246 lines
6.9 KiB
C
246 lines
6.9 KiB
C
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#include <linux/module.h>
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#include <linux/init.h>
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#include <linux/kernel.h>
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#include <linux/sched.h>
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#include <linux/cdev.h>
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#include <linux/fs.h>
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#include <linux/wait.h>
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#include <linux/errno.h>
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#include <linux/slab.h>
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#include <linux/uaccess.h>
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#include <linux/device.h>
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#include <linux/io.h>
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#include <linux/platform_device.h>
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#include <linux/of.h>
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#include <linux/of_address.h>
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//宏定义
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#define SMPLRT_DIV 0x19
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#define CONFIG 0x1A
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#define GYRO_CONFIG 0x1B
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#define ACCEL_CONFIG 0x1C
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#define ACCEL_XOUT_H 0x3B
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#define ACCEL_XOUT_L 0x3C
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#define ACCEL_YOUT_H 0x3D
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#define ACCEL_YOUT_L 0x3E
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#define ACCEL_ZOUT_H 0x3F
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#define ACCEL_ZOUT_L 0x40
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#define TEMP_OUT_H 0x41
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#define TEMP_OUT_L 0x42
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#define GYRO_XOUT_H 0x43
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#define GYRO_XOUT_L 0x44
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#define GYRO_YOUT_H 0x45
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#define GYRO_YOUT_L 0x46
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#define GYRO_ZOUT_H 0x47
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#define GYRO_ZOUT_L 0x48
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#define PWR_MGMT_1 0x6B
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#define WHO_AM_I 0x75
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#define SlaveAddress 0xD0
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#define Address 0x68 //MPU6050地址
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#define I2C_RETRIES 0x0701
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#define I2C_TIMEOUT 0x0702
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#define I2C_SLAVE 0x0703 //IIC从器件的地址设置
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#define I2C_BUS_MODE 0x0780
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static struct mpu6050_dev{
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struct cdev c_dev;
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dev_t devno;
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struct class *class;
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struct device *device;
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struct i2c_client *client;
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};
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static int i2c_write_mpu6050(struct i2c_client *mpu6050_client, u8 address, u8 data)
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{
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int error = 0;
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u8 write_data[2];
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struct i2c_msg send_msg; //要发送的数据结构体
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/*设置要发送的数据*/
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write_data[0] = address;
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write_data[1] = data;
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/*发送 iic要写入的地址 reg*/
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send_msg.addr = mpu6050_client->addr; //mpu6050在 iic 总线上的地址
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send_msg.flags = 0; //标记为发送数据
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send_msg.buf = write_data; //写入的首地址
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send_msg.len = 2; //reg长度
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/*执行发送*/
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error = i2c_transfer(mpu6050_client->adapter, &send_msg, 1);
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if (error != 1)
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{
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pr_err("\n i2c_transfer error \n");
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return -1;
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}
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return 0;
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}
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static int i2c_read_mpu6050(struct i2c_client *mpu6050_client, u8 address, void *data, u32 length)
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{
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return 0;
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}
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static int mpu6050_init(struct i2c_client *mpu6050_client)
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{
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int error = 0;
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/*配置mpu6050*/
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error += i2c_write_mpu6050(mpu6050_client, PWR_MGMT_1, 0X00);
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error += i2c_write_mpu6050(mpu6050_client, SMPLRT_DIV, 0X07);
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error += i2c_write_mpu6050(mpu6050_client, CONFIG, 0X06);
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error += i2c_write_mpu6050(mpu6050_client, ACCEL_CONFIG, 0X01);
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if (error < 0)
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{
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/*初始化错误*/
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pr_err("\n mpu6050_init error \n");
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return -1;
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}
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return 0;
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}
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/*字符设备操作函数集，open函数实现*/
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static int mpu6050_open(struct inode *inode, struct file *filp)
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{
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struct mpu6050_dev *mpu = NULL;
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mpu = container_of(inode->i_cdev, struct mpu6050_dev, c_dev);
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filp->private_data = mpu;
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return mpu6050_init(mpu);
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}
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/*字符设备操作函数集，.read函数实现*/
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static ssize_t mpu6050_read(struct file *filp, char __user *buf, size_t cnt, loff_t *off)
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{
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return 0;
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}
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/*字符设备操作函数集，.release函数实现*/
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static int mpu6050_release(struct inode *inode, struct file *filp)
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{
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return 0;
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}
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/*字符设备操作函数集*/
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static struct file_operations mpu6050_chr_dev_fops =
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{
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.owner = THIS_MODULE,
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.open = mpu6050_open,
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.read = mpu6050_read,
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.release = mpu6050_release,
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};
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static struct mpu6050_dev mpu6050dev;
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/*i2c总线设备函数集*/
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static int mpu6050_probe(struct i2c_client *client, const struct i2c_device_id *id)
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{
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int ret = 0;
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ret = alloc_chrdev_region(&(mpu6050dev.devno),0,1,"mpu6050");
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if(ret < 0){
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pr_err("chrdev alloc region failed\n");
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return ret;
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}
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pr_info("devno is %u(major:%u,minor:%u)\n",mpu6050dev.devno,MAJOR(mpu6050dev.devno), MINOR(mpu6050dev.devno));
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cdev_init(&mpu6050dev.c_dev, &mpu6050_chr_dev_fops);
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mpu6050dev.c_dev.owner = THIS_MODULE;
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ret = cdev_add(&mpu6050dev.c_dev, mpu6050dev.devno, 1);
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if(ret < 0){
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pr_err("chrdev add failed\n");
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goto cdev_add_err;
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}
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ret = class_create(THIS_MODULE, "mpu_class");
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if(IS_ERR(ret))
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{
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pr_err("create class faild!/n");
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goto class_create_err;
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}
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mpu6050dev.class = ret;
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ret = device_create(mpu6050dev.class,NULL,devno,NULL,"mpu6050");
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if(IS_ERR(ret))
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{
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pr_err("device_create failed\n");
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goto device_create_err;
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}
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mpu6050dev.device = ret;
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mpu6050dev.client = client;
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return 0;
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device_create_err:
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class_destroy(mpu6050dev.class);
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class_create_err:
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cdev_del(&mpu6050dev.c_dev);
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cdev_add_err:
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unregister_chrdev_region(mpu6050dev.devno, 1);
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return ret;
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}
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static int mpu6050_remove(struct i2c_client *client)
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{
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device_destroy(mpu6050dev.class, mpu6050dev.device);
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class_destroy(mpu6050dev.class);
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cdev_del(&mpu6050dev.c_dev);
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unregister_chrdev_region(mpu6050dev.devno, 1);
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return 0;
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}
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/*定义ID 匹配表*/
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static const struct i2c_device_id gtp_device_id[] = {
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{"fire,i2c_mpu6050", 0},
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{}};
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/*定义设备树匹配表*/
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static const struct of_device_id mpu6050_of_match_table[] = {
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{.compatible = "fire,i2c_mpu6050"},
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{/* sentinel */}};
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/*定义i2c总线设备结构体*/
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struct i2c_driver mpu6050_driver = {
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.probe = mpu6050_probe,
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.remove = mpu6050_remove,
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.id_table = gtp_device_id,
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.driver = {
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.name = "fire,i2c_mpu6050",
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.owner = THIS_MODULE,
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.of_match_table = mpu6050_of_match_table,
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},
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};
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/*
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* 驱动初始化函数
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*/
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static int __init mpu6050_driver_init(void)
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{
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int ret;
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pr_info("mpu6050_driver_init\n");
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ret = i2c_add_driver(&mpu6050_driver);
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return 0;
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}
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/*
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* 驱动注销函数
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*/
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static void __exit mpu6050_driver_exit(void)
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{
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pr_info("mpu6050_driver_exit\n");
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i2c_del_driver(&mpu6050_driver);
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}
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module_init(mpu6050_driver_init);
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module_exit(mpu6050_driver_exit);
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MODULE_LICENSE("GPL");
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