Alberto Liberal - Linux Driver Development with Raspberry Pi: Practical Labs [2021, PDF, ENG]

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Table of Contents
Preface
Chapter 1: Building the System
Bootloader
Linux kernel
System call interface and C runtime library
System shared libraries
Root filesystem
Linux boot process
Building an embedded Linux system for the Raspberry Pi
Raspberry Pi OS
Connect and set up hardware
Setting up an ethernet communication
Copying files to your Raspberry Pi
Building the Linux kernel
Chapter 2: The Linux Device and Driver Model
Bus core drivers
Bus controller drivers
Device drivers
Devices
The sysfs filesystem
The kobject infrastructure
Introduction to the Device Tree
Chapter 3: The Simplest Drivers
Licensing
LAB 3.1: "helloworld" module
Listing 3-1: helloworld_rpi3.c
Listing 3-2: Makefile
helloworld_rpi3.ko demonstration
LAB 3.2: "helloworld with parameters" module
Listing 3-3: helloworld_rpi3_with_parameters.c
Listing 3-4: Makefile
helloworld_rpi3_with_parameters.ko demonstration
Chapter 4: Character Drivers
LAB 4.1: "helloworld character" module
Registration and unregistration of character devices
Listing 4-1: helloworld_rpi3_char_driver.c
Listing 4-2: Makefile
Listing 4-3: ioctl_test.c
helloworld_rpi3_char_driver.ko demonstration
Creating device files with devtmpfs
LAB 4.2: "class character" module
Listing 4-4: helloworld_rpi3_class_driver.c
helloworld_rpi3_class_driver.ko demonstration
Miscellaneous character driver
Registering a minor number
LAB 4.3: "miscellaneous character" module
Listing 4-5: misc_rpi3_driver.c
misc_rpi3_driver.ko demonstration
Chapter 5: Platform Drivers
LAB 5.1: "platform device" module
Listing 5-1: hellokeys_rpi3.c
hellokeys_rpi3.ko demonstration
Documentation to interact with the hardware
Hardware naming convention
Pin control subsystem
GPIO controller driver
GPIO descriptor consumer interface
Obtaining and disposing GPIOs
Using GPIOs
GPIOs mapped to IRQs
GPIOs in the Device Tree
Exchanging data between kernel and user spaces
MMIO (Memory-Mapped I/O) device access
LAB 5.2: "RGB LED platform device" module
LAB 5.2 hardware description
LAB 5.2 Device Tree description
LAB 5.2 code description of the "RGB LED platform device" module
Listing 5-2: ledRGB_rpi3_platform.c
ledRGB_rpi3_platform.ko demonstration
Platform driver resources
Linux LED class
LAB 5.3: "RGB LED class" module
LAB 5.3 Device Tree description
LAB 5.3 code description of the "RGB LED class" module
Listing 5-3: ledRGB_rpi3_class_platform.c
ledRGB_rpi3_class_platform.ko demonstration
Platform device drivers in user space
User defined I/O: UIO
How UIO works
Kernel UIO API
LAB 5.4: "LED UIO platform" module
LAB 5.4 Device Tree description
LAB 5.4 code description of the "LED UIO platform" module
Listing 5-4: led_rpi3_UIO_platform.c
Listing 5-5: UIO_app.c
led_rpi3_UIO_platform.ko with UIO_app demonstration
Chapter 6: I2C Client Drivers
The Linux I2C subsystem
Writing I2C client drivers
I2C client driver registration
Declaration of I2C devices in the Device Tree
LAB 6.1: "I2C I/O expander device" module
LAB 6.1 hardware description
LAB 6.1 Device Tree description
LAB 6.1 code description of the "I2C I/O expander device" module
Listing 6-1: io_rpi3_expander.c
io_rpi3_expander.ko demonstration
LAB 6.2: "I2C multidisplay LED" module
LAB 6.2 hardware description
LAB 6.2 Device Tree description
Unified device properties interface for ACPI and Device Tree
LAB 6.2 code description of the "I2C multidisplay LED" module
Listing 6-2: ltc3206_rpi3_led_class.c
ltc3206_rpi3_led_class.ko demonstration
Chapter 7: Handling Interrupts in Device Drivers
Linux kernel IRQ domain for GPIO controllers
Device Tree interrupt handling
Requesting interrupts in Linux device drivers
LAB 7.1: "button interrupt device" module
LAB 7.1 hardware description
LAB 7.1 Device Tree description
LAB 7.1 code description of the "button interrupt device" module
Listing 7-1: int_rpi3_key.c
int_rpi3_key.ko demonstration
Deferred work
Softirqs
Tasklets
Timers
Threaded interrupts
Workqueues
Locking in the kernel
Locks and uniprocessor kernels
Sharing spinlocks between interrupt and process context
Locking in user context
Sleeping in the kernel
LAB 7.2: "sleeping device" module
LAB 7.2 Device Tree description
LAB 7.2 code description of the "sleeping device" module
Listing 7-2: int_rpi3_key_wait.c
int_rpi3_key_wait.ko demonstration
Kernel threads
LAB 7.3: "keyled class" module
LAB 7.3 hardware description
LAB 7.3 Device Tree description
LAB 7.3 code description of the "keyled class" module
Listing 7-3: keyled_rpi3_class.c
keyled_rpi3_class.ko demonstration
LAB 7.4: "GPIO expander device" module
LAB 7.4 hardware description
LAB 7.4 Device Tree description
LAB 7.4 GPIO controller driver description
Listing 7-4: CY8C9520A_rpi3.c
LAB 7.4 GPIO child driver description
Listing 7-5: int_rpi3_gpio.c
LAB 7.4 GPIO based IRQ application
Listing 7-6: gpio_int.c
LAB 7.4 driver demonstration
LAB 7.5: "GPIO-PWM-PINCTRL expander device" module
LAB 7.5 GPIO irqchip description
LAB 7.5 pin controller driver description
LAB 7.5 PWM controller driver description
Listing 7-7: CY8C9520A_pwm_pinctrl.c
LAB 7.5 driver demonstration
LAB 7.6: CY8C9520A Device Tree overlay
LAB 7.6 driver demonstration
Chapter 8: Allocating Kernel Memory
Linux address types
User process virtual to physical memory mapping
Kernel virtual to physical memory mapping
Kernel memory allocators
Page allocator
Page allocator API
SLAB allocator
SLAB allocator API
Kmalloc allocator
LAB 8.1: "linked list memory allocation" module
Listing 8-1: linkedlist_rpi3_platform.c
linkedlist_rpi3_platform.ko demonstration
Chapter 9: DMA in Device Drivers
Cache coherency
Linux DMA Engine API
Types of DMA mappings
LAB 9.1: "streaming DMA" module
Listing 9-1: sdma_rpi3_m2m.c
sdma_rpi3_m2m.ko demonstration
Chapter 10: Input Subsystem
Input subsystem drivers
LAB 10.1: "input subsystem accelerometer" module
Device Tree
Input framework as an I2C interaction
Input framework as an input device
Listing 10-1: i2c_rpi3_accel.c
i2c_rpi3_accel.ko demonstration
LAB 10.2: “Nunchuk input subsystem” module
LAB 10.2 hardware description
LAB 10.2 Device Tree description
LAB 10.2 Nunchuk controller driver description
Listing 10-2: nunchuk.c
nunchuk.ko demonstration
LAB 10.3: Nunchuk applications
joystick_led.py application
Listing 10-3: joystick_led.py
joystick_led.py demonstration
joystick_pwm.py application
Listing 10-4: joystick_pwm.py
joystick_pwm.py demonstration
joystick_pygame.py application
Listing 10-5: joystick_pygame.py
joystick_pygame.py demonstration
Using SPI with Linux
The Linux SPI subsystem
Writing SPI client drivers
SPI client driver registration
Declaration of SPI devices in the Device Tree
LAB 10.4: "SPI accel input device" module
LAB 10.4 hardware description
LAB 10.4 Device Tree description
LAB 10.4 code description of the "SPI accel input device" module
Listing 10-6: adxl345_rpi3.c
adxl345_rpi3.ko demonstration
Chapter 11: Industrial I/O Subsystem
IIO device sysfs interface
IIO device channels
The iio_info structure
Buffers
IIO buffer sysfs interface
IIO buffer setup
Triggers
Triggered buffers
Industrial I/O events
Delivering IIO events to user space
IIO utils
LAB 11.1: "IIO Mixed-Signal I/O Device" module
LAB 11.1 hardware description
LAB 11.1 Device Tree description
LAB 11.1 driver description
Listing 11-1: max11300-base.h
Listing 11-2: maxim,max11300.h
Listing 11-3: max11300.c
Listing 11-4: max11300-base.c
LAB 11.1 driver demonstration
GPIO control through a character device
Listing 11-5: gpio_device_app.c
GPIO control through the gpiolibd library
Listing 11-6: libgpiod_max11300_app.c
LAB 11.2: “Nunchuk provider and consumer” modules
Nunchuck provider module
Listing 11-7: nunchuk_accel.c
Nunchuck consumer module
Listing 11-8: nunchuk_consumer.c
LAB 11.2 Device Tree description
LAB 11.2 driver demonstration
Chapter 12: Using the Regmap API in Device Drivers
LAB 12.1: "SPI regmap IIO device" module
Listing 12-1: adxl345_rpi3_iio.c
adxl345_rpi3_iio.ko demonstration
Chapter 13: USB Device Drivers
USB 2.0 bus topology
USB bus enumeration and device layout
USB data transfers
USB device classes
Human interface device class
USB descriptors
USB device descriptors
USB configuration descriptor
USB interface descriptor
USB endpoint descriptor
USB string descriptors
USB HID descriptor
The Linux USB subsystem
Writing Linux USB device drivers
USB device driver registration
Linux host-side data types
USB request block (URB)
LAB 13.1: USB HID Device Application
STEP 1: Create a new project
STEP 2: Configure Harmony
STEP 3: Modify the generated code
STEP 4: Declare the USB State Machine states
STEP 5: Add new members to APP_DATA type
STEP 6: Declare the reception and transmission buffers
STEP 7: Initialize the new members
STEP 8: Handle the detach
STEP 9: Handle the HID events
STEP 10: Create the USB State Machine
STEP 11: Schedule a new report receive request
STEP 12: Receive, prepare and send reports
STEP 13: Program the application
LAB 13.2: "USB LED" module
LAB 13.2 code description of the "USB LED" module
Listing 13-1: usb_led.c
usb_led.ko demonstration
LAB 13.3: "USB LED and Switch" module
LAB 13.3 code description of the "USB LED and Switch" module
Listing 13-2: usb_urb_int_led.c
usb_urb_int_led.ko demonstration
LAB 13.4: "I2C to USB Multidisplay LED" module
LAB 13.4 code description of the "I2C to USB Multidisplay LED" module
Listing 13-3: usb_ltc3206.c
usb_ltc3206.ko demonstration
References
Index