一步一步教你构建一个MPU6050（I2C类）驱动（三）

最新推荐文章于 2024-03-21 21:57:07 发布

KELLY_F2018

最新推荐文章于 2024-03-21 21:57:07 发布

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分类专栏：嵌入式驱动开发

本文链接：https://blog.csdn.net/qq_36109845/article/details/81367507

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本文详细介绍了如何构建MPU6050驱动，通过I2C通信协议进行数据交互。讲解了i2c_master_send和i2c_master_recv函数的工作原理，以及如何封装这两个函数以方便MPU6050的寄存器读写。初始化过程包括设置寄存器值，使设备进入正常工作状态。

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首先我们要控制MPU6050，实质上就是读写它里面寄存器的值。i2c的数据通信帧的组成在前面已经讲过了这里就不在展开，我们先来看看内核中已经帮我们封装好的，构建一个数据帧的API：

/**
 * i2c_master_send - issue a single I2C message in master transmit mode
 * @client: Handle to slave device
 * @buf: Data that will be written to the slave
 * @count: How many bytes to write, must be less than 64k since msg.len is u16
 *
 * Returns negative errno, or else the number of bytes written.
 */
int i2c_master_send(const struct i2c_client *client, const char *buf, int count)
{
	int ret;
	struct i2c_adapter *adap = client->adapter;
	struct i2c_msg msg;

	msg.addr = client->addr;
	msg.flags = client->flags & I2C_M_TEN;
	msg.len = count;
	msg.buf = (char *)buf;

	ret = i2c_transfer(adap, &msg, 1);

	/*
	 * If everything went ok (i.e. 1 msg transmitted), return #bytes
	 * transmitted, else error code.
	 */
	return (ret == 1) ? count : ret;
}


/**
 * i2c_master_recv - issue a single I2C message in master receive mode
 * @client: Handle to slave device
 * @buf: Where to store data read from slave
 * @count: How many bytes to read, must be less than 64k since msg.len is u16
 *
 * Returns negative errno, or else the number of bytes read.
 */
int i2c_master_recv(const struct i2c_client *client, char *buf, int count)
{
	struct i2c_adapter *adap = client->adapter;
	struct i2c_msg msg;
	int ret;

	msg.addr = client->addr;
	msg.flags = client->flags & I2C_M_TEN;
	msg.flags |= I2C_M_RD;
	msg.len = count;
	msg.buf = buf;

	ret = i2c_transfer(adap, &msg, 1);

	/*
	 * If everything went ok (i.e. 1 msg received), return #bytes received,
	 * else error code.
	 */
	return (ret == 1) ? count : ret;
}

一个是发送数据的 i2c_master_send ，一个是接受数据的 i2c_master_recv 。

以 i2c_master_send 为例子我们来分析一下这个函数是怎么实现的。

该函数的形参分别是什么在函数前面的注释就已经有了，我们来看看它的函数体，前面的

    int ret;
	struct i2c_adapter *adap = client->adapter;
	struct i2c_msg msg;

	msg.addr = client->addr;
	msg.flags = client->flags & I2C_M_TEN;
	msg.len = count;
	msg.buf = (char *)buf;

这部分的内容就是将形参导入的数据填充到 i2c_msg 这个结构体中，那我们又来展开看看这个结构体是干什么用的：

/**
 * struct i2c_msg - an I2C transaction segment beginning with START
 *
 * @addr: Slave address, either seven or ten bits.  When this is a ten
 *	bit address, I2C_M_TEN must be set in @flags and the adapter
 *	must support I2C_FUNC_10BIT_ADDR.
 * @flags: I2C_M_RD is handled by all adapters.  No other flags may be
 *	prov