基于S3C2440的嵌入式Linux驱动——SPI子系统解读(一)

本文将介绍SPI子系统。内核版本为2.6.30。如有错误欢迎指正。

预备知识要求:1.SPI总线

                       2. platfrom平台

                       3. sysfs子系统

                       4. 阅读过LDD3第3,5,6,7,9,10,11章的内容。

NOTE:如果没有看过LDD3的相关内容,直接看内核源码将非常吃力!!!

PC主机:Ubuntu 和 redhat 9.0

目标板:TQ2440开发板 cpu:s3c2440 linux内核:2.6.30


0.引言

    本系列文章对Linux设备模型中的SPI子系统进行讲解。SPI子系统的讲解将分为4个部分。

   第一部分,即本篇文章,将对SPI子系统整体进行描述,同时给出SPI的相关数据结构,最后描述SPI总线的注册。

   第二部分,该文将对SPI的主控制器(master)驱动进行描述。             基于S3C2440的嵌入式Linux驱动——SPI子系统解读(二)

   第三部分,该文将对SPI设备驱动,也称protocol 驱动,进行讲解。基于S3C2440的嵌入式Linux驱动——SPI子系统解读(三)

   第四部分,通过SPI设备驱动留给用户层的API,我们将从上到下描述数据是如何通过SPI的protocol 驱动,由bitbang中转,最后由master驱动将数据传输出去。

                    基于S3C2440的嵌入式Linux驱动——SPI子系统解读(四)

1.SPI子系统综述

  SPI子系统从上到下分为:spi设备驱动层,核心层和master驱动层。其中master驱动抽象出spi控制器的相关操作,而spi设备驱动层抽象出了用户空间API。

  platform_device结构中描述了SPI控制器的相关资源,同时在板级信息中将会添加spi设备的相关信息。master驱动将以platform_driver形式体现出来,也就是说

在主控制器(master)和主控制器驱动将挂载到platform总线上platform_driver的probe函数中将注册spi_master,同时将会获取在板级信息中添加的spi设备,将该

信息转换成spi_device,然后注册spi_device到spi总线上。spi_driver结构用于描述spi设备驱动,也将挂载到spi总线上。连同spi_driver一起注册的是字符设备,该

字符设备将提供5个API给用户空间。通过API,用户空间可以执行半双工读、半双工写和全双工读写。

2. SPI的相关数据结构

  这里将介绍内核所用到的关键数据结构,还有些结构将在用到时加以说明。

2.1 spi_master

   该结构用于描述SOC的SPI控制器,S3C2440共有两个SPI控制器。

/**
 * struct spi_master - interface to SPI master controller
 * @dev: device interface to this driver
 * @bus_num: board-specific (and often SOC-specific) identifier for a
 *	given SPI controller.
 * @num_chipselect: chipselects are used to distinguish individual
 *	SPI slaves, and are numbered from zero to num_chipselects.
 *	each slave has a chipselect signal, but it's common that not
 *	every chipselect is connected to a slave.
 * @dma_alignment: SPI controller constraint on DMA buffers alignment.
 * @setup: updates the device mode and clocking records used by a
 *	device's SPI controller; protocol code may call this.  This
 *	must fail if an unrecognized or unsupported mode is requested.
 *	It's always safe to call this unless transfers are pending on
 *	the device whose settings are being modified.
 * @transfer: adds a message to the controller's transfer queue.
 * @cleanup: frees controller-specific state
 *
 * Each SPI master controller can communicate with one or more @spi_device
 * children.  These make a small bus, sharing MOSI, MISO and SCK signals
 * but not chip select signals.  Each device may be configured to use a
 * different clock rate, since those shared signals are ignored unless
 * the chip is selected.
 *
 * The driver for an SPI controller manages access to those devices through
 * a queue of spi_message transactions, copying data between CPU memory and
 * an SPI slave device.  For each such message it queues, it calls the
 * message's completion function when the transaction completes.
 */
struct spi_master {
	struct device	dev;

	/* other than negative (== assign one dynamically), bus_num is fully
	 * board-specific.  usually that simplifies to being SOC-specific.
	 * example:  one SOC has three SPI controllers, numbered 0..2,
	 * and one board's schematics might show it using SPI-2.  software
	 * would normally use bus_num=2 for that controller.
	 */
	s16			bus_num;

	/* chipselects will be integral to many controllers; some others
	 * might use board-specific GPIOs.
	 */
	u16			num_chipselect;	//该值不能为0,否则会注册失败

	/* some SPI controllers pose alignment requirements on DMAable
	 * buffers; let protocol drivers know about these requirements.
	 */
	u16			dma_alignment;

	/* Setup mode and clock, etc (spi driver may call many times).
	 *
	 * IMPORTANT:  this may be called when transfers to another
	 * device are active.  DO NOT UPDATE SHARED REGISTERS in ways
	 * which could break those transfers.
	 */
	int			(*setup)(struct spi_device *spi);

	/* bidirectional bulk transfers
	 *
	 * + The transfer() method may not sleep; its main role is
	 *   just to add the message to the queue.
	 * + For now there's no remove-from-queue operation, or
	 *   any other request management
	 * + To a given spi_device, message queueing is pure fifo
	 *
	 * + The master's main job is to process its message queue,
	 *   selecting a chip then transferring data
	 * + If there are multiple spi_device children, the i/o queue
	 *   arbitration algorithm is unspecified (round robin, fifo,
	 *   priority, reservations, preemption, etc)
	 *
	 * + Chipselect stays active during the entire message
	 *   (unless modified by spi_transfer.cs_change != 0).
	 * + The message transfers use clock and SPI mode parameters
	 *   previously established by setup() for this device
	 */
	int	 		(*transfer)(struct spi_device *spi,
						struct spi_message *mesg);

	/* called on release() to free memory provided by spi_master */
	void			(*cleanup)(struct spi_device *spi);
};
2.2 spi_device

该结构用于描述SPI设备,也就是从设备的相关信息。

NOTE:SPI子系统只支持主模式,也就是说S3C2440的SPI只能工作在master模式,外围设备只能为slave模式。

/**
 * struct spi_device - Master side proxy for an SPI slave device
 * @dev: Driver model representation of the device.
 * @master: SPI controller used with the device.
 * @max_speed_hz: Maximum clock rate to be used with this chip
 *	(on this board); may be changed by the device's driver.
 *	The spi_transfer.speed_hz can override this for each transfer.
 * @chip_select: Chipselect, distinguishing chips handled by @master.
 * @mode: The spi mode defines how data is clocked out and in.
 *	This may be changed by the device's driver.
 *	The "active low" default for chipselect mode can be overridden
 *	(by specifying SPI_CS_HIGH) as can the "MSB first" default for
 *	each word in a transfer (by specifying SPI_LSB_FIRST).
 * @bits_per_word: Data transfers involve one or more words; word sizes
 *	like eight or 12 bits are common.  In-memory wordsizes are
 *	powers of two bytes (e.g. 20 bit samples use 32 bits).
 *	This may be changed by the device's driver, or left at the
 *	default (0) indicating protocol words are eight bit bytes.
 *	The spi_transfer.bits_per_word can override this for each transfer.
 * @irq: Negative, or the number passed to request_irq() to receive
 *	interrupts from this device.
 * @controller_state: Controller's runtime state
 * @controller_data: Board-specific definitions for controller, such as
 *	FIFO initialization parameters; from board_info.controller_data
 * @modalias: Name of the driver to use with this device, or an alias
 *	for that name.  This appears in the sysfs "modalias" attribute
 *	for driver coldplugging, and in uevents used for hotplugging
 *
 * A @spi_device is used to interchange data between an SPI slave
 * (usually a discrete chip) and CPU memory.
 *
 * In @dev, the platform_data is used to hold information about this
 * device that's meaningful to the device's protocol driver, but not
 * to its controller.  One example might be an identifier for a chip
 * variant with slightly different functionality; another might be
 * information about how this particular board wires the chip's pins.
 */
struct spi_device {
	struct device		dev;
	struct spi_master	*master;
	u32			max_speed_hz;
	u8			chip_select;
	u8			mode;
#define	SPI_CPHA	0x01			/* clock phase */
#define	SPI_CPOL	0x02			/* clock polarity */
#define	SPI_MODE_0	(0|0)			/* (original MicroWire) */
#define	SPI_MODE_1	(0|SPI_CPHA)
#define	SPI_MODE_2	(SPI_CPOL|0)
#define	SPI_MODE_3	(SPI_CPOL|SPI_CPHA)
#define	SPI_CS_HIGH	0x04			/* chipselect active high? */
#define	SPI_LSB_FIRST	0x08			/* per-word bits-on-wire */
#define	SPI_3WIRE	0x10			/* SI/SO signals shared */
#define	SPI_LOOP	0x20			/* loopback mode */
	u8			bits_per_word;
	int			irq;
	void			*controller_state;
	void			*controller_data;
	char			modalias[32];

	/*
	 * likely need more hooks for more protocol options affecting how
	 * the controller talks to each chip, like:
	 *  - memory packing (12 bit samples into low bits, others zeroed)
	 *  - priority
	 *  - drop chipselect after each word
	 *  - chipselect delays
	 *  - ...
	 */
};
2.3 spi_board_info

   该结构也是对从设备的描述,只不过它是板级信息,最终该结构的所有信息将复制给spi_device。

 * INTERFACE between board init code and SPI infrastructure.
 *
 * No SPI driver ever sees these SPI device table segments, but
 * it's how the SPI core (or adapters that get hotplugged) grows
 * the driver model tree.
 *
 * As a rule, SPI devices can't be probed.  Instead, board init code
 * provides a table listing the devices which are present, with enough
 * information to bind and set up the device's driver.  There's basic
 * support for nonstatic configurations too; enough to handle adding
 * parport adapters, or microcontrollers acting as USB-to-SPI bridges.
 */

/**
 * struct spi_board_info - board-specific template for a SPI device
 * @modalias: Initializes spi_device.modalias; identifies the driver.
 * @platform_data: Initializes spi_device.platform_data; the particular
 *	data stored there is driver-specific.
 * @controller_data: Initializes spi_device.controller_data; some
 *	controllers need hints about hardware setup, e.g. for DMA.
 * @irq: Initializes spi_device.irq; depends on how the board is wired.
 * @max_speed_hz: Initializes spi_device.max_speed_hz; based on limits
 *	from the chip datasheet and board-specific signal quality issues.
 * @bus_num: Identifies which spi_master parents the spi_device; unused
 *	by spi_new_device(), and otherwise depends on board wiring.
 * @chip_select: Initializes spi_device.chip_select; depends on how
 *	the board is wired.
 * @mode: Initializes spi_device.mode; based on the chip datasheet, board
 *	wiring (some devices support both 3WIRE and standard modes), and
 *	possibly presence of an inverter in the chipselect path.
 *
 * When adding new SPI devices to the device tree, these structures serve
 * as a partial device template.  They hold information which can't always
 * be determined by drivers.  Information that probe() can establish (such
 * as the default transfer wordsize) is not included here.
 *
 * These structures are used in two places.  Their primary role is to
 * be stored in tables of board-specific device descriptors, which are
 * declared early in board initialization and then used (much later) to
 * populate a controller's device tree after the that controller's driver
 * initializes.  A secondary (and atypical) role is as a parameter to
 * spi_new_device() call, which happens after those controller drivers
 * are active in some dynamic board configuration models.
 */
struct spi_board_info {
	/* the device name and module name are coupled, like platform_bus;
	 * "modalias" is normally the driver name.
	 *
	 * platform_data goes to spi_device.dev.platform_data,
	 * controller_data goes to spi_device.controller_data,
	 * irq is copied too
	 */
	char		modalias[32];
	const void	*platform_data;
	void		*controller_data;
	int		irq;

	/* slower signaling on noisy or low voltage boards */
	u32		max_speed_hz;


	/* bus_num is board specific and matches the bus_num of some
	 * spi_master that will probably be registered later.
	 *
	 * chip_select reflects how this chip is wired to that master;
	 * it's less than num_chipselect.
	 */
	u16		bus_num;
	u16		chip_select;

	/* mode becomes spi_device.mode, and is essential for chips
	 * where the default of SPI_CS_HIGH = 0 is wrong.
	 */
	u8		mode;

	/* ... may need additional spi_device chip config data here.
	 * avoid stuff protocol drivers can set; but include stuff
	 * needed to behave without being bound to a driver:
	 *  - quirks like clock rate mattering when not selected
	 */
};

2.4 spi_driver

    该结构用于描述SPI设备驱动。

驱动核心将根据driver.name和spi_board_info 的modalias进行匹配,如过modalia和name相等,则绑定驱动程序和SPI设备。
/**
 * struct spi_driver - Host side "protocol" driver
 * @probe: Binds this driver to the spi device.  Drivers can verify
 *	that the device is actually present, and may need to configure
 *	characteristics (such as bits_per_word) which weren't needed for
 *	the initial configuration done during system setup.
 * @remove: Unbinds this driver from the spi device
 * @shutdown: Standard shutdown callback used during system state
 *	transitions such as powerdown/halt and kexec
 * @suspend: Standard suspend callback used during system state transitions
 * @resume: Standard resume callback used during system state transitions
 * @driver: SPI device drivers should initialize the name and owner
 *	field of this structure.
 *
 * This represents the kind of device driver that uses SPI messages to
 * interact with the hardware at the other end of a SPI link.  It's called
 * a "protocol" driver because it works through messages rather than talking
 * directly to SPI hardware (which is what the underlying SPI controller
 * driver does to pass those messages).  These protocols are defined in the
 * specification for the device(s) supported by the driver.
 *
 * As a rule, those device protocols represent the lowest level interface
 * supported by a driver, and it will support upper level interfaces too.
 * Examples of such upper levels include frameworks like MTD, networking,
 * MMC, RTC, filesystem character device nodes, and hardware monitoring.
 */
struct spi_driver {
	int			(*probe)(struct spi_device *spi);
	int			(*remove)(struct spi_device *spi);
	void			(*shutdown)(struct spi_device *spi);
	int			(*suspend)(struct spi_device *spi, pm_message_t mesg);
	int			(*resume)(struct spi_device *spi);
	struct device_driver	 driver;
};
2.5 spi_transfer

  该数据结构是对一次完整的数据传输的描述。

/*
 * I/O INTERFACE between SPI controller and protocol drivers
 *
 * Protocol drivers use a queue of spi_messages, each transferring data
 * between the controller and memory buffers.
 *
 * The spi_messages themselves consist of a series of read+write transfer
 * segments.  Those segments always read the same number of bits as they
 * write; but one or the other is easily ignored by passing a null buffer
 * pointer.  (This is unlike most types of I/O API, because SPI hardware
 * is full duplex.)
 *
 * NOTE:  Allocation of spi_transfer and spi_message memory is entirely
 * up to the protocol driver, which guarantees the integrity of both (as
 * well as the data buffers) for as long as the message is queued.
 */

/**
 * struct spi_transfer - a read/write buffer pair
 * @tx_buf: data to be written (dma-safe memory), or NULL
 * @rx_buf: data to be read (dma-safe memory), or NULL
 * @tx_dma: DMA address of tx_buf, if @spi_message.is_dma_mapped
 * @rx_dma: DMA address of rx_buf, if @spi_message.is_dma_mapped
 * @len: size of rx and tx buffers (in bytes)
 * @speed_hz: Select a speed other than the device default for this
 *      transfer. If 0 the default (from @spi_device) is used.
 * @bits_per_word: select a bits_per_word other than the device default
 *      for this transfer. If 0 the default (from @spi_device) is used.
 * @cs_change: affects chipselect after this transfer completes
 * @delay_usecs: microseconds to delay after this transfer before
 *	(optionally) changing the chipselect status, then starting
 *	the next transfer or completing this @spi_message.
 * @transfer_list: transfers are sequenced through @spi_message.transfers
 *
 * SPI transfers always write the same number of bytes as they read.
 * Protocol drivers should always provide @rx_buf and/or @tx_buf.
 * In some cases, they may also want to provide DMA addresses for
 * the data being transferred; that may reduce overhead, when the
 * underlying driver uses dma.
 *
 * If the transmit buffer is null, zeroes will be shifted out
 * while filling @rx_buf.  If the receive buffer is null, the data
 * shifted in will be discarded.  Only "len" bytes shift out (or in).
 * It's an error to try to shift out a partial word.  (For example, by
 * shifting out three bytes with word size of sixteen or twenty bits;
 * the former uses two bytes per word, the latter uses four bytes.)
 *
 * In-memory data values are always in native CPU byte order, translated
 * from the wire byte order (big-endian except with SPI_LSB_FIRST).  So
 * for example when bits_per_word is sixteen, buffers are 2N bytes long
 * (@len = 2N) and hold N sixteen bit words in CPU byte order.
 *
 * When the word size of the SPI transfer is not a power-of-two multiple
 * of eight bits, those in-memory words include extra bits.  In-memory
 * words are always seen by protocol drivers as right-justified, so the
 * undefined (rx) or unused (tx) bits are always the most significant bits.
 *
 * All SPI transfers start with the relevant chipselect active.  Normally
 * it stays selected until after the last transfer in a message.  Drivers
 * can affect the chipselect signal using cs_change.
 *
 * (i) If the transfer isn't the last one in the message, this flag is
 * used to make the chipselect briefly go inactive in the middle of the
 * message.  Toggling chipselect in this way may be needed to terminate
 * a chip command, letting a single spi_message perform all of group of
 * chip transactions together.
 *
 * (ii) When the transfer is the last one in the message, the chip may
 * stay selected until the next transfer.  On multi-device SPI busses
 * with nothing blocking messages going to other devices, this is just
 * a performance hint; starting a message to another device deselects
 * this one.  But in other cases, this can be used to ensure correctness.
 * Some devices need protocol transactions to be built from a series of
 * spi_message submissions, where the content of one message is determined
 * by the results of previous messages and where the whole transaction
 * ends when the chipselect goes intactive.
 *
 * The code that submits an spi_message (and its spi_transfers)
 * to the lower layers is responsible for managing its memory.
 * Zero-initialize every field you don't set up explicitly, to
 * insulate against future API updates.  After you submit a message
 * and its transfers, ignore them until its completion callback.
 */
struct spi_transfer {
	/* it's ok if tx_buf == rx_buf (right?)
	 * for MicroWire, one buffer must be null
	 * buffers must work with dma_*map_single() calls, unless
	 *   spi_message.is_dma_mapped reports a pre-existing mapping
	 */
	const void	*tx_buf;
	void		*rx_buf;
	unsigned	len;

	dma_addr_t	tx_dma;
	dma_addr_t	rx_dma;

	unsigned	cs_change:1;
	u8		bits_per_word;
	u16		delay_usecs;
	u32		speed_hz;

	struct list_head transfer_list;
};
2.6 spi_message

   该结构就是对多个spi_transfer的封装。

/**
 * struct spi_message - one multi-segment SPI transaction
 * @transfers: list of transfer segments in this transaction
 * @spi: SPI device to which the transaction is queued
 * @is_dma_mapped: if true, the caller provided both dma and cpu virtual
 *	addresses for each transfer buffer
 * @complete: called to report transaction completions
 * @context: the argument to complete() when it's called
 * @actual_length: the total number of bytes that were transferred in all
 *	successful segments
 * @status: zero for success, else negative errno
 * @queue: for use by whichever driver currently owns the message
 * @state: for use by whichever driver currently owns the message
 *
 * A @spi_message is used to execute an atomic sequence of data transfers,
 * each represented by a struct spi_transfer.  The sequence is "atomic"
 * in the sense that no other spi_message may use that SPI bus until that
 * sequence completes.  On some systems, many such sequences can execute as
 * as single programmed DMA transfer.  On all systems, these messages are
 * queued, and might complete after transactions to other devices.  Messages
 * sent to a given spi_device are alway executed in FIFO order.
 *
 * The code that submits an spi_message (and its spi_transfers)
 * to the lower layers is responsible for managing its memory.
 * Zero-initialize every field you don't set up explicitly, to
 * insulate against future API updates.  After you submit a message
 * and its transfers, ignore them until its completion callback.
 */
struct spi_message {
	struct list_head	transfers;

	struct spi_device	*spi;

	unsigned		is_dma_mapped:1;

	/* REVISIT:  we might want a flag affecting the behavior of the
	 * last transfer ... allowing things like "read 16 bit length L"
	 * immediately followed by "read L bytes".  Basically imposing
	 * a specific message scheduling algorithm.
	 *
	 * Some controller drivers (message-at-a-time queue processing)
	 * could provide that as their default scheduling algorithm.  But
	 * others (with multi-message pipelines) could need a flag to
	 * tell them about such special cases.
	 */

	/* completion is reported through a callback */
	void			(*complete)(void *context);
	void			*context;
	unsigned		actual_length;
	int			status;

	/* for optional use by whatever driver currently owns the
	 * spi_message ...  between calls to spi_async and then later
	 * complete(), that's the spi_master controller driver.
	 */
	struct list_head	queue;
	void			*state;
};
2.7 spi_bitbang

struct spi_bitbang {
	struct workqueue_struct	*workqueue;
	struct work_struct	work;

	spinlock_t		lock;
	struct list_head	queue;
	u8			busy;
	u8			use_dma;
	u8			flags;		/* extra spi->mode support */

	struct spi_master	*master;

	/* setup_transfer() changes clock and/or wordsize to match settings
	 * for this transfer; zeroes restore defaults from spi_device.
	 */
	int	(*setup_transfer)(struct spi_device *spi,
			struct spi_transfer *t);

	void	(*chipselect)(struct spi_device *spi, int is_on);
#define	BITBANG_CS_ACTIVE	1	/* normally nCS, active low */
#define	BITBANG_CS_INACTIVE	0

	/* txrx_bufs() may handle dma mapping for transfers that don't
	 * already have one (transfer.{tx,rx}_dma is zero), or use PIO
	 */
	int	(*txrx_bufs)(struct spi_device *spi, struct spi_transfer *t);

	/* txrx_word[SPI_MODE_*]() just looks like a shift register */
	u32	(*txrx_word[4])(struct spi_device *spi,
			unsigned nsecs,
			u32 word, u8 bits);
};
3. 注册SPI总线

    下列函数位于drivers/spi/spi.c中。

struct bus_type spi_bus_type = {
    .name        = "spi",
    .dev_attrs    = spi_dev_attrs,
    .match        = spi_match_device,
    .uevent        = spi_uevent,
    .suspend    = spi_suspend,
    .resume        = spi_resume,
};
EXPORT_SYMBOL_GPL(spi_bus_type);

static struct class spi_master_class = {
    .name        = "spi_master",
    .owner        = THIS_MODULE,
    .dev_release    = spi_master_release,
};

/* portable code must never pass more than 32 bytes */
#define    SPI_BUFSIZ    max(32,SMP_CACHE_BYTES)

static u8    *buf;

static int __init spi_init(void)
{
	int	status;

	buf = kmalloc(SPI_BUFSIZ, GFP_KERNEL);
	if (!buf) {
		status = -ENOMEM;
		goto err0;
	}

	status = bus_register(&spi_bus_type);		/*注册SPI总线*/
	if (status < 0)
		goto err1;

	status = class_register(&spi_master_class);/*注册SPI类*/
	if (status < 0)
		goto err2;
	return 0;

err2:
	bus_unregister(&spi_bus_type);
err1:
	kfree(buf);
	buf = NULL;
err0:
	return status;
}

/* board_info is normally registered in arch_initcall(),
 * but even essential drivers wait till later
 *
 * REVISIT only boardinfo really needs static linking. the rest (device and
 * driver registration) _could_ be dynamically linked (modular) ... costs
 * include needing to have boardinfo data structures be much more public.
 */
postcore_initcall(spi_init);

    spi_init函数注册SPI总线以及SPI类到内核中。该函数在内核初始化的postcore_initcall阶段被调用。

    顺便看看下总线的匹配函数。

     下列函数位于drivers/spi/spi.c中。

/* modalias support makes "modprobe $MODALIAS" new-style hotplug work,
 * and the sysfs version makes coldplug work too.
 */

static int spi_match_device(struct device *dev, struct device_driver *drv)
{
	const struct spi_device	*spi = to_spi_device(dev);

	return strcmp(spi->modalias, drv->name) == 0;
}
   从这里我们可以看出,SPI设备和驱动的匹配是通过device的modalias字段和driver的name字段,这两个字段相等则绑定设备和驱动




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