ADVANCED EMBEDDED
PROGRAMMING
Lecturer: Dr. Bui Ha Duc
Dept. of Mechatronics
Email: [email protected]
1
C Library
• Library: bunch of files that contain just functions
and declaration Write once use many
• C Library is a collection of object files
• Types of C library:
• Static libraries: linked into the program during the linking
phase of compilation and are not relevant during runtime
• Dynamic libraries: linked by multiple program at the same
time during running time
2
Create a C library
Create static libraries
• Step 1: create C source files containing any
functions that will be used.
• Step 2: Compile these files into objects
gcc -c libraryCode.c -o object.o
• Step 3: Create library
ar rc libname.a object.o
• Step 4: Linking your program to the libraries, make
sure you specify where the library can be found
gcc file.c -L. -lname -o newfile
3
Create a C library
Create dynamic libraries
• Step 1: create C source files containing any
functions that will be used.
• Step 2: Compile these files into Position
Independent Code
gcc -c -fPIC libraryCode.c -o object.o
• Step 3: Create library
gcc -shared -o libname.so objfile.o
• Step 4: Linking your program to the libraries, make
sure you specify where the library can be found
gcc file.c -L. -lname -o newfile
4
Create a C library
Step 5: Copy file library.h to usr/include
And file library.so to usr/lib
Or declare the List of Dynamic Dependency:
export LD_LIBRARY_PATH=:/path/to/library.so
5
Device Driver
• Device driver is a computer program
that operates or controls a
particular type of device that is
attached to a computer
• Driver provides a software interface
to hardware devices, enabling
operating systems and other
computer programs to access
hardware functions.
Functions of Driver
• Isolate the user program from the complexity of
the hardware device
• E.g. open, copy a file in hard disk
• Provides a consistent user interface to a large
variety of hardware device
Device Driver Architecture
• Linux lets you add and remove kernel components at
runtime
• Provide flexibility
• Enhance upgrade capability
• Module can be stored on media other than root
• Linux device driver are broadly classified into two basic
categories:
• Character devices can be thought of as serial streams of
sequential data.
e.g. serial ports and keyboards.
• Block devices are characterized by the capability to read and
write blocks of data to and from random locations on an
addressable medium
e.g. hard drives and USB Flash drives.
Driver location
• Generally, a driver is stored in folder
/lib/modules/<kernel_version>/kernel
• Driver is stored as *.ko file
Minimal Device Driver
Notes:
• No main() function
• No built-in C function
• 2 fundamental function
• module_init()
• module_exit()
• printk : print messeage to kernel log files
Compile a Driver
• A device driver must be compiled against the kernel on
which it will execute
• Method 1: Create a Make file and put it in the same folder
with file hello.c
obj-m := hello1.o
KDIR := /lib/modules/$(shell uname -r)/build
PWD := $(shell pwd)
default:
$(MAKE) -C $(KDIR) M=$(PWD) modules
• Run the Make file
• Load the module
Compile a Driver
• Method 2: Add code to the kernel source tree, and do the
appropriate configuration
• Step 1. Edit the configuration file Kconfig
(linux-2.6.32.2/drivers/char/Kconfig)
Compile a Driver
• Step 2. edit the Makefile in the kernel configuration (linux-
2.6.32.2/drivers/char/Makefile)
Compile a Driver
• Step 3. back to linux-2.6.32.2 root directory, run the
makefile
make modules
Then copy the .ko file to /lib/modules/2.6.32.4-FriendlyARM
folder on the FriendlyARM board
Loading a driver
• modprobe : a utility used to insert a driver into a running
kernel.
modprobe mini2440_hello_module
• Similar to insmod
• modprobe –r : remove a driver
• Similar to rmmod
rmmod mini2440_hello_module
• lsmod : list of driver which is inserted in to the kernel
Practical Device Driver
• Beside module_init and module_exit, we need other
functions to interface the device with the program
• open() : prepare the driver for subsequent operations
after the device driver is loaded into a live kernel
• release() : provided to clean up after operations are
complete
• ioctl() : a special system call for nonstandard
communication with the driver
Device Nodes and mknod
• A device node is a special file type in Linux that
represents a device
• Linux keep device nodes in a directory called /dev.
• A dedicated utility is used to create a device node on a file
• System is called mknod.
mknod /dev/hello1 c 234 0
c means that a char device is to be created
234 major number registered with the kernel
0 minor number, not registered with the kernel
How to use device driver
1. Call open() function
2. Call desired command
