MPU6050
Linux驱动 = 硬件操作 + 驱动框架
所以对于MPU6050的原理和驱动代码实现参考单片机的即可。
MPU6050驱动实现
设备树
设备树参考: 可参考NXP公板的设备树的I2C节点
&i2c1 {
clock-frequency = <100000>;
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_i2c1>;
status = "okay";
...
mag3110@e {
compatible = "fsl,mag3110";
reg = <0xe>;
position = <2>;
};
fxls8471@1e {
compatible = "fsl,fxls8471";
reg = <0x1e>;
position = <0>;
interrupt-parent = <&gpio5>;
interrupts = <0 8>;
};
};
- mag3110和fxls8471是NXP公板上挂在I2C1的两个芯片
编写设备树:
在imx6ull-mmc-npi.dts
文件中添加节点:
&i2c1 {
clock-frequency = <100000>;
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_i2c1>;
status = "okay";
#address-cells = <1>;
#size-cells = <0>;
/* 设备树修改查看是否修改成功,查看内核目录/sys/bus/i2c/devices/看是否存在0x1E地址的设备 */
mpu6050@68 {
compatible = "xgj,mpu6050";
status = "okay";
reg = <0x68>;
interrupt-parent = <&gpio5>;
interrupts = <0 IRQ_TYPE_LEVEL_LOW>;
};
};
因为mpu6050芯片是挂载在i2c1,将其设备节点追加在i2c节点下
- compatible ,驱动根据该值和设备树进行匹配
- reg, i2c设备地址
- interrupt-parent,芯片中断脚在哪个中断控制器下
- interrupts ,中断引脚号0和IRQ_TYPE_LEVEL_LOW低电平触发
设备树编译:
ares@ubuntu:~/work/ebf_linux_kernel-ebf_4.19.35_imx6ul$ cat make_dtb.sh
#!/bin/sh
make ARCH=arm -j4 CROSS_COMPILE=arm-linux-gnueabihf- dtbs
将设备树拷贝系统目录:
debian@npi:~/nfs_root/driver$ cat cp_dtb_to_linux.sh
#!/bin/sh
sudo cp imx6ull-mmc-npi.dtb /usr/lib/linux-image-4.19.35-carp-imx6/
- /usr/lib/linux-image-4.19.35-carp-imx6/ ,系统存放设备树的目录
重启系统设备树生效:
sudo reboot
通过查看系统目录 /sys/firmware/devicetree/base/ 看是否存在mpu6050的设备树节点判定设备树是否生效
驱动编写
1、MPU6050硬件操作
这部分内容和单片机程序差不多。
mpu6050_def.h :
#ifndef _MPU6050_DEF_H_
#define _MPU6050_DEF_H_
typedef unsigned char uint8_t;
/* register define */
#define MPU6050_SMPLRT_DIV 0x19 /* */
#define MPU6050_CONFIG 0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG 0x1C
#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_ACCEL_XOUT_L 0x3C
#define MPU6050_ACCEL_YOUT_H 0x3D
#define MPU6050_ACCEL_YOUT_L 0x3E
#define MPU6050_ACCEL_ZOUT_H 0x3F
#define MPU6050_ACCEL_ZOUT_L 0x40
#define MPU6050_TEMP_OUT_H 0x41
#define MPU6050_TEMP_OUT_L 0x42
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_XOUT_L 0x44
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_YOUT_L 0x46
#define MPU6050_GYRO_ZOUT_H 0x47
#define MPU6050_GYRO_ZOUT_L 0x48
#define MPU6050_PWR_MGMT_1 0x6B /* power managemnt register */
#define MPU6050_WHO_AM_I 0x75 /* default value : IIC addr 0x68 */
/* interrupt status register */
#define MPU6050_INT_STATUS 0x3A
#define MPU6050_INT_ENABLE 0x38
#define MPU6050_INT_PIN_CFG 0x37
// #define I2C_RETRIES 0x0701
// #define I2C_TIMEOUT 0x0702
// #define I2C_SLAVE 0x0703 //IIC从器件的地址设置
// #define I2C_BUS_MODE 0x0780
// #define MPU6050_SlaveAddress 0xD0
// #define MPU6050_IIC_ADDR 0x68 //MPU6050 IIC Address
struct mpu6050_accel {
short x;
short y;
short z;
};
struct mpu6050_gyro {
short x;
short y;
short z;
};
struct mpu6050_data {
struct mpu6050_accel accel;
struct mpu6050_gyro gyro;
};
#endif /* _MPU6050_DEF_H_ */
static int mpu6050_i2c_write_reg(struct i2c_client *client, uint8_t reg_addr, uint8_t data)
{
int ret = 0;
uint8_t w_buf[2];
struct i2c_msg msg;
w_buf[0] = reg_addr;
w_buf[1] = data;
msg.addr = client->addr;
msg.buf = w_buf;
msg.flags = 0; /* I2C direction : write */
msg.len = sizeof(w_buf);
ret = i2c_transfer(client->adapter, &msg, 1);
if (ret < 0)
return ret;
else if (ret != 1)
return -EIO;
return 0;
}
static int mpu6050_i2c_read_reg(struct i2c_client *client, uint8_t reg_addr, uint8_t *data)
{
int ret = 0;
struct i2c_msg msgs[2];
msgs[0].addr = client->addr;
msgs[0].buf = ®_addr; /* send regsiter */
msgs[0].flags = 0; /* I2C direction : write */
msgs[0].len = 1;
msgs[1].addr = client->addr;
msgs[1].buf = data; /* 读取寄存器数据 */
msgs[1].flags = I2C_M_RD; /* I2C direction : read */
msgs[1].len = 1;
ret = i2c_transfer(client->adapter, msgs, 2); /* */
if (ret < 0)
return ret;
else if (ret != 2)
return -EIO;
return 0;
}
static int mpu6050_init(void)
{
uint8_t reg_val = 0;
int ret = 0;
/* 解除休眠状态 */
ret = mpu6050_i2c_write_reg(mpu6050_dev->client, MPU6050_PWR_MGMT_1, 0x00); /* */
/* 陀螺仪采样频率输出设置 */
ret = mpu6050_i2c_write_reg(mpu6050_dev->client, MPU6050_SMPLRT_DIV, 0x07);
ret = mpu6050_i2c_write_reg(mpu6050_dev->client, MPU6050_CONFIG, 0x06);
/* 配置加速度传感器工作在 16G 模式, 不自检 */
ret = mpu6050_i2c_write_reg(mpu6050_dev->client, MPU6050_ACCEL_CONFIG, 0x18);
/* 陀螺仪自检及测量范围,典型值:0x18(不自检,2000deg/s) */
ret = mpu6050_i2c_write_reg(mpu6050_dev->client, MPU6050_GYRO_CONFIG, 0x18);
#if MPU6050_USE_INT
/* 配置中断产生时中断引脚为低电平 */
ret = mpu6050_i2c_read_reg(mpu6050_dev->client, MPU6050_INT_PIN_CFG, ®_val);
reg_val |= 0xC0;
mpu6050_i2c_write_reg(mpu6050_dev->client, MPU6050_INT_PIN_CFG, reg_val);
/* 开启数据就绪中断 */
ret = mpu6050_i2c_read_reg(mpu6050_dev->client, MPU6050_INT_ENABLE, ®_val);
reg_val |= 0x01;
mpu6050_i2c_write_reg(mpu6050_dev->client, MPU6050_INT_ENABLE, reg_val);
#endif
return ret;
}
static int mpu6050_deinit(void)
{
int ret = 0;
/* mpu6050复位, 寄存器恢复默认值 */
ret = mpu6050_i2c_write_reg(mpu6050_dev->client, MPU6050_PWR_MGMT_1, 0x80);
return ret;
}
static int mpu6050_read_id(uint8_t *id)
{
uint8_t data;
int ret = 0;
ret = mpu6050_i2c_read_reg(mpu6050_dev->client, MPU6050_WHO_AM_I, &data);
if (id != NULL)
*id = data;
if (data != MPU6050_IIC_ADDR)
ret = -1;
return ret;
}
static int mpu6050_read_accel(struct mpu6050_accel *acc)
{
int i = 0;
int ret = 0;
uint8_t data[6] = {0};
for (i = 0; i < 6; i++)
{
ret = mpu6050_i2c_read_reg(mpu6050_dev->client, MPU6050_ACCEL_XOUT_H+i, &data[i]);
}
acc->x = (data[0] << 8) + data[1];
acc->y = (data[2] << 8) + data[3];
acc->z = (data[4] << 8) + data[5];
return ret;
}
static int mpu6050_read_gyro(struct mpu6050_gyro *gyro)
{
int i = 0;
int ret = 0;
uint8_t data[6] = {0};
for (i = 0; i < 6; i++)
{
ret = mpu6050_i2c_read_reg(mpu6050_dev->client, MPU6050_GYRO_XOUT_H+i, &data[i]);
}
gyro->x = (data[0] << 8) + data[1];
gyro->y = (data[2] << 8) + data[3];
gyro->z = (data[4] << 8) + data[5];
return ret;
}
static int mpu6050_read_temp(short *temp)
{
int i = 0;
int ret = 0;
uint8_t data[2] = {0};
for (i = 0; i < 2; i++)
{
ret = mpu6050_i2c_read_reg(mpu6050_dev->client, MPU6050_TEMP_OUT_H+i, &data[i]);
}
*temp = (data[0] << 8) + data[1];
return ret;
}
2、linux I2C 驱动框架
在测试使用中断实现,发现中断触发太快和直接读取也没啥区别。
struct mpu6050_device
{
int irq; /* 中断号 */
int gpio;
dev_t dev_no; /* 设备号 */
struct cdev chrdev;
struct class *class;
struct mutex m_lock;
wait_queue_head_t wq; /* 等待队列 */
struct mpu6050_data data;
struct i2c_client *client;
};
static struct mpu6050_device *mpu6050_dev;
static int _drv_open(struct inode *node, struct file *file)
{
uint8_t id;
int ret = 0;
file->private_data = mpu6050_dev;
ret = mpu6050_init();
if (ret != 0)
{
printk("%d-%s init failed %d\r\n", __LINE__, __FUNCTION__, ret);
return -ENXIO;
}
if (mpu6050_read_id(&id) != 0)
{
printk("don't find %s %d\r\n", DEV_NAME, id);
return -ENXIO;
}
gpio_direction_input(mpu6050_dev->gpio);
printk("%s open %d\r\n", DEV_NAME, __LINE__);
return 0;
}
static ssize_t _drv_read(struct file *filp, char __user *buf, size_t size, loff_t *offset)
{
int ret;
int data_size;
struct mpu6050_device *tmp_mpu6050 = filp->private_data;
struct mpu6050_data data;
data_size = sizeof(data);
if (size != data_size)
return -EINVAL;
#if MPU6050_USE_INT == 0
ret = mpu6050_read_accel(&data.accel);
ret = mpu6050_read_gyro(&data.gyro);
#else
#endif
if (copy_to_user(buf, &data, sizeof(data)))
{
ret = -EFAULT;
}
else
{
ret = data_size;
}
return ret;
}
/* 使驱动支持多路复用IO */
static __poll_t _drv_poll(struct file *filp, struct poll_table_struct *wait)
{
__poll_t mask = 0;
// mutex_lock(&mpu6050_dev->m_lock);
// poll_wait(filp, &mpu6050_dev->wq, wait);
// mutex_unlock(&sr501.m_lock);
return mask;
}
static long _drv_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
{
int ret = 0;
uint8_t result = 0;
short buf[3];
void __user *user_space = (void __user *)arg;
switch (cmd)
{
case MPU6050_CMD_GET_ID:
ret = mpu6050_read_id(&result);
ret = copy_to_user(user_space, &result, sizeof(result));
break;
case MPU6050_CMD_GET_ACCEL:
ret = mpu6050_read_accel((struct mpu6050_accel *)&buf);
ret = copy_to_user(user_space, &buf, sizeof(buf));
break;
case MPU6050_CMD_GET_GYRO:
ret = mpu6050_read_gyro((struct mpu6050_gyro *)&buf);
ret = copy_to_user(user_space, &buf, sizeof(buf));
break;
case MPU6050_CMD_GET_TEMP:
ret = mpu6050_read_temp(&buf[0]);
ret = copy_to_user(user_space, &buf[0], 2);
break;
}
return ret;
}
static int _drv_release(struct inode *node, struct file *filp)
{
int ret = 0;
struct mpu6050_device *tmp_mpu6050 = filp->private_data;
ret = mpu6050_deinit();
return ret;
}
static struct file_operations mpu6050_drv_ops = {
.owner = THIS_MODULE,
.open = _drv_open,
.read = _drv_read,
.poll = _drv_poll,
.release = _drv_release,
};
static irqreturn_t mpu6050_isr(int irq, void *dev)
{
uint8_t reg_val;
// printk("%s %d %s\n", __FILE__, __LINE__, __FUNCTION__);
mpu6050_i2c_read_reg(mpu6050_dev->client, MPU6050_INT_STATUS, ®_val);
if (reg_val & 0x01)
{
/* 唤醒进程去读取数据 */
printk("data ready\n");
}
return IRQ_RETVAL(IRQ_HANDLED);
}
probe和remove函数实现:
static int _driver_probe(struct i2c_client *client, const struct i2c_device_id *id)
{
int err = 0;
// int ret = 0;
struct device *_dev;
struct device_node *_dts_node;
mpu6050_dev = (struct mpu6050_device *)kzalloc(sizeof(struct mpu6050_device), GFP_KERNEL);
if (!mpu6050_dev)
{
printk("can't kzalloc mpu6050 dev\n");
return -ENOMEM;
}
_dts_node = client->dev.of_node;
if (!_dts_node)
{
printk("mpu6050 dts node can not found!\r\n");
err = -EINVAL;
goto out_free_dev;
}
mpu6050_dev->client = client;
printk("mpu6050 dtsirq %d !\r\n", client->irq);
#if 1
// mpu6050_dev->gpio = of_get_named_gpio(_dts_node, AP3216C_READY_GPIO_NAME, 0); /* 获取gpio */
// if (!gpio_is_valid( mpu6050_dev->gpio)) {
// printk("don't get mpu6050 ready gpio!\n");
// err = -EINVAL;
// goto out_free_dev;
// }
// mpu6050_dev->irq = gpio_to_irq( mpu6050_dev->gpio); /* 通过gpio得到irq */
// gpiod_direction_input(mpu6050_dev->gpio); /* 设置gpio为输入 */
mpu6050_dev->irq = client->irq;
// mpu6050_dev->gpio = irq_to_gpio(mpu6050_dev->irq);
err = request_irq(mpu6050_dev->irq, mpu6050_isr, IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING, DEV_NAME, NULL); /* 申请中断 */
if (err)
{
printk(KERN_INFO "failed to request irq %d\r\n", mpu6050_dev->irq);
goto out_free_dev;
}
/* 内核自动分配设备号 */
err = alloc_chrdev_region(&mpu6050_dev->dev_no, 0, 1, DEV_NAME);
if (err < 0)
{
pr_err("Error: failed to register mbochs_dev, err: %d\n", err);
goto out_free_irq;
}
cdev_init(&mpu6050_dev->chrdev, &mpu6050_drv_ops);
err = cdev_add(&mpu6050_dev->chrdev, mpu6050_dev->dev_no, 1);
if (err)
{
goto out_unregister;
}
mpu6050_dev->class = class_create(THIS_MODULE, DEV_NAME);
if (IS_ERR(mpu6050_dev->class))
{
err = PTR_ERR(mpu6050_dev->class);
goto out_cdev_del;
}
/* 创建设备节点 */
_dev = device_create(mpu6050_dev->class, NULL, mpu6050_dev->dev_no, NULL, DEV_NAME);
if (IS_ERR(_dev))
{ /* 判断指针是否合法 */
err = PTR_ERR(_dev);
goto out_class_del;
}
// mutex_init(&mpu6050_dev->m_lock); /* 初始化互斥锁 */
printk("%s probe success\r\n", DEV_NAME);
goto out;
out_class_del:
class_destroy(mpu6050_dev->class);
out_cdev_del:
cdev_del(&mpu6050_dev->chrdev);
out_unregister:
unregister_chrdev_region(mpu6050_dev->dev_no, 1); /* 注销设备 */
out_free_irq:
free_irq(mpu6050_dev->irq, NULL);
out_free_dev:
kfree(mpu6050_dev);
mpu6050_dev = NULL;
out:
#endif
return err;
}
static int _driver_remove(struct i2c_client *client)
{
device_destroy(mpu6050_dev->class, mpu6050_dev->dev_no);
class_destroy(mpu6050_dev->class);
cdev_del(&mpu6050_dev->chrdev);
unregister_chrdev_region(mpu6050_dev->dev_no, 1); /* 注销设备 */
free_irq(mpu6050_dev->irq, NULL); /* 释放中断*/
kfree(mpu6050_dev);
printk(KERN_INFO "%s success\n", DEV_NAME);
return 0;
}
- remove函数只要做一些清理工作,删除设备、删除class、注销设备以及释放内存等。
出口入口函数实现 :
/* 设备树的匹配列表 */
static struct of_device_id dts_match_table[] = {
{.compatible = MPU6050_DTS_COMPATIBLE}, /* 通过设备树来匹配 */
{},
};
/* 传统匹配方式 ID 列表 ,即使不使用也要添加,不然probe匹配不成功 */
static const struct i2c_device_id mpu6050_id[] = {
{MPU6050_DTS_COMPATIBLE, 0},
{},
};
static struct i2c_driver mpu6050_driver = {
.probe = _driver_probe,
.remove = _driver_remove,
.driver = {
.name = MPU6050_DTS_COMPATIBLE,
.owner = THIS_MODULE,
.of_match_table = dts_match_table, /* 通过设备树匹配 */
},
.id_table = mpu6050_id,
};
/* 入口函数 */
static int __init _driver_init(void)
{
int ret = 0;
ret = i2c_add_driver(&mpu6050_driver); /* 注册I2C驱动 */
printk("%s %s\n", DEV_NAME, __FUNCTION__);
return ret;
}
/* 出口函数 */
static void __exit _driver_exit(void)
{
printk("%s driver %s\n", DEV_NAME, __FUNCTION__);
i2c_del_driver(&mpu6050_driver); /* 注销I2C驱动 */
}
module_init(_driver_init);
module_exit(_driver_exit);
MODULE_AUTHOR("Ares");
MODULE_LICENSE("GPL");
测试的app程序编写
#include "stdio.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <sys/ioctl.h>
#include <poll.h>
#include <stdint.h>
#define DEV_NAME "/dev/mpu6050"
struct mpu6050_accel {
short x;
short y;
short z;
};
struct mpu6050_gyro {
short x;
short y;
short z;
};
struct mpu6050_data {
struct mpu6050_accel accel;
struct mpu6050_gyro gyro;
};
void sleep_ms(unsigned int ms)
{
struct timeval delay;
delay.tv_sec = 0;
delay.tv_usec = ms * 1000;
select(0, NULL, NULL, NULL, &delay);
}
int main(int argc, char **argv)
{
int fd;
int ret;
/* 2. 打开文件 */
fd = open(DEV_NAME, O_RDWR | O_NONBLOCK); // | O_NONBLOCK
if (fd < 0)
{
printf("can not open file %s, %d\n", DEV_NAME, fd);
return -1;
}
struct mpu6050_data mpu6050_data;
int size = sizeof(struct mpu6050_data);
printf("read size %d\n", size);
while (1)
{
if (read(fd, &mpu6050_data, size) == size)
{
printf("accel x %d y %d z %d\r\n", mpu6050_data.accel.x, mpu6050_data.accel.y, mpu6050_data.accel.z);
printf("gyro x %d y %d z %d\r\n", mpu6050_data.gyro.x, mpu6050_data.gyro.y, mpu6050_data.gyro.z);
}
printf("running\r\n");
sleep_ms(500);
}
close(fd);
return 0;
}