uboot - 驱动开发 - 驱动模型

说明

• 类似于linux，为了规范、统一驱动适配和驱动接口调用，uboot定义了一套驱动模型(Driver Model)，简称DM。
• 本文基于：u-boot-2021.10。

优点

1. 为同一类ip的驱动定义了统一的操作接口，DM在软件层面做了一定的抽象。
2. 分层设计，将上层使用、设备以及驱动实现区分开来，降低了耦合性。

核心概念/数据结构

• DM模型抽象出了以下四个概念/数据结构。

1. uclass
2. uclass_driver
3. udevice
4. driver

uclass

• uclass（uboot class）是同一类外设（I2C、GPIO等）总的组织结构体，定义如下：

// file：include/dm/uclass.h
/*** struct uclass - a U-Boot drive class, collecting together similar drivers** A uclass provides an interface to a particular function, which is* implemented by one or more drivers. Every driver belongs to a uclass even* if it is the only driver in that uclass. An example uclass is GPIO, which* provides the ability to change read inputs, set and clear outputs, etc.* There may be drivers for on-chip SoC GPIO banks, I2C GPIO expanders and* PMIC IO lines, all made available in a unified way through the uclass.** @priv_: Private data for this uclass (do not access outside driver model)* @uc_drv: The driver for the uclass itself, not to be confused with a* 'struct driver'* @dev_head: List of devices in this uclass (devices are attached to their* uclass when their bind method is called)* @sibling_node: Next uclass in the linked list of uclasses*/
struct uclass {void *priv_;struct uclass_driver *uc_drv;struct list_head dev_head;struct list_head sibling_node;
};

• uclass 包含

1. uc_drv: uclass driver。
2. dev_head: udevice list(设备列表)。
3. sibling_node: 链表的下一个uclass结构。

uclass_driver

• uclass_driver是uclass的驱动，并不是具体硬件驱动，做一些uclass通用的的准备/回收等工作。

// file：include/dm/uclass.h
struct uclass_driver {const char *name;enum uclass_id id;int (*post_bind)(struct udevice *dev);int (*pre_unbind)(struct udevice *dev);int (*pre_probe)(struct udevice *dev);int (*post_probe)(struct udevice *dev);int (*pre_remove)(struct udevice *dev);int (*child_post_bind)(struct udevice *dev);int (*child_pre_probe)(struct udevice *dev);int (*child_post_probe)(struct udevice *dev);int (*init)(struct uclass *class);int (*destroy)(struct uclass *class);int priv_auto;int per_device_auto;int per_device_plat_auto;int per_child_auto;int per_child_plat_auto;uint32_t flags;
};

• 使用宏UCLASS_DRIVER定义一个uclass driver,每一类ip会定义一个，如下：

//file: drivers/timer/timer-uclass.c
UCLASS_DRIVER(timer) = {.id             = UCLASS_TIMER,.name           = "timer",.pre_probe      = timer_pre_probe,.flags          = DM_UC_FLAG_SEQ_ALIAS,.post_probe     = timer_post_probe,.per_device_auto        = sizeof(struct timer_dev_priv),
};

• 预定义的uclass id。

//file: include/dm/uclass-id.h
enum uclass_id {/* These are used internally by driver model */UCLASS_ROOT = 0,UCLASS_DEMO,UCLASS_TEST,UCLASS_TEST_FDT,UCLASS_TEST_FDT_MANUAL,UCLASS_TEST_BUS,UCLASS_TEST_PROBE,UCLASS_TEST_DUMMY,UCLASS_TEST_DEVRES,UCLASS_TEST_ACPI,...
}

udevice

• udevice是具体硬件的实例，例如：dts中配置了两个timer，就会有两个timer udevice，uboot会将udevice和它所属的uclass以及具体的驱动driver绑定起来。

//file：include/dm/device.h 
struct udevice {const struct driver *driver;const char *name;void *plat_;void *parent_plat_;void *uclass_plat_;ulong driver_data;struct udevice *parent;void *priv_;struct uclass *uclass;void *uclass_priv_;void *parent_priv_;struct list_head uclass_node;struct list_head child_head;struct list_head sibling_node;
#if !CONFIG_IS_ENABLED(OF_PLATDATA_RT)u32 flags_;
#endifint seq_;
#if !CONFIG_IS_ENABLED(OF_PLATDATA)ofnode node_;
#endif
#ifdef CONFIG_DEVRESstruct list_head devres_head;
#endif
#if CONFIG_IS_ENABLED(DM_DMA)ulong dma_offset;
#endif
};

driver

• 具体硬件的驱动，对应每个硬件的驱动实现，例如：dw wdt(drivers/watchdog/designware_wdt.c), mtk wdt(drivers/watchdog/mtk_wdt.c) 。

//file: include/dm/device.h 
struct driver {char *name;enum uclass_id id;const struct udevice_id *of_match;int (*bind)(struct udevice *dev);int (*probe)(struct udevice *dev);int (*remove)(struct udevice *dev);int (*unbind)(struct udevice *dev);int (*of_to_plat)(struct udevice *dev);int (*child_post_bind)(struct udevice *dev);int (*child_pre_probe)(struct udevice *dev);int (*child_post_remove)(struct udevice *dev);int priv_auto;int plat_auto;int per_child_auto;int per_child_plat_auto;const void *ops;        /* driver-specific operations */uint32_t flags;
#if CONFIG_IS_ENABLED(ACPIGEN)struct acpi_ops *acpi_ops;
#endif
};* const void *ops; 是该驱动支持的接口。

• ops 指向该类ip统一驱动接口结构体，在include目录的头文件中有各种ip需要支持的ops接口，例如：

include/thermal.h //温度传感器需要支持的接口（ops）
include/wdt.h //wdt需要支持的ops
include/timer.h //timer需要支持的ops
* include/timer.h
struct timer_ops {/*** @get_count: Get the current timer count** @dev: The timer device** This function may be called at any time after the driver is probed.* All necessary initialization must be completed by the time probe()* returns. The count returned by this functions should be monotonic.* This function must succeed.** Return: The current 64-bit timer count*/u64 (*get_count)(struct udevice *dev);
};

• 新思定时器（dw apb timer）定义：

static const struct timer_ops dw_apb_timer_ops = {.get_count      = dw_apb_timer_get_count,
};U_BOOT_DRIVER(dw_apb_timer) = {.name           = "dw_apb_timer",.id             = UCLASS_TIMER,.ops            = &dw_apb_timer_ops,.probe          = dw_apb_timer_probe,.of_match       = dw_apb_timer_ids,.of_to_plat = dw_apb_timer_of_to_plat,.remove         = dw_apb_timer_remove,.priv_auto      = sizeof(struct dw_apb_timer_priv),
};

• 使用宏U_BOOT_DRIVER定义一个驱动实例

/* Declare a new U-Boot driver */
#define U_BOOT_DRIVER(__name)                                           \ll_entry_declare(struct driver, __name, driver)

联系

• uclass和udevice是动态生成的。
• udevice在解析fdt中的设备的时候自动生成，然后udevice找到对应的driver，driver中保存了uclass_id，根据它找到uclass_driver_id，从uclass链表中查找对应的uclass是否已经生成，若没有生成，则动态生成，重点是解析设备树，生成udevice，并找到对应的driver。

代码流程

• 模型的全局数据结构，包含根节点。

typedef struct global_data {// dts中的根节点，第一个创建的udevicestruct udevice  *dm_root;// relocation之前的根设备struct udevice  *dm_root_f;// uclass的链表, 挂的是有udevice的uclassstruct list_head uclass_root;  
} gd_t;

• 初始化与扫描设备树

int dm_init_and_scan(bool pre_reloc_only)
{int ret;ret = dm_init(CONFIG_IS_ENABLED(OF_LIVE));if (ret) {debug("dm_init() failed: %d\n", ret);return ret;}if (!CONFIG_IS_ENABLED(OF_PLATDATA_INST)) {ret = dm_scan(pre_reloc_only);if (ret) {log_debug("dm_scan() failed: %d\n", ret);return ret;}}return 0;
}

DM模型初始化(dm_init)

int dm_init(bool of_live)
{gd->uclass_root = &DM_UCLASS_ROOT_S_NON_CONST;//初始化uclass_root链表头INIT_LIST_HEAD(DM_UCLASS_ROOT_NON_CONST);//创建一个device dm_root并将其绑定到driver name “root_driver”。device_bind_by_name(NULL, false, &root_info,&DM_ROOT_NON_CONST);//探测设备udevice dm_root并激活它ret = device_probe(DM_ROOT_NON_CONST);
}

• 待补充

DM模型Device Tree节点的设备初始化(dm_scan)

• 待补充

绑定udevice和driver(device_bind_common)

• 待补充

使用

1. 整体使能

配置：CONFIG_DM

2. 不同类型外设需要专门使能

串口配置：CONFIG_DM_SERIAL
wdt配置：CONFIG_WDT