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,TITLE.9502 Page i Thursday, January 27, 2005 12:06 PM LINUX DEVICE DRIVERS

,TITLE.9502 Page ii Thursday, January 27, 2005 12:06 PM Other Linux resources from O’Reilly Related titles Understanding the Linux Kernel Linux in a Nutshell Running Linux Linux Network Administrator’s Guide Linux Pocket Guide Building Embedded Linux Systems Designing Embedded Hardware Linux Books Resource Center linux.oreilly.com is a complete catalog of O’Reilly’s books on Linux and Unix and related technologies, including sample chapters and code examples. ONLamp.com is the premier site for the open source web plat- form: Linux, Apache, MySQL, and either Perl, Python, or PHP. Conferences O’Reilly brings diverse innovators together to nurture the ideas that spark revolutionary industries. We specialize in document- ing the latest tools and systems, translating the innovator’s knowledge into useful skills for those in the trenches. Visit con- ferences.oreilly.com for our upcoming events. Safari Bookshelf (safari.oreilly.com) is the premier online refer- ence library for programmers and IT professionals. Conduct searches across more than 1,000 books. Subscribers can zero in on answers to time-critical questions in a matter of seconds. Read the books on your Bookshelf from cover to cover or sim- ply flip to the page you need. Try it today with a free trial.

,TITLE.9502 Page iii Thursday, January 27, 2005 12:06 PM LINUX DEVICE DRIVERS THIRD EDITION Jonathan Corbet, Alessandro Rubini, and Greg Kroah-Hartman Beijing • Cambridge • Farnham • Köln • Paris • Sebastopol • Taipei • Tokyo

,COPYRIGHT.10321 Page iv Thursday, January 27, 2005 12:09 PM Linux Device Drivers, Third Edition by Jonathan Corbet, Alessandro Rubini, and Greg Kroah-Hartman Copyright © 2005, 2001, 1998 O’Reilly Media, Inc. All rights reserved. Printed in the United States of America. Published by O’Reilly Media, Inc., 1005 Gravenstein Highway North, Sebastopol, CA 95472. O’Reilly books may be purchased for educational, business, or sales promotional use. Online editions are also available for most titles (safari.oreilly.com). For more information, contact our corporate/insti- tutional sales department: (800) 998-9938 or corporate@oreilly.com. Andy Oram Matt Hutchinson Editor: Production Editor: Production Services: Octal Publishing, Inc. Cover Designer: Interior Designer: Edie Freedman Melanie Wang Printing History: February 1998: First Edition. June 2001: Second Edition. February 2005: Third Edition. Nutshell Handbook, the Nutshell Handbook logo, and the O’Reilly logo are registered trademarks of O’Reilly Media, Inc. The Linux series designations, Linux Device Drivers, images of the American West, and related trade dress are trademarks of O’Reilly Media, Inc. Many of the designations used by manufacturers and sellers to distinguish their products are claimed as trademarks. Where those designations appear in this book, and O’Reilly Media, Inc. was aware of a trademark claim, the designations have been printed in caps or initial caps. While every precaution has been taken in the preparation of this book, the publisher and authors assume no responsibility for errors or omissions, or for damages resulting from the use of the information contained herein. This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 2.0 License. To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/2.0/ or send a letter to Creative Commons, 559 Nathan Abbott Way, Stanford, California 94305, USA. This book uses RepKover™, a durable and flexible lay-flat binding. ISBN: 0-596-00590-3 [M]

,ldr3TOC.fm.4587 Page v Thursday, January 20, 2005 9:30 AM Table of Contents Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi 1. An Introduction to Device Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 4 5 8 10 11 12 12 The Role of the Device Driver Splitting the Kernel Classes of Devices and Modules Security Issues Version Numbering License Terms Joining the Kernel Development Community Overview of the Book 2. Building and Running Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 15 16 18 22 28 30 31 35 37 39 Setting Up Your Test System The Hello World Module Kernel Modules Versus Applications Compiling and Loading The Kernel Symbol Table Preliminaries Initialization and Shutdown Module Parameters Doing It in User Space Quick Reference 3. Char Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 42 43 49 The Design of scull Major and Minor Numbers Some Important Data Structures v

,ldr3TOC.fm.4587 Page vi Thursday, January 20, 2005 9:30 AM Char Device Registration open and release scull’s Memory Usage read and write Playing with the New Devices Quick Reference 55 58 60 63 70 70 4. Debugging Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 73 75 82 91 93 99 Debugging Support in the Kernel Debugging by Printing Debugging by Querying Debugging by Watching Debugging System Faults Debuggers and Related Tools 5. Concurrency and Race Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 107 107 109 114 116 121 123 130 Pitfalls in scull Concurrency and Its Management Semaphores and Mutexes Completions Spinlocks Locking Traps Alternatives to Locking Quick Reference 6. Advanced Char Driver Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 135 147 163 169 171 173 179 ioctl Blocking I/O poll and select Asynchronous Notification Seeking a Device Access Control on a Device File Quick Reference 7. Time, Delays, and Deferred Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 183 188 190 196 202 Measuring Time Lapses Knowing the Current Time Delaying Execution Kernel Timers Tasklets vi | Table of Contents

,ldr3TOC.fm.4587 Page vii Thursday, January 20, 2005 9:30 AM Workqueues Quick Reference 205 208 8. Allocating Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213 213 217 221 224 228 230 231 The Real Story of kmalloc Lookaside Caches get_free_page and Friends vmalloc and Friends Per-CPU Variables Obtaining Large Buffers Quick Reference 9. Communicating with Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 235 239 245 248 255 I/O Ports and I/O Memory Using I/O Ports An I/O Port Example Using I/O Memory Quick Reference 10. Interrupt Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 259 Preparing the Parallel Port 259 Installing an Interrupt Handler 269 Implementing a Handler Top and Bottom Halves 275 278 Interrupt Sharing 281 Interrupt-Driven I/O Quick Reference 286 11. Data Types in the Kernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 288 290 291 292 295 299 Use of Standard C Types Assigning an Explicit Size to Data Items Interface-Specific Types Other Portability Issues Linked Lists Quick Reference 12. PCI Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 302 319 322 The PCI Interface A Look Back: ISA PC/104 and PC/104+ Table of Contents | vii

,ldr3TOC.fm.4587 Page viii Thursday, January 20, 2005 9:30 AM Other PC Buses SBus NuBus External Buses Quick Reference 322 323 324 325 325 13. USB Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327 328 333 335 346 356 360 USB Device Basics USB and Sysfs USB Urbs Writing a USB Driver USB Transfers Without Urbs Quick Reference 14. The Linux Device Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362 364 371 375 377 387 391 397 405 407 Kobjects, Ksets, and Subsystems Low-Level Sysfs Operations Hotplug Event Generation Buses, Devices, and Drivers Classes Putting It All Together Hotplug Dealing with Firmware Quick Reference 15. Memory Mapping and DMA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412 412 422 435 440 459 Memory Management in Linux The mmap Device Operation Performing Direct I/O Direct Memory Access Quick Reference 16. Block Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464 465 471 474 491 494 Registration The Block Device Operations Request Processing Some Other Details Quick Reference viii | Table of Contents

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