Kickpi-Book
  • KICKPI Document
  • K5（A133）
    • A133中文文档
      • 02-KICKPI-K5C硬件介绍
      • 02-KICKPI-K5硬件介绍
      • 10-系统镜像烧录
      • 11-SDK源码编译
      • 12-硬件功能使用说明
      • 13-硬件工厂测试
      • 20-LCD功能调试
      • 21-LRADC按键配置
      • .~31-Android10.0 Tablet系统定制
      • 32-Ubuntu16.04 系统定制
      • Kernel 驱动定制
      • 电池供电修改
  • K2B/K2C（H618）
    • H618 English Document
      • 00-Board Function List
      • 01-Quick Start Guide
      • 02-Image Burnning
      • 03-SDK Compilation
      • 04-Hardware Factory Test
      • 13-I2C3-pcf8563rtc
      • 14-Secure Boot
      • 20-Ubuntu2204 system
      • 21-Android12.0 system customization
      • 30-Kernel defconfig configuration
      • 31-Extended pin configuration
      • 33-Linux QT application compilation environment construction
    • H618 中文文档
      • 02-KICKPI-K2B硬件介绍
      • 03-KICKPI-K2C硬件介绍
      • 10-系统镜像烧录
      • 11-SDK源码编译
      • 12-硬件功能使用说明
      • 13-I2C3-pcf8563rtc
      • 14-Secure Boot
      • 硬件工厂测试
      • 20-Ubuntu2204系统
      • 21-Android12.0 系统定制
      • 30-Kernel defconfig配置
      • 31-扩展引脚配置
      • QT开发环境搭建
      • 33-linux QT应用编译环境搭建
  • K1/K1B/K3/K8（RK356X/RK3588）
    • RK3568 English Document
      • 02-KICKPI-K1 Hardware introduction
      • 03-KICKPI-K1B Hardware Introduction
      • 04-KICKPI-K3 Hardware Introduction
      • 05-KICKPI-TX66 Hardware Introduction
      • 06-KICKPI-K8 Hardware Introduction
      • 10-System image burning
      • 11-SDK source code compilation
      • 12-Hardware function instructions
      • 13-Hardware Factory Test
      • 14-Hardware Aging Test
      • 20- Linux system customization
      • 21-Android13.0 system customization
      • 22 - Kernel driver customization
      • 30- Linux NPU YOLOV5S object detection
      • 31-Android NPU YOLOV5 object detection
      • 32-Linux Docker
      • 33-Linux QT Environment
      • 40-RK3568 LCD Configuration
      • 50 - Frequently Asked Questions
    • RK3568 中文文档
      • 01-RK芯片对比介绍
      • 02-KICKPI-K1硬件介绍
      • 03-KICKPI-K1B硬件介绍
      • 04-KICKPI-K3硬件介绍
      • 05-KICKPI-TX66硬件介绍
      • 06-KICKPI-K8硬件介绍
      • 10-系统镜像烧录
      • 11-SDK源码编译
      • 12-硬件功能使用说明
      • 13-硬件工厂测试
      • 14-硬件老化测试
      • 20-Linux系统定制
      • 21-Android13.0系统定制
      • 22-Kernel 驱动定制
      • 30-Linux NPU YOLOV5S 目标检测
      • 31-Android NPU YOLOV5 目标检测
      • 32-Linux Docker环境搭建
      • 33-Linux QT环境搭建
      • 40-RK3568 LCD配置
      • 50-常见问题
  • K7（RK3576）
    • RK3576中文文档
      • 02-KICKPI-K7硬件介绍
      • 10-系统镜像烧录
      • 11-SDK源码编译
      • 12-硬件功能使用说明
      • 13-硬件工厂测试
      • 14-硬件老化测试
      • 20-Android系统定制
      • 21-Linux系统定制
      • 22-Kernel驱动定制
      • 23-Linux NPU YOLOV5S 目标检测
      • 24-DeepSeek大模型
  • K4B（T113-S3）
    • T113-S3中文文档
      • 01-KICKPI-K4B硬件介绍
      • 10-系统镜像烧录
      • 11-SDK源码编译
      • 12-硬件功能测试
      • 13-硬件工厂测试
      • LCD功能调试
      • 20-Ubuntu20.04系统定制
      • Buildroot_QT5配置
      • Buildroot系统定制
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On this page
  • version
  • cross compile
  • dts
  • kconfig
  • GPIO
  • gpio-keys
  • gpio-led
  • gpio-sysfs
  • EXTEND-40PIN
  • LCD MIPI
  • PWM
  1. K7（RK3576）
  2. RK3576中文文档

22-Kernel驱动定制

SDK - 指代源码路径

console - 指代调试控制台

version

Linux version 6.1

cross compile

(android SDK)$ ls prebuilts/clang/host/linux-x86/clang-r487747c/bin/
(linux SDK)$ ls prebuilts/gcc/linux-x86/aarch64/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu/

dts

什么是设备树?

(android SDK)$ ls kernel-6.1/arch/arm64/boot/dts/rockchip/rk3576-kickpi-k7-android.dts
(linux SDK)$ ls kernel-6.1/arch/arm64/boot/dts/rockchip/rk3576-kickpi-k7-linux.dts

kconfig

什么是kconfig?

默认kconfig配置

(android SDK)$ls kernel-6.1/arch/arm64/configs/rockchip_defconfig
(linux SDK)$ls kernel-6.1/arch/arm64/configs/rockchip_linux_defconfig

其他kconfig配置

(android SDK)$ ls kernel-6.1/kernel/configs
android-14.config 
pcie_wifi.config 
	
(linux SDK)$ ls kernel-6.1/arch/arm64/configs/
rockchip_defconfig 
rk3576.config

GPIO

gpio-keys

内核配置

CONFIG_KEYBOARD_GPIO=y

说明:

$ more kernel-6.1/Documentation/devicetree/bindings/input/gpio-keys.yaml

示例:

根据拓展引脚章节将K7拓展引脚上默认配置的UART8配置成gpio-keys

--- a/kernel-6.1/arch/arm64/boot/dts/rockchip/rk3576-kickpi-extend-40pin.dtsi
+++ b/kernel-6.1/arch/arm64/boot/dts/rockchip/rk3576-kickpi-extend-40pin.dtsi
@@ -30,7 +30,7 @@ &uart6 {
 &uart8 {
        pinctrl-names = "default";
        pinctrl-0 = <&uart8m0_xfer>;
-       status = "okay";
+       status = "disabled";
 };
 
 /*
@@ -142,4 +142,26 @@ &i2c5 {
 &i2c8 {
     pinctrl-0 = <&i2c8m2_xfer>;
     status = "okay";
+};
+
+/ {
+    gpio-keys {
+        compatible = "gpio-keys";
+        autorepeat;
+        status = "okay";
+
+        gpio3c5 {
+                label = "gpio3c5";
+                linux,code = <KEY_1>;
+                gpios = <&gpio3 RK_PC5 GPIO_ACTIVE_LOW>;
+                debounce-interval = <100>;
+        };
+
+        gpio3c6 {
+                label = "gpio3c6";
+                linux,code = <KEY_2>;
+                gpios = <&gpio3 RK_PC6 GPIO_ACTIVE_LOW>;
+                debounce-interval = <100>;
+        };
+    };
 };

其中code值可以参考驱动中的宏定义

kernel/include/uapi/linux/input-event-codes.h

gpio-led

说明

$ more kernel-6.1/Documentation/devicetree/bindings/leds/leds-gpio.yaml

默认软件拓展 gpio 引脚配置为gpio-led进行控制，可以方便的输出高或低电平

查看GPIO列表，对应K7拓展引脚章节

console:/ # ls /sys/class/leds/
GPIO2_D6  GPIO3_D5  GPIO4_B0  GPIO4_C7  PCIE_PWREN    mmc1::
GPIO2_D7  GPIO4_A4  GPIO4_B1  GPIO4_D0  SDMMC0_PWREN  work
GPIO3_D4  GPIO4_A6  GPIO4_C6  GPIO4_D1  fan

查看GPIO2_D6的状态，0为低电平，255为高电平

console:/ # cat /sys/class/leds/GPIO2_D6/brightness
0

设置GPIO2_D6为高电平

console:/ # echo 255 > /sys/class/leds/GPIO2_D6/brightness

设置GPIO2_D6为低电平

console:/ # echo 0 > /sys/class/leds/GPIO2_D6/brightness

示例：

--- a/kernel/arch/arm64/boot/dts/rockchip/rk3568-kickpi-extend-40pin.dtsi
+++ b/kernel/arch/arm64/boot/dts/rockchip/rk3568-kickpi-extend-40pin.dtsi
@@ -29,10 +29,10 @@ gpio1d0 {
         gpios = <&gpio1 RK_PD0 GPIO_ACTIVE_HIGH>;
         default-state = "off";
     };
+    gpio1d4 {
+        gpios = <&gpio1 RK_PD4 GPIO_ACTIVE_HIGH>;
+        default-state = "off";
+    };
     gpio3b5 {
         gpios = <&gpio3 RK_PB5 GPIO_ACTIVE_HIGH>;
         default-state = "off";

gpio-sysfs

Pinctrl 引脚控制计算

Rockchip Pin的ID按照 控制器(bank)+端口(port)+索引序号(pin) 组成。

  • 控制器和GPIO控制器数量一致

  • 端口固定 A、B、C和D

  • 索引序号固定 0、1、2、3、4、5、6、7

列举pin及引脚复用

(console)$ cat /d/pinctrl/pinctrl-rockchip-pinctrl/pinmux-pins

计算方式

GPIO1-A1	= gpio1 - ((1 - 1) * 8 + 1)		= gpio1-1		= (1 * 32) + 1 		= 33
GPIO0-D3	= gpio0 - ((4 - 1) * 8 + 3)		= gpio0-27 		= (0 * 32) + 27 	= 27

EXTEND-40PIN

(SDK)/kernel-6.1/arch/arm64/boot/dts/rockchip/rk3576-kickpi-extend-40pin.dtsi

LCD MIPI

(SDK)/kernel-6.1/arch/arm64/boot/dts/rockchip/rk3576-kickpi-k7.dtsi

配置

(SDK)$ vim kernel-6.1/arch/arm64/boot/dts/rockchip/rk3576-kickpi-k7.dtsi
- // #include "rk3576-kickpi-lcd-mipi-8-800-1280-MX080B2140.dtsi"
+ #include "rk3576-kickpi-lcd-mipi-10.1-800-1280-AT101DS40I.dtsi"
//#include "rk3576-kickpi-lcd-mipi-10.1-800-1280-MX101BA1340.dtsi"

根据需要选择对应屏幕进行配置，重新编译即可

PWM

PWM 框架在 /sys/class/pwm/ 目录下提供了用户层接口，详见 drivers/pwm/sysfs.c，PWM 驱动加载成功后，会在其下生成 pwmchipX 目录，如 pwmchip0、pwmchip1 等，此处的 X 与 PWM 的控制器或通道 id 无关，仅与 PWM 设备的 probe 顺序有关。

  • dts 打开的节点

&pwm2_8ch_6 {
	pinctrl-0 = <&pwm2m2_ch6>;
	status = "okay";
};

&pwm2_8ch_7 {
	pinctrl-0 = <&pwm2m2_ch7>;
	status = "okay";
};

&pwm0_2ch_1 {
	pinctrl-0 = <&pwm0m0_ch1>;
	status = "okay";
};

  • 确认 pwmchip 对应的 pwm

列举相关pwm节点

(console)$ ls /sys/class/pwm/
pwmchip0  pwmchip1  pwmchip2  pwmchip3

可查看对应pwm dts节点

(console)$ cat /sys/class/pwm/pwmchip0/device/uevent | grep FULLNAME
OF_FULLNAME=/pwm@27331000

从 dts 确认对应的节点

pwm0_2ch_1: pwm@27331000

pwm2_8ch_6: pwm@2ade6000

pwm2_8ch_7: pwm@2ade7000

更多详见：(SDK)/kernel-6.1/arch/arm64/boot/dts/rockchip/rk3576.dtsi

  • 配置PWM通道

示例：设置 PWM0_CH1 通道，周期10000ns，占空比5000ns，极性为normal

根据上述信息可知，pwm0_ch1_m0 配置 dts 为 pwm0_2ch_1，即 pwmchip0

(console)$ echo 0 > /sys/class/pwm/pwmchip0/export
(console)$ echo 10000 > /sys/class/pwm/pwmchip0/pwm0/period
(console)$ echo 5000 > /sys/class/pwm/pwmchip0/pwm0/duty_cycle
(console)$ echo normal > /sys/class/pwm/pwmchip0/pwm0/polarity
(console)$ echo 1 > /sys/class/pwm/pwmchip0/pwm0/enable

按照示例配置参数设置成功后，可用万用表测量PWM3引脚，正确电压应为1.6V左右

Last updated 3 days ago