一、spi驱动框架
1、裸机spi驱动框架
首先编写 spi 控制器驱动，bsp_spi.c 和 bsp_spi.h。向外提供读写api：spich0_readwrite_bye
spi 具体芯片驱动：ICM20608
2、linux下的 spi 驱动框架
主机控制器驱动：soc 的 spi 外设驱动，此驱动是半导体原厂编写好的，为 spi-imx.c
当 spi 控制器的设备和驱动匹配以后， spi_imx_probe 函数就会执行，完善 imx6ul 的 spi控制器驱动。
spi控制器驱动的核心就是 struct spi_master 的构建， struct spi_master 里面就有如何通过 spi控制器 和 spi外设 进行通信的函数。此函数是原厂编写并提供给我们（spi_master->transfer 函数 或者 spi_master->transfer_one_message 函数）
看原理图外设，找设备树节点，根据节点的compatible属性值找对应的驱动文件。
struct spi_imx_data 结构体，nxp用来表示 spi 外设设备结构体。定义在 spi-imx.c 中。重点关注其成员结构体 struct bitbang，成员函数 tx 和 rx。
结构体 struct bitbang 重点关注其成员结构体 struct spi_master，成员函数 setup_transfer。
struct spi_imx_data -> struct bitbang -> struct spi_master -> setup_transfer
-> txrx_bufs
核心是 spi_master 结构体，
此结构体通过 spi_alloc_master 函数来申请，附带把 struct spi_imx_data 的内存空间一起申请了。
初始化，
注册， spi_register_master
注销， spi_unregister_master
释放结构体通过 spi_master_put 函数
分析 spi_imx_probe 函数，定义在 spi-imx.c
若设备树中使用属性名 cs-gpios ，表示默认使用硬件片选，本此实验使用软件片选。因此设备树中不能用这个属性名。
函数 spi_imx_setupxfer 中设置 struct spi_imx_data 的 tx，rx成员函数。
spi_imx->rx = spi_imx_buf_rx_u8; /*最终的spi接收函数*/
spi_imx->tx = spi_imx_buf_tx_u8; /*最终的spi发送函数*/
spi_imx->devtype_data->config(spi_imx, &config); 对应的函数时 mx51_ecspi_config，显然是配置 ecspi 即 6ull 的 spi控制器的寄存器。
由 spi_imx->devtype_data = of_id ? of_id->data : (struct spi_imx_devtype_data *) pdev->id_entry->driver_data; 设置而来。
接着看看 spi_imx->bitbang 下面的 成员函数 txrx_bufs ，即 spi_imx_transfer函数
spi_imx_transfer
-> spi_imx_pio_transfer
-> spi_imx_push
-> spi_imx->tx 来完成发送
没有接收是因为开发板上的spi接收是通过中断来完成的。
probe函数接下来会获取中断号，申请中断，注册中断处理函数（spi_imx_isr）。
spi_imx_isr
spi_imx->rx 来完成接收
dma 本次实验不使用
最终 spi_bitbang_start函数（注意bitbang结构体里面有个成员变量就是spi核心结构体spi_master）
spi_bitbang_start
-> 设置 master->transfer_one_message = spi_bitbang_transfer_one;
-> spi_register_master（向系统注册 spi_master 核心结构体）
下面再来看看 spi_bitbang_transfer_one 函数：里面通过 bitbang->txrx_bufs 来发送数据。上面由此函数的分析。最终还是调用 spi_imx->tx 即 spi_imx_buf_tx_u8。
总结：设置 spi_master 的 transfer_one_message 为 spi_bitbang_transfer_one
4、spi设备驱动
spi设备驱动就是具体的spi芯片驱动，比如 icm20608。
spi_device：定义在 spi.h ，此结构体下都有一个 struct spi_master。每个 spi 设备都挂载在一个 spi 控制器上。如 icm20608 挂载到了 6ull 的 ecspi3 接口上。
因为采用了设备树，不需要我们自己去创建 spi_device，在设备树里完成解析。
因此重点就是 spi_driver。类似于 i2c_driver。
申请或者定义一个 spi_driver；
初始化 spi_driver 中的各个成员变量；
初始化 spi_driver 成功以后需要向内核注册，使用函数：spi_register_driver
需要注销 spi_driver 时使用函数：spi_unregister_driver
当 spi 设备和驱动匹配以后，spi_driver 下的 probe 函数会执行。
二、驱动编写
1、修改设备树
1、添加 io 相关信息，参考原理图，使用 2，3，5，4 这四个 io。
整理如下：
ECSPI3_SS0 — UART2_TXD
ECSPI3_SCLK — UART2_RXD
ECSPI3_MOSI — UART2_CTS
ECSPI3_MISO — UART2_RTS
片选信号不作为硬件片选，而是作为普通的gpio，在程序中自行控制片选引脚。
添加 pinctrl 节点时要注意防止冲突（重复）
在 iomuxc 节点的子节点 imx6ul-evk 下 添加一个子节点：
pinctrl_ecspi3: ecspi3grp {
fsl,pins = <
/*pinxuanyingjiao caiyong ruanjiankongzhi,yinci cichu zuowei gpio*/
MX6UL_PAD_UART2_TX_DATA__GPIO1_IO20 0x10b0
MX6UL_PAD_UART2_RX_DATA__ECSPI3_SCLK 0x10b1
MX6UL_PAD_UART2_CTS_B__ECSPI3_MOSI 0x10b1
MX6UL_PAD_UART2_RTS_B__ECSPI3_MISO 0x10b1
>;
};
2、在 ecspi3节点下追加一些属性，并在 ecspi3节点下创建 icm20608 子节点。参考绑定文档：fsl-imx-cspi.txt，获取属性和值的含义
&ecspi3 {
/*pianxuan xinhao de shuliang wei 1*/
fsl,spi-num-chipselects = <1>;
/*zhiding de shi yingjian panxuan yinjiao*/
/* cs-gpios = <&gpio4 9 0>;*/
/*womenshiyong ruanjian kongzhi pianxuan,gaigemingzi
shezhi ruanjian pianxuan yinjiao, didianping youxiao*/
cs-gpio = <&gpio1 20 GPIO_ACTIVE_LOW>;
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_ecspi3>;
status = "okay";
/* guazai zai ecspi3 shang de shebei zijiedian
cankao bangding wendang spi-bus.c
@ houmian de 0 biaoshi ci spi xinpian jiedao nage yingjian pianxuan shang
0 jiushi jiedao pianxuan 0,ruoyouduoge shebei guazaizai ci kongzhiqi xia
xiayige pianxuandizhi yinggai wei 1,2,3 ...
dan benci shiyong de shi ruan jian pianxuan ,suoyi yongbudao '@0'*/
spidev0: icm20608@0 {
/*xiamian lianghang zuoyong yu ziji de zijiedian*/
#address-cells = <1>;
#size-cells = <1>;
reg = <0>;
compatible = "alientek,icm20608";
/*spi shizhong pinlv*/
spi-max-frequency = <8000000>;
};
};
重启开发板，以新的设备树启动：
/sys/bus/spi #
/sys/bus/spi #
/sys/bus/spi # cd devices/spi2.0/
/sys/devices/platform/soc/2000000.aips-bus/2000000.spba-bus/2010000.ecspi/spi_master/spi2/spi2.0 #
/sys/devices/platform/soc/2000000.aips-bus/2000000.spba-bus/2010000.ecspi/spi_master/spi2/spi2.0 #
/sys/devices/platform/soc/2000000.aips-bus/2000000.spba-bus/2010000.ecspi/spi_master/spi2/spi2.0 #
/sys/devices/platform/soc/2000000.aips-bus/2000000.spba-bus/2010000.ecspi/spi_master/spi2/spi2.0 #
/sys/devices/platform/soc/2000000.aips-bus/2000000.spba-bus/2010000.ecspi/spi_master/spi2/spi2.0 # cd of_node/
/sys/firmware/devicetree/base/soc/aips-bus@02000000/spba-bus@02000000/ecspi@02010000/icm20608@0 #
如下列表中的属性与新设备树中的节点内容一致
/sys/firmware/devicetree/base/soc/aips-bus@02000000/spba-bus@02000000/ecspi@02010000/icm20608@0 # ls
#address-cells compatible reg
#size-cells name spi-max-frequency
/sys/firmware/devicetree/base/soc/aips-bus@02000000/spba-bus@02000000/ecspi@02010000/icm20608@0 #
如下 02010000 与 dtsi 中 ecspi节点的 控制器地址 一致
/sys/firmware/devicetree/base/soc/aips-bus@02000000/spba-bus@02000000/ecspi@02010000/icm20608@0 #
/sys/firmware/devicetree/base/soc/aips-bus@02000000/spba-bus@02000000/ecspi@02010000/icm20608@0 # cat name
icm20608/sys/firmware/devicetree/base/soc/aips-bus@02000000/spba-bus@02000000/ecspi@02010000/icm20608@0 #
/sys/firmware/devicetree/base/soc/aips-bus@02000000/spba-bus@02000000/ecspi@02010000/icm20608@0 # cat compatible
alientek,icm20608/sys/firmware/devicetree/base/soc/aips-bus@02000000/spba-bus@02000000/ecspi@02010000/icm20608@0 #
3、需要初始化 icm20608芯片，然后从里面读取原始数据。
这个过程需要用到如何使用 linux kernel 的 spi驱动 api 来读取 icm20608 。
用到两个重要的结构体：spi_transfer 和 spi_message
spi_transfer 用来构建收发数据内容。
构建 spi_transfer ，然后将其打包到 spi_message 里面；
需要使用：spi_message_init 初始化 spi_message，然后再使用 spi_message_add_tail 将 spi_transfer 打包到 spi_message 里面。最后使用 spi_sync 或者 spi_async 来发送数据。
#include<linux/module.h>
#include<linux/kernel.h>
#include<linux/init.h>
#include <linux/fs.h>
#include<linux/slab.h>
#include<linux/io.h>
#include<linux/uaccess.h>
#include<linux/cdev.h>
#include<linux/device.h>
#include<linux/of.h>
#include<linux/of_address.h>
#include<linux/of_irq.h>
#include<linux/gpio.h>
#include<linux/of_gpio.h>
#include<linux/atomic.h>
#include<linux/timer.h>
#include<linux/string.h>
#include<linux/jiffies.h>
#include<linux/irq.h>
#include<asm/mach/map.h>
#include<asm/uaccess.h>
#include<asm/io.h>
#include<linux/interrupt.h>
#include<linux/delay.h>
#include<linux/spi/spi.h>
#include"icm20608reg.h"
#define ICM20608_CNT 1
#define ICM20608_NAME "icm20608"
#define USE_KERNEL_API
#ifdef USE_KERNEL_API
static inline int
spi_read(struct spi_device *spi, void *buf, size_t len);
static inline int
spi_write(struct spi_device *spi, const void *buf, size_t len);
#endif
//#define READ_USE_KERNEL_API
static int icm20608_probe(struct spi_device *spi);
static int icm20608_remove(struct spi_device *spi);
static int icm20608_open(struct inode *inode, struct file *filp);
static ssize_t icm20608_read(struct file *filp,
char __user *buf,
size_t cnt,
loff_t *offt);
static int icm20608_release(struct inode *inode, struct file *filp);
/*chuantongde pipeibiao*/
static struct spi_device_id icm20608_id[] = {
{"alientek,icm20608", 0}, /*0biaoshi shenme yisi?*/
{},
};
/*shebeishu pipei */
static struct of_device_id icm20608_of_match[] = {
{.compatible = "alientek,icm20608"},
{},
};
/* i2c_driver jiegouti*/
static struct spi_driver icm20608_driver = {
.probe = icm20608_probe,
.remove = icm20608_remove,
.driver = {
.name = "icm20608",
.owner = THIS_MODULE,
.of_match_table = icm20608_of_match,
},
.id_table = icm20608_id,
};
static struct file_operations icm20608_fops = {
.owner = THIS_MODULE,
.open = icm20608_open,
.read = icm20608_read,
.release = icm20608_release,
};
/*zhuyi zheli meiyou static*/
struct icm20608_dev {
int major;
int minor;
dev_t devid;
struct cdev cdev;
/*zhuyi zheliangge shi zhizhen*/
struct class *class;
struct device *device;
/*gaoyige siyouzhizhen*/
void *private_data; /* 私有数据 */
struct device_node *nd;
int cs_gpio; /* 片选所使用的GPIO编号 */
signed int gyro_x_adc; /* 陀螺仪X轴原始值 */
signed int gyro_y_adc; /* 陀螺仪Y轴原始值 */
signed int gyro_z_adc; /* 陀螺仪Z轴原始值 */
signed int accel_x_adc; /* 加速度计X轴原始值 */
signed int accel_y_adc; /* 加速度计Y轴原始值 */
signed int accel_z_adc; /* 加速度计Z轴原始值 */
signed int temp_adc; /* 温度原始值 */
};
static struct icm20608_dev icm20608;
static int icm20608_read_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len);
static int icm20608_write_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len);
static u8 icm20608_read_reg(struct icm20608_dev *dev, u8 reg);
static void icm20608_write_reg(struct icm20608_dev *dev,u8 reg, u8 val);
void icm20608_dev_init(struct icm20608_dev *dev);
void icm20608_readdata(struct icm20608_dev *dev);
static int icm20608_probe(struct spi_device *spi) {
int ret = 0;
printk("%s(%d):\n", __FILE__, __LINE__);
/*you xitong lai fenpei zhushebeihao*/
icm20608.major = 0;
if (icm20608.major) { /* 定义了设备号 */
icm20608.devid = MKDEV(icm20608.major, 0);
register_chrdev_region(icm20608.devid, ICM20608_CNT, ICM20608_NAME);
} else { /* 没有定义设备号 */
ret = alloc_chrdev_region(&icm20608.devid, 0, ICM20608_CNT, ICM20608_NAME); /* 申请设备号 */
icm20608.major = MAJOR(icm20608.devid); /* 获取分配号的主设备号 */
icm20608.minor = MINOR(icm20608.devid); /* 获取分配号的次设备号 */
}
if(ret < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
goto fail_devid;
}
printk("icm20608 major=%d,minor=%d\r\n",icm20608.major, icm20608.minor);
/* 2、初始化cdev */
icm20608.cdev.owner = THIS_MODULE;
cdev_init(&icm20608.cdev, &icm20608_fops);
ret = cdev_add(&icm20608.cdev, icm20608.devid, ICM20608_CNT);
if(ret < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
goto fail_cdev;
}
/* 3、创建类 */
icm20608.class = class_create(THIS_MODULE, ICM20608_NAME);
if (IS_ERR(icm20608.class)) {
ret = PTR_ERR(icm20608.class);
printk("%s(%d):error\n", __FILE__, __LINE__);
goto fail_class;
}
/* 5、创建设备 */
icm20608.device = device_create(icm20608.class, NULL, icm20608.devid, NULL, ICM20608_NAME);
if (IS_ERR(icm20608.device)) {
ret = PTR_ERR(icm20608.device);
printk("%s(%d):error\n", __FILE__, __LINE__);
goto fail_device;
}
/* huoqu pianxuan yinjiao
* keyi cong benhanshu de chuanrucanshu huoqu
* yaoqueding cijiedian duiying shebeishu zhong
* nage jiedian
* yao youcijiedian huoqu qi fujiedian
*/
icm20608.nd = of_get_parent(spi->dev.of_node);
/*huouq pianxuan shuxing */
icm20608.cs_gpio = of_get_named_gpio(icm20608.nd, "cs-gpio", 0);
if(icm20608.cs_gpio < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
ret = -1;
goto fail_gpio;
}
/*shengqing gpio*/
ret = gpio_request(icm20608.cs_gpio, "cs");/*yao ziji jiashang panduan chenggong yufou*/
if(ret < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
}
/*moren gei ge gaodianping*/
ret = gpio_direction_output(icm20608.cs_gpio, 1);
if(ret < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
}
/*chushihua spi_device jiegouti*/
spi->mode = SPI_MODE_0;//shezhi spi gongzuo moshi
spi_setup(spi);
/*shei zhi jiegouti de siyoushuju wei probe hanshu de chuanru canshu */
icm20608.private_data = spi;
icm20608_dev_init(&icm20608);
return 0;
fail_gpio:
fail_device:
class_destroy(icm20608.class);
fail_class:
cdev_del(&icm20608.cdev);
fail_cdev:
unregister_chrdev_region(icm20608.devid, ICM20608_CNT);
fail_devid:
return ret;
}
static int icm20608_remove(struct spi_device *spi) {
printk("%s(%d):\n", __FILE__, __LINE__);
/* 注销字符设备驱动,删除cdev */
cdev_del(&icm20608.cdev);
/* 注销设备号 */
unregister_chrdev_region(icm20608.devid, ICM20608_CNT);
device_destroy(icm20608.class, icm20608.devid);
class_destroy(icm20608.class);
//shifang gpio
gpio_free(icm20608.cs_gpio);
return 0;
}
/*zai cihanshu zhong chushihua icm20608*/
static int icm20608_open(struct inode *inode, struct file *filp)
{
filp->private_data = &icm20608; /* 设置私有数据 */
return 0;
}
/*
* @description : 从设备读取数据
* @param - filp : 要打开的设备文件(文件描述符)
* @param - buf : 返回给用户空间的数据缓冲区
* @param - cnt : 要读取的数据长度
* @param - offt : 相对于文件首地址的偏移
* @return : 读取的字节数，如果为负值，表示读取失败
*/
static ssize_t icm20608_read(struct file *filp,
char __user *buf,
size_t cnt,
loff_t *offt)
{
signed int data[7];
long err = 0;
struct icm20608_dev *dev = (struct icm20608_dev *)filp->private_data;
icm20608_readdata(dev);
data[0] = dev->gyro_x_adc;
data[1] = dev->gyro_y_adc;
data[2] = dev->gyro_z_adc;
data[3] = dev->accel_x_adc;
data[4] = dev->accel_y_adc;
data[5] = dev->accel_z_adc;
data[6] = dev->temp_adc;
err = copy_to_user(buf, data, sizeof(data));
return 0;
}
static int icm20608_release(struct inode *inode, struct file *filp)
{
//struct icm20608_dev *dev = (struct icm20608_dev* )filp->private_data;
printk("%s(%d):\n", __FILE__, __LINE__);
return 0;
}
/* icm 20608 chushihua
* ruhetongguo spi lai caozuo
* waibuspi xinpian
* xuyao spi dujici qi he
* spi xiejicunqi caozuo hanshu
*/
void icm20608_dev_init(struct icm20608_dev *dev) {
u8 val = 0;
icm20608_write_reg(dev, ICM20_PWR_MGMT_1, 0x80); /* 复位，复位后为0x40,睡眠模式 */
mdelay(50);
icm20608_write_reg(dev, ICM20_PWR_MGMT_1, 0x01); /* 关闭睡眠，自动选择时钟 */
mdelay(50);
val = icm20608_read_reg(dev, ICM20_WHO_AM_I);
printk("icm20608 id = %#X\r\n", val);
if(val != ICM20608G_ID && val != ICM20608D_ID){
printk("%s(%d):error.\n", __FILE__, __LINE__);
}
val = icm20608_read_reg(dev, ICM20_PWR_MGMT_1);
printk("ICM20_PWR_MGMT_1 = %#X\r\n", val);
icm20608_write_reg(&icm20608, ICM20_SMPLRT_DIV, 0x00); /* 输出速率是内部采样率 */
icm20608_write_reg(&icm20608, ICM20_GYRO_CONFIG, 0x18); /* 陀螺仪±2000dps量程 */
icm20608_write_reg(&icm20608, ICM20_ACCEL_CONFIG, 0x18); /* 加速度计±16G量程 */
icm20608_write_reg(&icm20608, ICM20_CONFIG, 0x04); /* 陀螺仪低通滤波BW=20Hz */
icm20608_write_reg(&icm20608, ICM20_ACCEL_CONFIG2, 0x04); /* 加速度计低通滤波BW=21.2Hz */
icm20608_write_reg(&icm20608, ICM20_PWR_MGMT_2, 0x00); /* 打开加速度计和陀螺仪所有轴 */
icm20608_write_reg(&icm20608, ICM20_LP_MODE_CFG, 0x00); /* 关闭低功耗 */
icm20608_write_reg(&icm20608, ICM20_FIFO_EN, 0x00); /* 关闭FIFO */
}
#ifdef USE_KERNEL_API
static int icm20608_read_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len) {
u8 data = 0;
int ret = 0;
/*spi shi shebeishu jiexi erlai ,zainaliguanlian?*/
struct spi_device *spi = dev->private_data;
/*pianxuan ladi*/
gpio_set_value(dev->cs_gpio, 0);
//1 fasong yaoduqu de jicunqi dizhi,qie dizhi zuigaowei yao zhi 1
data = reg | 0x80;
spi_write(spi, &data, 1);
//2
ret = spi_read(spi, buf, len);
/*pianxuan lagao*/
gpio_set_value(dev->cs_gpio, 1);
return ret;
}
static int icm20608_write_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len) {
u8 data = 0;
int ret = 0;
struct spi_device *spi = dev->private_data;
gpio_set_value(dev->cs_gpio, 0);
data = reg & (~(1 << 15));
ret = spi_write(spi, &data, 1); //jiarupanduan
ret = spi_write(spi, buf, len); // jiarupanduan
gpio_set_value(dev->cs_gpio, 1);
return ret;
}
#else
/* spi du jicunqi */
static int icm20608_read_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len) {
int ret = 0;
u8 txdata[len];
struct spi_message m;
struct spi_transfer *t;
struct spi_device *spi = (struct spi_device* )dev->private_data;
/*pianxuan ladi, kaishicaozuo*/
gpio_set_value(dev->cs_gpio, 0);
/*goujian spi_transfer*/
t = kzalloc(sizeof(struct spi_transfer), GFP_KERNEL);
//1.fasong yaoduqudejicunqidedizhi
txdata[0] = reg | 0x80;// yaodu zuigaowei bixu zhi 1?
t->tx_buf = txdata;
t->len = 1;
//spi_message
spi_message_init(&m);
spi_message_add_tail(t, &m);
//lingwai xiamiandiyigecanshu spi_device biaoshi shenme
ret = spi_sync(spi, &m); //tongbufasong
//2 duqushufu ,fangru buf
txdata[0] = 0xff;
// dudao de shuju fangdao buf limian
t->rx_buf = buf;
t->len = len;
spi_message_init(&m);
spi_message_add_tail(t, &m);
ret = spi_sync(spi, &m);
kfree(t);
/*caozuowancheng, pianxuanlagao*/
gpio_set_value(dev->cs_gpio, 1);
return ret;
}
/* spi xie jicunqi */
static int icm20608_write_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len) {
int ret = 0;
u8 txdata[len];
struct spi_message m;
struct spi_transfer *t;
struct spi_device *spi = (struct spi_device* )dev->private_data;
/*pianxuan ladi, kaishicaozuo*/
gpio_set_value(dev->cs_gpio, 0);
/*goujian spi_transfer*/
t = kzalloc(sizeof(struct spi_transfer), GFP_KERNEL);
//1.fasong yaoxiedejicunqidedizhi
txdata[0] = reg & (~(1 << 15));// yaodu zuigaowei bixu zhi 1?
t->tx_buf = txdata;
t->len = 1;
//spi_message
spi_message_init(&m);
spi_message_add_tail(t, &m);
//lingwai xiamiandiyigecanshu spi_device biaoshi shenme
ret = spi_sync(spi, &m); //tongbufasong
//2 jixu fa shufu ,fangru buf
txdata[0] = 0xff;
t->tx_buf = buf;
t->len = len;
spi_message_init(&m);
spi_message_add_tail(t, &m);
ret = spi_sync(spi, &m);
kfree(t);
/*caozuowancheng, pianxuanlagao*/
gpio_set_value(dev->cs_gpio, 1);
return ret;
}
#endif
// duqu dange jicunqi api
static u8 icm20608_read_reg(struct icm20608_dev *dev, u8 reg) {
u8 buf;
icm20608_read_regs(dev, reg, &buf, 1);
return buf;
}
// xie dange zhi dao jicunqi
static void icm20608_write_reg(struct icm20608_dev *dev,u8 reg, u8 val) {
u8 buf = val;
icm20608_write_regs(dev, reg, &buf, 1);
}
/*
* @description : 读取ICM20608的数据，读取原始数据，包括三轴陀螺仪、
* : 三轴加速度计和内部温度。
* @param - dev : ICM20608设备
* @return : 无。
*/
void icm20608_readdata(struct icm20608_dev *dev)
{
unsigned char data[14];
icm20608_read_regs(dev, ICM20_ACCEL_XOUT_H, data, 14);
dev->accel_x_adc = (signed short)((data[0] << 8) | data[1]);
dev->accel_y_adc = (signed short)((data[2] << 8) | data[3]);
dev->accel_z_adc = (signed short)((data[4] << 8) | data[5]);
dev->temp_adc = (signed short)((data[6] << 8) | data[7]);
dev->gyro_x_adc = (signed short)((data[8] << 8) | data[9]);
dev->gyro_y_adc = (signed short)((data[10] << 8) | data[11]);
dev->gyro_z_adc = (signed short)((data[12] << 8) | data[13]);
}
static int __init icm20608_init(void) {
int ret = 0;
ret = spi_register_driver(&icm20608_driver);
return ret;
}
static void __exit icm20608_exit(void) {
/*wu fanhuizhi*/
spi_unregister_driver(&icm20608_driver);
}
module_init(icm20608_init);
module_exit(icm20608_exit);
MODULE_LICENSE("GPL");
/*ziding zifushebei jiegouti he spi_driver bingcun ,jiexi shebei shu huode spi_device? */
读取ID，读写测试正常。
lib/modules/4.1.15 #
/lib/modules/4.1.15 #
/lib/modules/4.1.15 # modprobe icm20608.ko
/home/jl/linux/imx6ull/linux_driver/23_spi/icm20608.c(109):
icm20608 major=249,minor=0
icm20608 id = 0XAE
ICM20_PWR_MGMT_1 = 0X1
/lib/modules/4.1.15 #
还可以使用内核提供的api：spi_read，spi_write。而这最终也是调用 spi_sync。定义在 spi.h
补充：设备树dts文件中的ecspi追加节点下的 cs-gpios 也可以作为软件片选，不必改名再用。但是 io 复用一定要复用为 gpio。
此时不需要我们去手动片选了。
设备树 gpio 配置为 硬件片选：MX6UL_PAD_UART2_TX_DATA__ECSPI3_SS0 0x10b1
软件片选：MX6UL_PAD_UART2_TX_DATA__GPIO1_IO20 0x10b1
没用硬件片选是教程也不知道怎么用。厂商也使用的软件片选，因此只提供了软件片选方法。
修正后
#include<linux/module.h>
#include<linux/kernel.h>
#include<linux/init.h>
#include <linux/fs.h>
#include<linux/slab.h>
#include<linux/io.h>
#include<linux/uaccess.h>
#include<linux/cdev.h>
#include<linux/device.h>
#include<linux/of.h>
#include<linux/of_address.h>
#include<linux/of_irq.h>
#include<linux/gpio.h>
#include<linux/of_gpio.h>
#include<linux/atomic.h>
#include<linux/timer.h>
#include<linux/string.h>
#include<linux/jiffies.h>
#include<linux/irq.h>
#include<asm/mach/map.h>
#include<asm/uaccess.h>
#include<asm/io.h>
#include<linux/interrupt.h>
#include<linux/delay.h>
#include<linux/spi/spi.h>
#include"icm20608reg.h"
#define ICM20608_CNT 1
#define ICM20608_NAME "icm20608"
#define USE_KERNEL_API
#ifdef USE_KERNEL_API
static inline int
spi_read(struct spi_device *spi, void *buf, size_t len);
static inline int
spi_write(struct spi_device *spi, const void *buf, size_t len);
#endif
//#define READ_USE_KERNEL_API
static int icm20608_probe(struct spi_device *spi);
static int icm20608_remove(struct spi_device *spi);
static int icm20608_open(struct inode *inode, struct file *filp);
static ssize_t icm20608_read(struct file *filp,
char __user *buf,
size_t cnt,
loff_t *offt);
static int icm20608_release(struct inode *inode, struct file *filp);
/*chuantongde pipeibiao*/
static struct spi_device_id icm20608_id[] = {
{"alientek,icm20608", 0}, /*0biaoshi shenme yisi?*/
{},
};
/*shebeishu pipei */
static struct of_device_id icm20608_of_match[] = {
{.compatible = "alientek,icm20608"},
{},
};
/* i2c_driver jiegouti*/
static struct spi_driver icm20608_driver = {
.probe = icm20608_probe,
.remove = icm20608_remove,
.driver = {
.name = "icm20608",
.owner = THIS_MODULE,
.of_match_table = icm20608_of_match,
},
.id_table = icm20608_id,
};
static struct file_operations icm20608_fops = {
.owner = THIS_MODULE,
.open = icm20608_open,
.read = icm20608_read,
.release = icm20608_release,
};
/*zhuyi zheli meiyou static*/
struct icm20608_dev {
int major;
int minor;
dev_t devid;
struct cdev cdev;
/*zhuyi zheliangge shi zhizhen*/
struct class *class;
struct device *device;
/*gaoyige siyouzhizhen*/
void *private_data; /* 私有数据 */
struct device_node *nd;
int cs_gpio; /* 片选所使用的GPIO编号 */
signed int gyro_x_adc; /* 陀螺仪X轴原始值 */
signed int gyro_y_adc; /* 陀螺仪Y轴原始值 */
signed int gyro_z_adc; /* 陀螺仪Z轴原始值 */
signed int accel_x_adc; /* 加速度计X轴原始值 */
signed int accel_y_adc; /* 加速度计Y轴原始值 */
signed int accel_z_adc; /* 加速度计Z轴原始值 */
signed int temp_adc; /* 温度原始值 */
};
static struct icm20608_dev icm20608;
static int icm20608_read_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len);
static int icm20608_write_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len);
static u8 icm20608_read_reg(struct icm20608_dev *dev, u8 reg);
static void icm20608_write_reg(struct icm20608_dev *dev,u8 reg, u8 val);
void icm20608_dev_init(struct icm20608_dev *dev);
void icm20608_readdata(struct icm20608_dev *dev);
static int icm20608_probe(struct spi_device *spi) {
int ret = 0;
printk("%s(%d):\n", __FILE__, __LINE__);
/*you xitong lai fenpei zhushebeihao*/
icm20608.major = 0;
if (icm20608.major) { /* 定义了设备号 */
icm20608.devid = MKDEV(icm20608.major, 0);
register_chrdev_region(icm20608.devid, ICM20608_CNT, ICM20608_NAME);
} else { /* 没有定义设备号 */
ret = alloc_chrdev_region(&icm20608.devid, 0, ICM20608_CNT, ICM20608_NAME); /* 申请设备号 */
icm20608.major = MAJOR(icm20608.devid); /* 获取分配号的主设备号 */
icm20608.minor = MINOR(icm20608.devid); /* 获取分配号的次设备号 */
}
if(ret < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
goto fail_devid;
}
printk("icm20608 major=%d,minor=%d\r\n",icm20608.major, icm20608.minor);
/* 2、初始化cdev */
icm20608.cdev.owner = THIS_MODULE;
cdev_init(&icm20608.cdev, &icm20608_fops);
ret = cdev_add(&icm20608.cdev, icm20608.devid, ICM20608_CNT);
if(ret < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
goto fail_cdev;
}
/* 3、创建类 */
icm20608.class = class_create(THIS_MODULE, ICM20608_NAME);
if (IS_ERR(icm20608.class)) {
ret = PTR_ERR(icm20608.class);
printk("%s(%d):error\n", __FILE__, __LINE__);
goto fail_class;
}
/* 5、创建设备 */
icm20608.device = device_create(icm20608.class, NULL, icm20608.devid, NULL, ICM20608_NAME);
if (IS_ERR(icm20608.device)) {
ret = PTR_ERR(icm20608.device);
printk("%s(%d):error\n", __FILE__, __LINE__);
goto fail_device;
}
#if 0 //buzaixuyaole
/* huoqu pianxuan yinjiao
* keyi cong benhanshu de chuanrucanshu huoqu
* yaoqueding cijiedian duiying shebeishu zhong
* nage jiedian
* yao youcijiedian huoqu qi fujiedian
*/
icm20608.nd = of_get_parent(spi->dev.of_node);
/*huouq pianxuan shuxing */
icm20608.cs_gpio = of_get_named_gpio(icm20608.nd, "cs-gpio", 0);
if(icm20608.cs_gpio < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
ret = -1;
goto fail_gpio;
}
/*shengqing gpio*/
ret = gpio_request(icm20608.cs_gpio, "cs");/*yao ziji jiashang panduan chenggong yufou*/
if(ret < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
}
/*moren gei ge gaodianping*/
ret = gpio_direction_output(icm20608.cs_gpio, 1);
if(ret < 0) {
printk("%s(%d):error\n", __FILE__, __LINE__);
}
#endif
/*chushihua spi_device jiegouti*/
spi->mode = SPI_MODE_0;//shezhi spi gongzuo moshi
spi_setup(spi);
/*shei zhi jiegouti de siyoushuju wei probe hanshu de chuanru canshu */
icm20608.private_data = spi;
icm20608_dev_init(&icm20608);
return 0;
fail_gpio:
fail_device:
class_destroy(icm20608.class);
fail_class:
cdev_del(&icm20608.cdev);
fail_cdev:
unregister_chrdev_region(icm20608.devid, ICM20608_CNT);
fail_devid:
return ret;
}
static int icm20608_remove(struct spi_device *spi) {
printk("%s(%d):\n", __FILE__, __LINE__);
/* 注销字符设备驱动,删除cdev */
cdev_del(&icm20608.cdev);
/* 注销设备号 */
unregister_chrdev_region(icm20608.devid, ICM20608_CNT);
device_destroy(icm20608.class, icm20608.devid);
class_destroy(icm20608.class);
//shifang gpio
gpio_free(icm20608.cs_gpio);
return 0;
}
/*zai cihanshu zhong chushihua icm20608*/
static int icm20608_open(struct inode *inode, struct file *filp)
{
filp->private_data = &icm20608; /* 设置私有数据 */
return 0;
}
/*
* @description : 从设备读取数据
* @param - filp : 要打开的设备文件(文件描述符)
* @param - buf : 返回给用户空间的数据缓冲区
* @param - cnt : 要读取的数据长度
* @param - offt : 相对于文件首地址的偏移
* @return : 读取的字节数，如果为负值，表示读取失败
*/
static ssize_t icm20608_read(struct file *filp,
char __user *buf,
size_t cnt,
loff_t *offt)
{
signed int data[7];
long err = 0;
struct icm20608_dev *dev = (struct icm20608_dev *)filp->private_data;
icm20608_readdata(dev);
data[0] = dev->gyro_x_adc;
data[1] = dev->gyro_y_adc;
data[2] = dev->gyro_z_adc;
data[3] = dev->accel_x_adc;
data[4] = dev->accel_y_adc;
data[5] = dev->accel_z_adc;
data[6] = dev->temp_adc;
err = copy_to_user(buf, data, sizeof(data));
return 0;
}
static int icm20608_release(struct inode *inode, struct file *filp)
{
//struct icm20608_dev *dev = (struct icm20608_dev* )filp->private_data;
printk("%s(%d):\n", __FILE__, __LINE__);
return 0;
}
/* icm 20608 chushihua
* ruhetongguo spi lai caozuo
* waibuspi xinpian
* xuyao spi dujici qi he
* spi xiejicunqi caozuo hanshu
*/
void icm20608_dev_init(struct icm20608_dev *dev) {
u8 val = 0;
icm20608_write_reg(dev, ICM20_PWR_MGMT_1, 0x80); /* 复位，复位后为0x40,睡眠模式 */
mdelay(50);
icm20608_write_reg(dev, ICM20_PWR_MGMT_1, 0x01); /* 关闭睡眠，自动选择时钟 */
mdelay(50);
val = icm20608_read_reg(dev, ICM20_WHO_AM_I);
printk("icm20608 id = %#X\r\n", val);
if(val != ICM20608G_ID && val != ICM20608D_ID){
printk("%s(%d):error.\n", __FILE__, __LINE__);
}
val = icm20608_read_reg(dev, ICM20_PWR_MGMT_1);
printk("ICM20_PWR_MGMT_1 = %#X\r\n", val);
icm20608_write_reg(&icm20608, ICM20_SMPLRT_DIV, 0x00); /* 输出速率是内部采样率 */
icm20608_write_reg(&icm20608, ICM20_GYRO_CONFIG, 0x18); /* 陀螺仪±2000dps量程 */
icm20608_write_reg(&icm20608, ICM20_ACCEL_CONFIG, 0x18); /* 加速度计±16G量程 */
icm20608_write_reg(&icm20608, ICM20_CONFIG, 0x04); /* 陀螺仪低通滤波BW=20Hz */
icm20608_write_reg(&icm20608, ICM20_ACCEL_CONFIG2, 0x04); /* 加速度计低通滤波BW=21.2Hz */
icm20608_write_reg(&icm20608, ICM20_PWR_MGMT_2, 0x00); /* 打开加速度计和陀螺仪所有轴 */
icm20608_write_reg(&icm20608, ICM20_LP_MODE_CFG, 0x00); /* 关闭低功耗 */
icm20608_write_reg(&icm20608, ICM20_FIFO_EN, 0x00); /* 关闭FIFO */
}
#ifdef USE_KERNEL_API
// len biaoshi jieshou buf de changdu
static int icm20608_read_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len) {
u8 data = 0;
int ret = 0;
/*spi shi shebeishu jiexi erlai ,zainaliguanlian?*/
struct spi_device *spi = dev->private_data;
/*pianxuan ladi*/
//gpio_set_value(dev->cs_gpio, 0);
//1 fasong yaoduqu de jicunqi dizhi,qie dizhi zuigaowei yao zhi 1
data = reg | 0x80;
//spi_write(spi, &data, 1);
//2
//ret = spi_read(spi, buf, len);
spi_write_then_read(spi, &data, 1, buf, len);
/*pianxuan lagao*/
//gpio_set_value(dev->cs_gpio, 1);
return ret;
}
static int icm20608_write_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len) {
u8 data = 0;
int ret = 0;
struct spi_device *spi = dev->private_data;
//gpio_set_value(dev->cs_gpio, 0);
data = reg & (~(1 << 15));
#if 0 //liangci xie yeshibaile cs-gpios xiangguan
ret = spi_write(spi, &data, 1); //jiarupanduan
ret = spi_write(spi, buf, len); // jiarupanduan
#else
// jiejue fangfa erheyi yiqifa
u8 *txdata;
txdata = kzalloc(len+1, GFP_KERNEL);
txdata[0] = reg & (~(1 << 15));
memcpy(&txdata[1], buf, len);
spi_write(spi, txdata, len+1);
kfree(txdata);
#endif
//gpio_set_value(dev->cs_gpio, 1);
return ret;
}
#else
/* spi du jicunqi */
static int icm20608_read_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len) {
int ret = 0;
u8 txdata[len];
struct spi_message m;
struct spi_transfer *t;
struct spi_device *spi = (struct spi_device* )dev->private_data;
/*pianxuan ladi, kaishicaozuo*/
//gpio_set_value(dev->cs_gpio, 0);
/*goujian spi_transfer*/
t = kzalloc(sizeof(struct spi_transfer), GFP_KERNEL);
//1.fasong yaoduqudejicunqidedizhi
txdata[0] = reg | 0x80;// yaodu zuigaowei bixu zhi 1?
t->tx_buf = txdata;
t->len = 1;
//spi_message
spi_message_init(&m);
spi_message_add_tail(t, &m);
//lingwai xiamiandiyigecanshu spi_device biaoshi shenme
ret = spi_sync(spi, &m); //tongbufasong
//2 duqushufu ,fangru buf
txdata[0] = 0xff;
// dudao de shuju fangdao buf limian
t->rx_buf = buf;
t->len = len;
spi_message_init(&m);
spi_message_add_tail(t, &m);
ret = spi_sync(spi, &m);
kfree(t);
/*caozuowancheng, pianxuanlagao*/
//gpio_set_value(dev->cs_gpio, 1);
return ret;
}
/* spi xie jicunqi */
static int icm20608_write_regs(struct icm20608_dev *dev,
u8 reg,
u8 *buf,
int len) {
int ret = 0;
u8 txdata[len];
struct spi_message m;
struct spi_transfer *t;
struct spi_device *spi = (struct spi_device* )dev->private_data;
/*pianxuan ladi, kaishicaozuo*/
//gpio_set_value(dev->cs_gpio, 0);
/*goujian spi_transfer*/
t = kzalloc(sizeof(struct spi_transfer), GFP_KERNEL);
//1.fasong yaoxiedejicunqidedizhi
txdata[0] = reg & (~(1 << 15));// yaodu zuigaowei bixu zhi 1?
t->tx_buf = txdata;
t->len = 1;
//spi_message
spi_message_init(&m);
spi_message_add_tail(t, &m);
//lingwai xiamiandiyigecanshu spi_device biaoshi shenme
ret = spi_sync(spi, &m); //tongbufasong
//2 jixu fa shufu ,fangru buf
txdata[0] = 0xff;
t->tx_buf = buf;
t->len = len;
spi_message_init(&m);
spi_message_add_tail(t, &m);
ret = spi_sync(spi, &m);
kfree(t);
/*caozuowancheng, pianxuanlagao*/
//gpio_set_value(dev->cs_gpio, 1);
return ret;
}
#endif
// duqu dange jicunqi api
static u8 icm20608_read_reg(struct icm20608_dev *dev, u8 reg) {
u8 buf;
icm20608_read_regs(dev, reg, &buf, 1);
return buf;
}
// xie dange zhi dao jicunqi
static void icm20608_write_reg(struct icm20608_dev *dev,u8 reg, u8 val) {
u8 buf = val;
icm20608_write_regs(dev, reg, &buf, 1);
}
/*
* @description : 读取ICM20608的数据，读取原始数据，包括三轴陀螺仪、
* : 三轴加速度计和内部温度。
* @param - dev : ICM20608设备
* @return : 无。
*/
void icm20608_readdata(struct icm20608_dev *dev)
{
unsigned char data[14];
icm20608_read_regs(dev, ICM20_ACCEL_XOUT_H, data, 14);
dev->accel_x_adc = (signed short)((data[0] << 8) | data[1]);
dev->accel_y_adc = (signed short)((data[2] << 8) | data[3]);
dev->accel_z_adc = (signed short)((data[4] << 8) | data[5]);
dev->temp_adc = (signed short)((data[6] << 8) | data[7]);
dev->gyro_x_adc = (signed short)((data[8] << 8) | data[9]);
dev->gyro_y_adc = (signed short)((data[10] << 8) | data[11]);
dev->gyro_z_adc = (signed short)((data[12] << 8) | data[13]);
}
static int __init icm20608_init(void) {
int ret = 0;
ret = spi_register_driver(&icm20608_driver);
return ret;
}
static void __exit icm20608_exit(void) {
/*wu fanhuizhi*/
spi_unregister_driver(&icm20608_driver);
}
module_init(icm20608_init);
module_exit(icm20608_exit);
MODULE_LICENSE("GPL");
/*ziding zifushebei jiegouti he spi_driver bingcun */
三、测试 APP
#include "stdio.h"
#include "unistd.h"
#include "sys/types.h"
#include "sys/stat.h"
#include "sys/ioctl.h"
#include "fcntl.h"
#include "stdlib.h"
#include "string.h"
#include <poll.h>
#include <sys/select.h>
#include <sys/time.h>
#include <signal.h>
#include <fcntl.h>
/***************************************************************
Copyright © ALIENTEK Co., Ltd. 1998-2029. All rights reserved.
文件名 : icm20608App.c
作者 : 左忠凯
版本 : V1.0
描述 : icm20608设备测试APP。
其他 : 无
使用方法 ：./icm20608App /dev/icm20608
论坛 : www.openedv.com
日志 : 初版V1.0 2019/9/20 左忠凯创建
***************************************************************/
/*
* @description : main主程序
* @param - argc : argv数组元素个数
* @param - argv : 具体参数
* @return : 0 成功;其他 失败
*/
int main(int argc, char *argv[])
{
int fd;
char *filename;
signed int databuf[7];
unsigned char data[14];
signed int gyro_x_adc, gyro_y_adc, gyro_z_adc;
signed int accel_x_adc, accel_y_adc, accel_z_adc;
signed int temp_adc;
float gyro_x_act, gyro_y_act, gyro_z_act;
float accel_x_act, accel_y_act, accel_z_act;
float temp_act;
int ret = 0;
if (argc != 2) {
printf("Error Usage!\r\n");
return -1;
}
filename = argv[1];
fd = open(filename, O_RDWR);
if(fd < 0) {
printf("can't open file %s\r\n", filename);
return -1;
}
while (1) {
ret = read(fd, databuf, sizeof(databuf));
if(ret == 0) { /* 数据读取成功 */
gyro_x_adc = databuf[0];
gyro_y_adc = databuf[1];
gyro_z_adc = databuf[2];
accel_x_adc = databuf[3];
accel_y_adc = databuf[4];
accel_z_adc = databuf[5];
temp_adc = databuf[6];
/* 计算实际值 */
gyro_x_act = (float)(gyro_x_adc) / 16.4;
gyro_y_act = (float)(gyro_y_adc) / 16.4;
gyro_z_act = (float)(gyro_z_adc) / 16.4;
accel_x_act = (float)(accel_x_adc) / 2048;
accel_y_act = (float)(accel_y_adc) / 2048;
accel_z_act = (float)(accel_z_adc) / 2048;
temp_act = ((float)(temp_adc) - 25 ) / 326.8 + 25;
printf("\r\n原始值:\r\n");
printf("gx = %d, gy = %d, gz = %d\r\n", gyro_x_adc, gyro_y_adc, gyro_z_adc);
printf("ax = %d, ay = %d, az = %d\r\n", accel_x_adc, accel_y_adc, accel_z_adc);
printf("temp = %d\r\n", temp_adc);
printf("实际值:");
printf("act gx = %.2f°/S, act gy = %.2f°/S, act gz = %.2f°/S\r\n", gyro_x_act, gyro_y_act, gyro_z_act);
printf("act ax = %.2fg, act ay = %.2fg, act az = %.2fg\r\n", accel_x_act, accel_y_act, accel_z_act);
printf("act temp = %.2f°C\r\n", temp_act);
}
usleep(1000000); /*100ms */
}
close(fd); /* 关闭文件 */
return 0;
}
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