Writing device drivers in Linux: A brief tutorial

A quick and easy intro to writing device drivers for Linux like a true kernel developer!

Download the whole article as PDF

Short URL: http://fsmsh.com/1238

Xavier Calbet
2006-04-26
Server side | Advanced
2 Up Down

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“Do you pine for the nice days of Minix-1.1, when men were men and wrote their own device drivers?” Linus Torvalds

Pre-requisites

In order to develop Linux device drivers, it is necessary to have an understanding of the following:

C programming. Some in-depth knowledge of C programming is needed, like pointer usage, bit manipulating functions, etc.
Microprocessor programming. It is necessary to know how microcomputers work internally: memory addressing, interrupts, etc. All of these concepts should be familiar to an assembler programmer.

There are several different devices in Linux. For simplicity, this brief tutorial will only cover type char devices loaded as modules. Kernel 2.6.x will be used (in particular, kernel 2.6.8 under Debian Sarge, which is now Debian Stable).

User space and kernel space

When you write device drivers, it’s important to make the distinction between “user space” and “kernel space”.

Kernel space. Linux (which is a kernel) manages the machine’s hardware in a simple and efficient manner, offering the user a simple and uniform programming interface. In the same way, the kernel, and in particular its device drivers, form a bridge or interface between the end-user/programmer and the hardware. Any subroutines or functions forming part of the kernel (modules and device drivers, for example) are considered to be part of kernel space.
User space. End-user programs, like the UNIX shell or other GUI based applications (kpresenter for example), are part of the user space. Obviously, these applications need to interact with the system’s hardware . However, they don’t do so directly, but through the kernel supported functions.

All of this is shown in figure 1.

: Figure 1: User space where applications reside, and kernel space where modules or device drivers reside

Interfacing functions between user space and kernel space

The kernel offers several subroutines or functions in user space, which allow the end-user application programmer to interact with the hardware. Usually, in UNIX or Linux systems, this dialogue is performed through functions or subroutines in order to read and write files. The reason for this is that in Unix devices are seen, from the point of view of the user, as files.

On the other hand, in kernel space Linux also offers several functions or subroutines to perform the low level interactions directly with the hardware, and allow the transfer of information from kernel to user space.

Usually, for each function in user space (allowing the use of devices or files), there exists an equivalent in kernel space (allowing the transfer of information from the kernel to the user and vice-versa). This is shown in Table 1, which is, at this point, empty. It will be filled when the different device drivers concepts are introduced.


Events	User functions	Kernel functions
Load module
Open device
Read device
Write device
Close device
Remove module

Table 1. Device driver events and their associated interfacing functions in kernel space and user space.

Interfacing functions between kernel space and the hardware device

There are also functions in kernel space which control the device or exchange information between the kernel and the hardware. Table 2 illustrates these concepts. This table will also be filled as the concepts are introduced.

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Copyright information

Permission is granted to copy, distribute and/or modify this document under the terms of the GNU Free Documentation License, Version 1.2 or any later version published by the Free Software Foundation; with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts. A copy of the license is available at http://www.gnu.org/copyleft/fdl.html.

Biography

Xavier Calbet: Xavier Calbet (xcalbet AT googlemail DOT com) is a long time free software user who started using Linux distributions in the ancient times when Slackware had to be installed using tens of floppy disks. He is currently working on his two pet projects: a meteorological field and satellite image display system, SAPO, and the best available free numerical computer language to date, PDL (Perl Data Language).

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Very nice well written, this nice step by step tutorial is exactly for me.

---
"... Nothing Runs Like A Python ..."

Thanks for the Excellent job of making LINUX drivers easy to understand in a very very short time.

Great................

Great tutorial!

I am amazed!! How have you managed to get this thing so simple? A real good job.

Sundip Sharma

Thanks
a great article with ample scope of learning the skeleton of linux device drivers and the commonly used functions in them.........so simple and presented in quite an interesting way, so never lets u feel bored.
great work

After kernel 2.4 the kernel compilation and adding up of modules has changed drastically. This tutorial helped me compile and insert my module. Thanks. Effort whole heartedly appreciated.

Kabeer Ahmed.

A great article with ample scope of learning with
nice step by step procedure..

Thank's
Prakash.

Its a good information.

Regards, Rajesh

Great Work !!!

"Linux's kernel" has no sense, because Linux is a kernel

Hi All,

I actually tried memory.ko as below:

$echo -n abcdef > /dev/memory

$cat /dev/memory
f
But I've got only the last written character i.e., 'f'.

I changed the code so that the buffer can hold upto 10 bytes (by giving 10 as a parameter to kmalloc and read,write calls) but still I'm getting the last input character. Can any one post teh answer here...

--
Regards,
Vishwa

Hi Vishwa,

On page 4 of the tutorial, where the author shows the mknod command, he states that the c identifies this driver as a character driver. My guess is that is the reason that you only see the last letter. I believe character drivers will only allow you to receive the most recent character that was written... ie the 'f'.

A really good and Helpful link for newbies!!!!

hi,

This one is good article.
I want to learn more on this, and can u help me get more info about device drivers.

Thanks,
Raghavendra

Gud work by u.A gud guide for a layman in the fiels of device drivers

Heartly appreciated

hello sir whhen i have compiled my sorce code then i face an error that "fops size is not known " pleee send me some information to remove this error
mu email id is erabhinandan@gmail.com

Thank you for your excellent tutorial!

That's true that the first step is always the more hard to achieve, and guides like this really simplify the achievement of the basic know-how necessary to get real job done.

When I first tried the tutorial I get this error when trying to insmod my module nothing.ko:
insmod: error inserting nothing.ko: -1 Invalid module format

while dmesg gave me:
nothing: version magic '2.6.17.11.061003.eramil SMP mod_unload PENTIUM4 REGPARM gcc-4.1' should be '2.6.17.11.061003.eramil SMP mod_unload PENTIUM4 REGPARM gcc-4.0'

It was that I like to add a customized extra version to my kernel compiling it, while the extra version in the source tree Makefile was still ".11".
To fix this I changed manually the Makefile, updating the extra version line with the current linux extra version, then I started to compile with make (but I control-C-ed quite soon, after the compilation of the version.h file, that you can eventually change by hand).

Then, since I compiled the kernel with gcc-4.0 and I had installed the gcc-4.1 version, I changed the gcc symlink with:
sudo ln -sf /usr/bin/gcc-4.0 /usr/bin/gcc
Now the gcc symlink (used to compile the module) points to the same version of gcc used to compile the kernel: trick done!

Another useful link:
http://www.openaddict.com/documents/lkmpg/x30.html

HTH

Cheers

hi,
This is Priya here. I have installed Redhat Linux verion 9 on my system. Kernel version 2.4.20-8. Could I Please know how to compile and insert the modules given in this tutorial, with the associated makefiles.Please help me. My mail id :priyasophy_1982@yahoo.com

Its better if you use kernel 2.6.x.x.2.Because the Linux systems now supports 2.6 kernel and the interface for 2.6 is simple and totally different than 2.4.Mention the topic on which you are working.
If I have a knowldge about that i will surely help you.Do post ur queries on prem38_kamble @rediffmail.com

This makefile worked for me. I got it off another site:

obj-m += memory.o

all:
make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules

clean:
make -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean

So the only difference is you only compile memory.c, although you can just add more files after memory.o like hello.o, etc to compile hello.c
Hope this helps.

Hi...

Thanks for this sample. This worked great with CentOS 5.

I appreciate for the effort took for explaining device driver writing in step by step manner...

really great work...

Thank you,
Murali

thanks man .. .. nice tutorial

regards
SuLtAn

REALLY A GREAT HELP FOR STARTERS...

ARUN

Dear sir,

This is a very good tutorial you have here. It is very cool as it explains the fundamental really well.

I tried out the first 2 section of the tutorial but am stuck.

I have created the module nothing.ko and inserted it into the kernel.
I am able to see the module using lsmod

When I tried to rmmod, the system keeps giving me the following error:
ERROR: Removing 'nothing': Device or resource busy

My lsmod | grep nothing gives me
nothing 2688 0 [permanent]

Is there a way to unload this module

Very much appreciate your help

Thanks,
Alex

My comments:

To be complete tutorial it must be accurate. It is not so.

For example, memory driver part is completely hide extensions of files and creating makefile in case if you build module from multiply files.
I think it should be added directly in article or,as minimum, in comments.

Thank you very much for posting such an astonish article for all..

God Bless all..

Thank u for giving an easy to learn tutorial about device drivers..

U can also add some more details about functions which will be more helpful...

The Tutorial help me lot

As the title says,....
Simple to understand and grasp the important things.
Thanks a lot m8
George

VERY NICE ARTICLE.

THANKS A LOT.
K.RAJASEKAR

good job

It motivates a non-driver-writer to jump into the arena that is always thought to be only for the real techies.

Really good tutorial on drivers. I challenge us to do the exercises, specifically a device that doesn't work yet.

Thanks for this important contribution!

Regards,

Hai everyone,

IN LINUX KERNEL VERSION-2.6.8-24 THE KEYBOARD DRIVER FILE KEYBOARD.C IS USED.I WOULD LIKE TO MODIFY THIS FILE SUCH THAT ON A TOGGLE KEY I WOULD LIKE TO READ DATA FROM A FILE.I USED SYSTEM CALLS LIKE OPEN,CLOSE,READ.BUT AN ERROR MESSAGE SAYING THAT THE HEADER FILE UNISTD.H INCLUDING THIS CALLS IS NOT AVAILABLE IS ENCOUNTERED.CAN ANY BODY HELP ME IN THIS CONTEXT.

After you've done that you could write a driver that prevents your caps-lock key from getting stuck.

good job done

First off, thanks for the great tutorial, Xavier.

I am trying to complete the LED section of the tutorial. I am running Ubuntu Server 6.10, kernel 2.6.17-10, and I removed lp, parport_pc, and parport. I have successfully compiled parlelport.ko and I can verify that the module has loaded with:
$ cat /proc/ioports
..
0378-0378 : parlelport

The circuit shows many lights blinking at boot time. After boot, bit-2 and bit-3 stay lit. They remain that way until the computer is rebooted -- or until the monitor goes to sleep. All lights go black while the monitor sleeps. The only response I can generate is that bit-1 lights after inserting parlelport.ko. It stays lit until the computer is rebooted.

The only thing that looks suspicious is this:

$:~/dev$ make -C /usr/src/linux-source-2.6.17 M=`pwd` modules
make: Entering directory `/usr/src/linux-source-2.6.17'
CC [M] /home/sam/dev/parlelport.o
/home/sam/dev/parlelport.c:31: warning: initialization from incompatible pointer type
..

Line 31 corresponds to:
write: parlelport_write

But my parlelport_write() is the same as the tutorial's.

Any pointers?

Thanks,
Sam

I have more or less the same issue.
after booting the LED is OFF but when I remove all parport related modules, the LED gets ON and the parlelport driver does not work. If I manage to avoid parport module at boot and insmod parlelport after boot, things seems OK (I can set On or Off the LED).
I guess the parport driver when manualy unloaded (rmmod) let the chipset in a state that prevent from outputting data from the port (may in input mode in place of output mode)

I tried to force the output mode (0x37A control reg) with no success

Hi!
How did you remove lp, parport_pc, and parport ? I think i need to do this becuase i will get a device or resource busy error.

Thanks,
Leneth

Fantastic Job. You have described the driver structure in simple and best manner.
Thanks.AJ

Damn useful !!! Well done buddy :-*

Hello,

Really nice tutorial...it helped me a lot..Practical Egs are good..

Keep the good work going..

This is really nice & handy tutorial.
Can this guy give similar tutorials for GCC,Shell Scripting..? It would be really good to have such tutorials..

A really handy overview!

how we write a kernel for linux? what is code of this problem?

The tutorial has been simple, I had no idea where to start with.
This has given me a good introduction to DD programming & kernel modules.
-Arjun

I am using Fedora core 5. I could not compile the very first version of "nothing" with just licence line in it.

Here is what I got.

make -C /usr/src/linux/kernel M=`pwd` modules
make: Entering directory `/usr/src/redhat/BUILD/kernel-2.6.15/linux-2.6.15.i686/kernel'
make: *** No rule to make target `modules'. Stop.
make: Leaving directory `/usr/src/redhat/BUILD/kernel-2.6.15/linux-2.6.15.i686/kernel'

Is the procedure different for Fedora? Thanks in advance.

Its really simple and informative.....

A really interesting tutorial. A little short but the main explanations are present.
Thanks.

KirgliZ

its really excellent....
amazing...
His presentation is too good and simple....

Simply simple :)

Really good work.

You wrote so clearly and easily to understand.

This tutorial gives great confidence to develop device driver for someone who is neo in this field. Great job !!!!!!!!!!

I really like it and it's written in a very nice way, thanks! :)

Great Work Sir. Its truly helpful for begineers like us. We hope to have some more from you.

Dear sir...
its really very useful.can u elaborate the drivers on keyboard also.

Very interesting. Have never really read much about driver development. Nice work.

Is there a printable version of this article? I don't find a link to one...
Thanks.

There is no such thing as "quick" and "easy" when it comes to writing drivers. Thank you :)

P.S: great tutorial

Debian etch, is now the stable release version.

I can write a similar tutorial using LEDs if anyone is interested for DOS.

I am interested in Windows NT, please give us similar simple tutotrial for Windows NT device drivers.

Great Work.

I am really impressed the way author has presented this wonderful article..he has explained in such a simple and nice manner..

Great going..

so happy hacking..

Submitted by Anonymous visitor (not verified) on Thu, 2007-05-10 12:33.

I can write a similar tutorial using LEDs if anyone is interested for DOS.

I am interested in Windows NT, please give us similar simple tutotrial for Windows NT device drivers.

Great Work.

I'm afraid that if you are interested in Windows NT you'll have to find another magazine to make your requests to. You won't be seeing any Windows NT tutorials on this site unless they tell you how to wipe it from your computer and replace it with a nice GNU/Linux replacement.

It's amazing that you are smart enough to understand this article but yet you can't work out that no one here would want to write NT tutorials.

Hi,

Its a good tutorial, I must say. You have gracefully handled this linux device driver tutorial. It would be a great benefit to newbies ,if u can come up with futher advance topics of kernel programming in your own style of writing.

Amazing tutorial ! It made me want to develop my own driver!
For French speaking people, you can find another tutorial here: http://broux.developpez.com/articles/c/driver-c-linux/

I only wish there were more tutorials like that...

I quote above comment, an excellent article!
Congratulations and ... Thanks! :-)

The tutorial provides a nice intro to really mastering your Linux machine!

Its fantastic...!!!!!!!!!!!!!

hi,
this ia a excellent tutorial, i am using rhel5 2.6.18-8.el5
i like to learn this device driver programming but i am gating
error: linux/module.h: No such file or directory
so how to get this file. if i download this file will it work?
plz inform me princei007@yahoo.com

I'm having the same problem with ubuntu

Good job.

I have searched and read many,

Atlast I found this tutorial, its amazingly easy to get the picture of writing a driver.

thanks
by
karthi

I wrote a small application to test the parallel port and whatever data I am writting, it is getting displayed on LED array. However when I tried to use outb from driver, it is not working. I have removed lp, parport_pc, parport modules. I put some debug messages and it is showing outb is executing properly. Even /proc/ioports is showing ports are allocated for me. I am using Fedora v6. Do you have any clue on this?

Hi
help me for writng USB device driver. from where i start my work.
thanks

Good starting point for beginners. Thank you!

I'm interested both in the source code (C, Makefile) and in the article itself.

i was running away from device drivers from last 3 weeks but this tutorial made it so easy. withing 2 hrs i had the idea wat dey r nd hw to make dem work..excellent tutorial. great work.thanx a lot

I had some trouble getting the parlelport driver working on my slackware 12 2.6.21.
The problem was that ever time I boot my machine the pin 4 led would not shut off, and
all other leds could not be turned on or off by echo or lights.o. All of this was caused by modules lp,parport,and parport_pc. The solution was to comment out the lines that load the modules in /etc/rc.d/rc.modules-[kernel version here]. There pretty hard
to miss. Add the modules to /etc/modprobe.d/blacklist did not help though I did that t and it may be part of the solution.

P.S. I love this tutorial, you wrote that it was originally written in Spanish, If English is not your first language I can't tell.

The simplest, compact tutorial to anyone to jump start on the driver.

This is the best tutorial I've read on the web. And I'm not speaking only of linux device driver tutorials.

Thanks!!

Thx.
this article is very useful.
it helped me lot in understanding character driver.

but i have problem with assigning the more space to memory buffer.
even i icreased it to 10 from 1 i am able to get only last character,
why this is so?

quite a precise and well written startup material for device drivers' developers
-AB

Thanks for the excellent tutorial. However I am stuck in the position where by I must use Kernel 2.4 for the module I am working on. The driver it self has been mostly developed and I am just debugging some glitches.

I have the problem that in order to compile the module to work on the target embedded device I must be in Kernel version 2.4.20-20. Despite my efforts my network card only works in 2.4.20-8SMP and when I compile the drive in this mode it will not run on the embedded target. The solution currently is to reboot after every build into the 2.4.20-8SMP, which is not great.

I will look into fixing the network card problem but I am quit interested in learning how to compile drivers for versions of the OS not currently running (and especially in 2.4). I cannot seem to find much on the net so if anyone knows where to look or can help it would be much appreciated.

Could someone give some inside or where to find detailed info on supporting/writing drivers for dual core or multiprocessor HW with under 2.6? TIA

hello,
i'm a student of computer eng(hardware)and at the moment i'm working on a project which is about USB driver programming in linux.i use kernell 2.6.18(fedora core). i have run a simple module in it(i mean that famous hello module)but after that i tried to run some other modules such as pci modules but i faced with some problems...maybe the program it self has some problems...so...is there any persons here that has a source code of a simple usb or pci drivers?i would be really thankful for your attention.

Its really a wonderfull piece of documentation for beginners trying to deveplop Linux device drivers.

Excellent presentation. I look forward to actually building the examples.

I am using knoppix Live CD. And I don't know how to compile my modules in knoppix. If anyone can help I will be thankful.

Never seen an article describing device driver writing this simple.

Excellent article!

hi,
I'm new to linux. I'm searching for easily understandable article. I found this. ThanQ verymuch to the author.

Hello, I am new to linux, so please forgive me.
I have been able to compile and run the first two drivers in the tutorial but once I try the multi file ones i have issues the memory drive and the parlelport driver will not compile.

The lines in brackets like this one: '<'parlelport modified init module'>' ...without the '' I just have them so the brackets will show up and not be filtered.

that refrence other files I have created like the tutorial said to do are generating the
following error:
In file included from /usr/src/parport/parlelport.c:2:
/usr/src/parport/parlelport init module: In function ‘parlelport_init’:
/usr/src/parport/parlelport init module:14: error: expected expression before ‘<’ token

I have literally copied and pasted the example code... what am I missing?

I am using UBUNTU
Thanks

Hi,

I _urge_ you to ask the same question in the Ubuntu Forums ( http://ubuntuforums.org/ ). They are fantastic, and will definitely help you!

Bye,

Merc.

Hi, thank you for your article, it's great. I compiled them and work ok on Ubuntu:
obj-m += parlelport.o

all:
make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules

clean:
make -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean

However, I installed them on Iliad tablet, it said different architecture(it bases on ARM architecture). Could you show me how to these drivers for Iliad tablet?

Once again, thank you very much.

Hello to everybody,

I have read the script to Linux driver. I would like to know how one makes the circuit LEDs.

Many greetings

Azad

Hi...

I tried the parallel port driver .. but ... I am having some problems...

1. I dont see 0378 memory allocated to my module with cat /proc/ioports command. (I dont see memory location 0378 in the list)
2. I cant see the state of the port with cat /dev/parlel_port
3. When I remove my module .. I get a message in the log "Trying to free nonexistant resource 0000000378-00000000378" ... (No error message is logged during insmod)

Athough I did remove parport and parport_pc module... (I was unable to load my module without unloading these modules)

If someone knows how to fix it.. please post a reply here..

Thanx in advance

Firstly, let me say...this is an awesome tutorial but the only thing missing out here is an elaborate procedure to unload the driver which is present by default on all systems having a parallel port. For some reason rmmod/modprobe did not work out here and the solution as someone has pointed out in one of the earlier comments is to modify the startup scipt to NOT load the parallel port driver at startup. In Ubuntu, I used the following steps to unload the driver during startup and now it works brilliantly:

Steps to unload paralel port driver:
1. Make the following changes in the /etc/rc1.d :
K80cups: modprobe -q lp || true
K80cups: modprobe -q ppdev || true
Uncomment the above 2 lines of the scripts
2. Make the following changes in the /etc/rc2.d :
S50cups: modprobe -q ppdev || true
S50cups: modprobe -q lp || true
Uncomment the above 2 lines of the scripts
3. Add the following lines to the file /etc/modprobe.d/blacklist.conf:
blacklist ppdev
blacklist parport_pc
blacklist parport
blacklist lp
Restart PC at this point
4. Unload the remaining modules manually using rmmod (if any)
5. Follow remaining instructions given in the tutorial
6. Load custom module (sudo insmod parlelport.ko)

Hope this helps...

Courtesy: Redmond who has posted one of the earlier comment

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