# xenomai-udd-example

**Repository Path**: wsg1100/xenomai-udd-example

## Basic Information

- **Project Name**: xenomai-udd-example
- **Description**: xenomai用户态驱动示例
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2022-08-22
- **Last Updated**: 2025-09-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

This project provides a User-space Device Driver (UDD) implementation for OMAP3 GPIO peripherals, enabling user-space access to GPIO functionalities in a Xenomai real-time environment. It includes both kernel modules and user-space libraries to control General Purpose Input/Output pins on OMAP-based platforms like the AM33XX series.

## Overview

The repository contains the following components:

- **Kernel Module (`kernel/gpio-udd-omap.c`)**: Implements the kernel-side driver for OMAP GPIO, registering the device and handling low-level interactions with the hardware.
- **User-Space Implementation (`user/`)**: Provides a library for user-space GPIO manipulation, including functions for setting directions, reading and writing GPIO values, and managing GPIO pins.
- **Main Application (`user/main.c`)**: Demonstrates usage of the GPIO library with basic thread management and signal handling.

## Features

- Full integration with Xenomai for real-time GPIO control.
- Support for multiple GPIO banks (GPIO0 to GPIO3).
- User-friendly API for GPIO operations such as setting direction, reading, and writing values.
- Thread-safe operations with signal handling for graceful termination.

## Usage

To use this driver:

1. Load the kernel module:
   ```bash
   insmod gpio-udd-omap.ko
   ```

2. Compile and run the user-space application:
   ```bash
   gcc -o gpio_app main.c udd_omap_gpio.c -lpthread
   ./gpio_app
   ```

3. Use the provided functions to control GPIO pins in your application.

## Functions

The `udd_omap_gpio.h` header provides the following functions:

- `gpio_request()`: Requests control of a GPIO pin.
- `gpio_free()`: Releases a GPIO pin.
- `gpio_direction_input()`: Sets a GPIO pin as input.
- `gpio_direction_output()`: Sets a GPIO pin as output.
- `gpio_get()`: Reads the value of a GPIO pin.
- `gpio_set()`: Sets a GPIO pin high.
- `gpio_clr()`: Clears (sets low) a GPIO pin.
- `gpio_set_value()`: Sets the value (high/low) of a GPIO pin.

## License

This project is licensed under the GNU General Public License (GPL). See the official repository for full license details.