_devicemx1ads_uart1={ .name=imxuart, .dev{ .platform_data=&uart1_pdata, }, .resource=imx_uart1_resources,
[]
};
Thedrivercanaccesstheplatformdata:
staticintserial_imx_probe(structplatform_device*pdev) { structimxuart_platform_data*pdata; pdata=pdev>dev.platform_data; if(pdata&&(pdata>flags&IMXUART_HAVE_RTSCTS)) sport>have_rtscts=1; [] } 187
Driverspecificdatastructure
Eachframeworkdefinesastructurethatadevicedrivermust registertoberecognizedasadeviceinthisframework
uart_portforserialport,netdevfornetworkdevices,fb_infofor framebuffers,etc.
Inadditiontothisstructure,thedriverusuallyneedstostore additionalinformationsaboutitsdevice Thisistypicallydone

Bysubclassingtheframeworkstructure Orbystoringareferencetotheframeworkstructure
188
Driverspecificdatastructureexamples
i.MXserialdriver:imx_portisasubclassofuart_port
structimx_port{ structuart_portport; structtimer_listtimer; unsignedintold_status; inttxirq,rxirq,rtsirq; unsignedinthave_rtscts:1; [] };
rtl8150networkdriver:rtl8150hasareferencetonet_device
structrtl8150{ unsignedlong flags; structusb_device *udev; structtasklet_structtl; structnet_device *netdev; [] };
189
Linkbetweenstructures(1)
Theframeworktypicallycontainsastructdevice* pointerthatthedrivermustpointtothecorrespondingstruct device
It'stherelationbetweenthelogicaldevice(forexampleanetwork interface)andthephysicaldevice(forexampletheUSBnetwork adapter)
Thedevicestructurealsocontainsavoid*pointerthatthe drivercanfreelyuse.
It'softenusetolinkbackthedevicetothehigherlevelstructure fromtheframework. Itallows,forexample,fromtheplatform_devicestructure,to findthestructuredescribingthelogicaldevice
190
staticintserial_imx_probe(structplatform_device*pdev) { structimx_port*sport; [] /*setupthelinkbetweenuart_portandthestruct deviceinsidetheplatform_device*/ sport>port.dev=&pdev>dev; [] /*setupthelinkbetweenthestructdeviceinside theplatformdevicetotheimx_portstructure*/ platform_set_drvdata(pdev,&sport>port); [] uart_add_one_port(&imx_reg,&sport>port); } staticintserial_imx_remove(structplatform_device*pdev) { /*retrivetheimx_portfromtheplatform_device*/ structimx_port*sport=platform_get_drvdata(pdev); [] uart_remove_one_port(&imx_reg,&sport>port); [] }
imx_port uart_port
structdevice*
platform_device device
void*driver_data
191
staticintrtl8150_probe(structusb_interface*intf, conststructusb_device_id*id) { rtl8150_t*dev; structnet_device*netdev; netdev=alloc_etherdev(sizeof(rtl8150_t)); dev=netdev_priv(netdev); usb_set_intfdata(intf,dev); SET_NETDEV_DEV(netdev,&intf>dev); [] } staticvoidrtl8150_disconnect(structusb_interface*intf) { rtl8150_t*dev=usb_get_intfdata(intf); [] }
rtl8150_t
netdev
netdev
dev
usb_interface device
void*driver_data
192
Exampleofanothernondynamicbus:SPI
SPIiscallednondynamicasitdoesn'tsupportruntimeenumerationof devices:thesystemneedstoknowwhichdevicesareonwhichSPI bus,andatwhichlocation TheSPIinfrastructureinthekernelisindrivers/spi
drivers/spi/spi.cisthecore,whichimplementsthestruct bus_typeforspi
Itallowsregistrationofadapterdriversusingspi_register_master(),and registrationofdevicedriversusingspi_register_driver()
drivers/spi/containsmanyadapterdrivers,forvarious platforms:Atmel,OMAP,Xilinx,Samsung,etc.
Mostofthemareplatform_driversorof_platform_drivers,one pci_driver,oneamba_driver,onepartport_driver
drivers/spi/spidev.cprovidesaninfrastructuretoaccessSPI busfromuserspace SPIdevicedriversarepresentalloverthekerneltree

193
SPIcomponents
RTC framework MTD framework GPIO framework CAN framework chardriver framework
Kernelframeworks
rtcds1305.c m25p80.c drivers/rtc drivers/mtd/devices MTDdriver RTCdriver spi_driver spi_driver mc33880.c drivers/gpio GPIOdriver spi_driver mcp251x.c drivers/net/can CANdriver spi_driver spidev.c drivers/spi chardriver spi_driver
SPIdevicedrivers
SPIcore drivers/spi/spi.c
atmel_spi.c drivers/spi SPIadapterdriver platform_driver ambapl022.c drivers/spi SPIadapterdriver amba_driver mpc52xx_spi.c drivers/spi SPIadapterdriver of_platform_driver spi_imx.c drivers/spi SPIadapterdriver platform_driver
SPIadapterdrivers
194
SPIAT91SoCcode
staticstructresourcespi0_resources[]={ [0]={ .start=AT91SAM9260_BASE_SPI0, .end=AT91SAM9260_BASE_SPI0+SZ_16K1, .flags=IORESOURCE_MEM, }, [1]={ .start=AT91SAM9260_ID_SPI0, .end=AT91SAM9260_ID_SPI0, .flags=IORESOURCE_IRQ, }, }; staticstructplatform_deviceat91sam9260_spi0_device={ .name="atmel_spi", .id=0, .dev={ .dma_mask=&spi_dmamask, .coherent_dma_mask=DMA_BIT_MASK(32), }, .resource=spi0_resources, .num_resources=ARRAY_SIZE(spi0_resources), };
arch/arm/machat91/at91sam9260_devices.c
195
SPIAT91SoCcode(2)
RegistrationofSPIdeviceswithspi_register_board_info(),registrationofSPI adapterwithplatform_device_register()
void__initat91_add_device_spi(structspi_board_info*devices, intnr_devices) { [] spi_register_board_info(devices,nr_devices); /*ConfigureSPIbus(es)*/ if(enable_spi0){ at91_set_A_periph(AT91_PIN_PA0,0);/*SPI0_MISO*/ at91_set_A_periph(AT91_PIN_PA1,0);/*SPI0_MOSI*/ at91_set_A_periph(AT91_PIN_PA2,0);/*SPI1_SPCK*/ at91_clock_associate("spi0_clk",&at91sam9260_spi0_device.dev, "spi_clk"); platform_device_register(&at91sam9260_spi0_device); } [] }
arch/arm/machat91/at91sam9260_devices.c
196
AT91RM9200DKboardcodeforSPI
Onespi_board_infostructureforeachSPIdeviceconnectedtothesystem.
staticstructspi_board_infodk_spi_devices[]={ {/*DataFlashchip*/ .modalias="mtd_dataflash", .chip_select=0, .max_speed_hz=15*1000*1000, }, {/*UR6HCPS2SP40PS2toSPIadapter*/ .modalias="ur6hcps2", .chip_select=1, .max_speed_hz=250*1000, }, [] }; staticvoid__initdk_board_init(void) { [] at91_add_device_spi(dk_spi_devices,ARRAY_SIZE(dk_spi_devices)); [] }
arch/arm/machat91/boarddk.c
197
References
Kerneldocumentation Documentation/drivermodel/ Documentation/filesystems/sysfs.txt Linux2.6DeviceModel http://www.bravegnu.org/devicemodel/devicemodel.html LinuxDeviceDrivers,chapter14TheLinuxDeviceModel http://lwn.net/images/pdf/LDD3/ch14.pdf Thekernelsourcecode Fullofexamplesofotherdrivers!
198
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EmbeddedLinux kernelanddriver development

__init: removedafterinitialization (statickernelormodule). __exit:discardedwhen modulecompiledstatically intothekernel.

func1(); func2(); func3(); func4();

func1(); func2(); func3(); func4();

Usedbykerneldeveloperstoidentifyissuescomingfrom proprietarydrivers,whichtheycan'tdoanythingabout (Taintedkernelnoticeinkernelcrashesandoopses). Usefulforuserstocheckthattheirsystemis100%free (check/proc/sys/kernel/tainted)

fullkernel sourcedirectory (configuredand compiled) orjustkernel headersdirectory (minimum needed)

hello.c hello.ko Makefile ...

drivers kernel include Makefile ...

Step2:thekernelMakefileknowshowtocompileamodule,andthankstothe Mvariable,knowswheretheMakefileforourmoduleis.ThemoduleMakefile isinterpretedwithKERNELRELEASEdefined,sothekernelseestheobjm definition.

Singlefiledriversinthecommoncase,evenifthefileisseveral thousandlinesofcode.Onlyreallybigdriversaresplitinseveral filesorhavetheirowndirectory.

Thanksto JonathanCorbet fortheexample!

I/Omemory3 I/Omemory2 I/Omemory1

RAM1 RAM0 Alltheprocesseshavetheir ownvirtualaddressspace,and runasiftheyhadaccesstothe wholeaddressspace.

Userspacememoryallocationisallowedtoovercommitmemory (morethanavailablephysicalmemory)=>canleadtooutof memory OOMkillerentersinactionandselectsaprocesstokilltoretrieve somememory

Allocatesizebytes,andreturnapointertothearea(virtual address) size:numberofbytestoallocate flags:sameflagsasthepageallocator

RAM PIO registers

Tellsthekernelwhichdriverisusingwhich I/Oports Allowstopreventotherdriversfromusingthe sameI/Oports,butispurelyvoluntary.

Functionsequivalentto request_region()and release_region(),butforI/Omemory.

Toknowwhichdriverisinchargeofdevice fileswithagivenmajor/minornumberpair Foragivendriver,tohavehandlers(file operations)toexecutewhenuserspace opens,reads,writesorclosesthedevice file.

Calledwhenuserspaceusesthewrite()systemcallonthe device Theoppositeofread,mustreadatmostszbytesfrombuf, writeittothedevice,updateoffandreturnthenumberof byteswritten.

Bufferofdatainthe userspaceapplication Bufferofdatainthe kernelspacedriver Kernel User 66

Loadthecharacterdrivermodule Createdevicefileswithmatchingmajorandminornumbersifneeded Thedevicefileisreadytouse!

Theeventoccurs ortheprocessreceives asignal.Threadbecomes runnableagain

TASK_INTERRUPTIBLE TASK_UNINTERRUPTIBLE orTASK_KILLABLE

Decidestosleep onawaitqueue foraspecificevent

Processexecutinginuserspace... (canbepreempted) Systemcall orexception

Kernelcodeexecuted onbehalfofuserspace (canbepreemptedtoo!)

Userspaceprocess... readdevicefile Systemcall... askfor data sleep

Other processes are scheduled ...Systemcall wakeup Interrupt handler datareadynotification

ret=wait_event_interruptible (sonypi_device.fifo_proc_list, kfifo_len(sonypi_device.fifo)!=0); if(ret) returnret;

Exclusivesleepsareusefultoavoidwakingupmultipletasks whenonlyonewillbeabletoconsumetheevent Nonexclusivesleepsareusefulwhentheeventcanbenefitto multipletasks

wait_event_interruptible(&queue,condition); TheprocessisputintheTASK_INTERRUPTIBLEstate. wake_up_interruptible(&queue); Allprocesseswaitinginqueuearewokenup,sotheyget scheduledlaterandhavetheopportunitytoreavalutethe condition.

Tasklet Processthedata Wakeupprocesseswaiting forthedata Devicedriver Whenthedeviceisnolonger openedbyanyprocess, unregistertheinterrupt handler.

Failed Tryagain Success

Spinlockscausekernelpreemptiontobedisabled ontheCPUexecutingthem. Thecriticalsectionprotectedbyaspinlockisnotallowedto sleep.

Getlock1 Getlock1 call Getlock2 Waitforlock1

//Create //newfiles //indebugfs

access physical address

Framework Kernel Driver

USBstorage driver 159

xxxfb_fillrect() xxxfb_copyarea() xxxfb_imageblit() xxxfb_cursor() xxxfb_rotate() xxxfb_sync() xxxfb_ioctl() xxxfb_mmap()

register_framebuffer()willcreatethecharacterdevice thatcanbeusedbyuserspaceapplicationwiththegeneric framebufferAPI

DEV1 USB1 System USB2 DEV3 DEV4

Wewillonlylookatthedevicedriverside,andnottheadapter driverside Thedriverwewilllookatisdrivers/net/usb/rtl8150.c

TheUSBcorenowknowstheassociationbetweenthe vendor/productIDsofrtl8150andtheusb_driverstructureof thisdriver

Step1 Ihavedetectedanew USBdeviceofIDX:Y

Chardriver I2Cdevicedriver I2Ccore Networkdriver USBdevicedriver I2Cadapterdriver USBdevicedriver

USBcore ALSAdriver PCIdevicedriver USBadapterdriver PCIdevicedriver

I2Cctrl I2C thermometer

Inadditiontothisstructure,thedriverusuallyneedstostore additionalinformationsaboutitsdevice Thisistypicallydone

drivers/spi/spidev.cprovidesaninfrastructuretoaccessSPI busfromuserspace SPIdevicedriversarepresentalloverthekerneltree

Allourtechnicalpresentations onhttp://freeelectrons.com/docs Linuxkernel Devicedrivers Architecturespecifics EmbeddedLinuxsystemdevelopment

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init: removedafterinitialization (statickernelormodule). exit:discardedwhen modulecompiledstatically intothekernel.