Xenomai3驱动程序:
驱动C文件:  自定义Mydriver.c,用于xenomai内核设备驱动相关
原始源文件路径:xenomai3.x\kernel\drivers\testing\rtdmtest.c
相关函数解析:
 
static int __init rtdm_test_init(void){
  #Todo初始化模块工作,可同时打开多个设备
}
 
static void __exit rtdm_test_exit(void)
{
  #Todo退出模块工作
}
 
static struct rtdm_driver rtdm_basic_driver = {
	.profile_info		= RTDM_PROFILE_INFO(rtdm_test_basic, //在proc/devices/查看的设备
						    RTDM_CLASS_TESTING,
						    RTDM_SUBCLASS_RTDMTEST,
						    RTTST_PROFILE_VER),
	.device_flags		= RTDM_NAMED_DEVICE | RTDM_EXCLUSIVE,
	.device_count		= 2,
	.context_size		= sizeof(struct rtdm_basic_context),
	.ops = {    //相关操作函数定义
		.open		= rtdm_basic_open,
		.close		= rtdm_basic_close,
		.write_rt	= rtdm_basic_write_rt,
		.ioctl_rt	= rtdm_basic_ioctl_rt,
		.ioctl_nrt	= rtdm_basic_ioctl_nrt,
	},
};
 
static struct rtdm_device device[3] = {
	[0 ... 1] = {
		.driver = &rtdm_basic_driver,
		.label = "rtdm%d", //作为打开的设备名%d=1,2
	},
	[2] = {
		.driver = &rtdm_actor_driver,
		.label = "rtdmx", //设备打开的名字为rtdmx
	}
};
 
 
rtdm_dev_register(device);   #注册设备
rtdm_dev_unregister( device ); #反注册设备
 
可以同时注册,反注册多个设备,设备数量在结构体rtdm_driver的成员device_count定义
 
module_init(rtdm_test_init);  #定义模块初始接口函数
module_exit(rtdm_test_exit);  #定义模块卸载接口函数
 
安装模块指令 insmod xxx.ko , 卸载模块指令 rmmod xxx  #xxx为生成的ko模块名称
dmesg -T 指令用于显示printk 内核日志打印
 
###################################################################
 
  用户端调用相关的xenomai-api函数 (部分代码解析)
   int devFd ;
   #define DEIVICE_NAME "rtdm1"  //定义相应的设备名称,对应上面device结构体的label
   devFd = rt_dev_open(DEVICE_NAME, 0); //xeno2.x 位置<trank/rtdm/rtdm.h>
   devFd = rtdm_open(DEVICE_NAME, 0); //xeno3.x 位置<cobalt/kernerl/rtdm/rtdm.h>
   #设备读写函数
   rt_dev_write,rt_dev_read;  //原型位置<trank/rtdm/rtdm.h>
   rtdm_write,rtdm_read;  //原型位置<cobalt/kernerl/rtdm/rtdm.h>
 
############################################################
## 内核程序 Makefile
 
#may be need this define empty
CONFIG_STACK_VALIDATION=
 
KERNELDIR ?= /lib/modules/$(shell uname -r)/build
 
obj-m += rtdmtest.o
 
all: modules
 
modules:
	$(MAKE) -C $(KERNELDIR) M=$(shell pwd) modules
 
modules_install:
	$(MAKE) -C $(KERNELDIR) M=$(shell pwd) modules_install
 
clean:
	$(MAKE) -C $(KERNELDIR) M=$(shell pwd) modules clean
 
 
#############################################################
## -------   用户端程序Makefile -------------
###### CONFIGURATION ######
 
### List of applications to be build
APPLICATIONS = mydrivertest
 
### Note: to override the search path for the xeno-config script, use "make XENO=..."
 
###### USER SPACE BUILD (no change required normally) ######
ifneq ($(APPLICATIONS),)
 
### Default Xenomai installation path
XENO ?= /usr/xenomai
 
XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null)
 
### Sanity check
ifeq ($(XENOCONFIG),)
all::
        @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<"
        @echo
endif
 
 
CC=$(shell $(XENOCONFIG) --cc) 
 
CFLAGS=$(shell $(XENOCONFIG) --skin=native --cflags) $(MY_CFLAGS)
 
LDFLAGS=$(MY_LDFLAGS) 
LDLIBS=$(shell $(XENOCONFIG) --skin=native --ldflags) \
        $(shell $(XENOCONFIG) --skin=rtdm --ldflags --no-auto-init)
 
# This includes the library path of given Xenomai into the binary to make live
# easier for beginners if Xenomai's libs are not in any default search path.
LDFLAGS+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir) 
all:: $(APPLICATIONS)
clean::
	$(RM) $(APPLICATIONS) *.o
endif
########################################################
# 若make出现** No rule to make target 'tools/objtool/objtool' , 
# 在可添加make CONFIG_STACK_VALIDATION= 来编译.
#######################################################
变量解析：
rtdm_driver结构体中的  devie_flags
RTDM_NAMED_DEVICE     通过名称做设备寻找
RTDM_EXCLUSIVE  设备独占
RTDM_PROTOCOL_DEVICE   通过协议ID，SocketType 寻址
C知识引申:
//在#define中，标准只定义了#和##两种操作。
//#用来把参数转换成字符串，##则用来连接两个前后两个参数，把它们变成一个字符串。
#define Conn(x,y)    x##y   //连接x,y
#define ToChar(x)    #@x    //加单引号
#define ToString(x)  #x     //加双引号