前面在Exynos4412 IIC总线驱动开发（一）—— IIC 基础概念及驱动架构分析 中学习了IIC驱动的架构，下面进入我们的驱动开发过程
首先看一张代码层次图，有助于我们的理解
上面这些代码的展示是告诉我们：linux内核和芯片提供商为我们的的驱动程序提供了 i2c驱动的框架，以及框架底层与硬件相关的代码的实现。
剩下的就是针对挂载在i2c两线上的i2c设备了device，而编写的即具体设备驱动了，这里的设备就是硬件接口外挂载的设备，而非硬件接口本身（soc硬件接口本身的驱动可以理解为总线驱动）
一、编写驱动需要完成的工作
编写具体的I2C驱动时，工程师需要处理的主要工作如下：
1)、提供I2C适配器的硬件驱动，探测，初始化I2C适配器(如申请I2C的I/O地址和中断号)，驱动CPU控制的I2C适配器从硬件上产生。
2)、提供I2C控制的algorithm, 用具体适配器的xxx_xfer()函数填充i2c_algorithm的master_xfer指针，并把i2c_algorithm指针赋给i2c_adapter的algo指针。
3)、实现I2C设备驱动中的i2c_driver接口，用具体yyy的yyy_probe()，yyy_remove()，yyy_suspend(),yyy_resume()函数指针和i2c_device_id设备ID表赋给i2c_driver的probe,remove,suspend,resume和id_table指针。
4)、实现I2C设备所对应类型的具体驱动，i2c_driver只是实现设备与总线的挂接。
上面的工作中前两个属于I2C总线驱动，后面两个属于I2C设备驱动。
二、开发实例
-------------------------------------------------------------------
开发板：Exynos4412-fs4412
Linux 内核版本：Linux 3.14
IIC 从机对象：陀螺仪MPU6050
--------------------------------------------------------------------
1、查看原理图
对应核心板pin
从机地址
可以获取的信息：
1、MPU6050 对应 IIC 通道5；
2、对应中断 EINT27 父节点 GPX3 3
3、因为ad0接地，所以从设备地址0x68
base address 0x138B0000
2、创建设备树节点
通过上面获取的信息，可以写出
-
i2c@
138b0000 {
-
#address-cells = <1>;
-
#size-cells = <0>;
-
-
samsung,i2c-sda-delay = <
100>;
-
samsung,i2c-max-bus-freq = <
20000>;
-
pinctrl
-0 = <&i2c5_bus>;
-
pinctrl-names =
"default";
-
status =
"okay";
-
-
pmu6050
-3-asix@
68 {
-
compatible =
"invense,mpu6050";
-
reg = <
0x68>;
-
interrupt-parent = <&gpx3>;
-
interrupts = <
3
2>;
-
};
-
};
3、MPU6050相应寄存器
-
#define SMPLRT_DIV 0x19 //采样率分频，典型值： 0x07(125Hz) */
-
#define CONFIG 0x1A // 低通滤波频率，典型值： 0x06(5Hz) */
-
#define GYRO_CONFIG 0x1B // 陀螺仪自检及测量范围，典型值： 0x18(不自检，2000deg/s) */
-
#define ACCEL_CONFIG 0x1C // 加速计自检、测量范围及高通滤波频率，典型值： 0x01(不自检， 2G， 5Hz) */
-
#define ACCEL_XOUT_H 0x3B // 存储最近的 X 轴、 Y 轴、 Z 轴加速度感应器的测量值 */
-
#define ACCEL_XOUT_L 0x3C
-
#define ACCEL_YOUT_H 0x3D
-
#define ACCEL_YOUT_L 0x3E
-
#define ACCEL_ZOUT_H 0x3F
-
#define ACCEL_ZOUT_L 0x40
-
#define TEMP_OUT_H 0x41 // 存储的最近温度传感器的测量值 */
-
#define TEMP_OUT_L 0x42
-
#define GYRO_XOUT_H 0x43 // 存储最近的 X 轴、 Y 轴、 Z 轴陀螺仪感应器的测量值 */
-
#define GYRO_XOUT_L 0x44
-
#define GYRO_YOUT_H 0x45
-
#define GYRO_YOUT_L 0x46
-
#define GYRO_ZOUT_H 0x47
-
#define GYRO_ZOUT_L 0x48
-
#define PWR_MGMT_1 0x6B // 电源管理，典型值： 0x00(正常启用) */
-
#define WHO_AM_I 0x75 //IIC 地址寄存器(默认数值 0x68，只读) */
4、具体程序
mpu6050.h
-
#ifndef MPU6050_HHHH
-
#define MPU6050_HHHH
-
-
#define MPU6050_MAGIC 'K'
-
-
union mpu6050_data
-
{
-
struct {
-
unsigned
short x;
-
unsigned
short y;
-
unsigned
short z;
-
}accel;
-
struct {
-
unsigned
short x;
-
unsigned
short y;
-
unsigned
short z;
-
}gyro;
-
unsigned
short temp;
-
};
-
-
#define GET_ACCEL _IOR(MPU6050_MAGIC, 0, union mpu6050_data)
-
#define GET_GYRO _IOR(MPU6050_MAGIC, 1, union mpu6050_data)
-
#define GET_TEMP _IOR(MPU6050_MAGIC, 2, union mpu6050_data)
-
-
#endif
i2c_driver
-
#include <linux/kernel.h>
-
#include <linux/module.h>
-
#include <linux/i2c.h>
-
#include <linux/cdev.h>
-
#include <linux/slab.h>
-
#include <linux/fs.h>
-
#include <linux/delay.h>
-
-
#include <asm/uaccess.h>
-
-
#include "mpu6050.h"
-
-
MODULE_LICENSE(
"GPL");
-
-
#define SMPLRT_DIV 0x19
-
#define CONFIG 0x1A
-
#define GYRO_CONFIG 0x1B
-
#define ACCEL_CONFIG 0x1C
-
#define ACCEL_XOUT_H 0x3B
-
#define ACCEL_XOUT_L 0x3C
-
#define ACCEL_YOUT_H 0x3D
-
#define ACCEL_YOUT_L 0x3E
-
#define ACCEL_ZOUT_H 0x3F
-
#define ACCEL_ZOUT_L 0x40
-
#define TEMP_OUT_H 0x41
-
#define TEMP_OUT_L 0x42
-
#define GYRO_XOUT_H 0x43
-
#define GYRO_XOUT_L 0x44
-
#define GYRO_YOUT_H 0x45
-
#define GYRO_YOUT_L 0x46
-
#define GYRO_ZOUT_H 0x47
-
#define GYRO_ZOUT_L 0x48
-
#define PWR_MGMT_1 0x6B
-
-
#define MPU6050_MAJOR 500
-
#define MPU6050_MINOR 0
-
-
struct mpu6050_device {
-
struct cdev cdev;
-
struct i2c_client *client;
-
};
-
struct mpu6050_device *mpu6050;
-
-
static int mpu6050_read_byte(struct i2c_client *client, unsigned char reg)
-
{
-
int ret;
-
-
char txbuf[
1] = { reg };
-
char rxbuf[
1];
-
-
struct i2c_msg msg[2] = {
-
{client->addr,
0,
1, txbuf},
-
{client->addr, I2C_M_RD,
1, rxbuf}
-
};
-
-
ret = i2c_transfer(client->adapter, msg, ARRAY_SIZE(msg));
-
if (ret <
0) {
-
printk(
"ret = %d\n", ret);
-
return ret;
-
}
-
-
return rxbuf[
0];
-
}
-
-
static int mpu6050_write_byte(struct i2c_client *client, unsigned char reg, unsigned char val)
-
{
-
char txbuf[
2] = {reg, val};
-
-
struct i2c_msg msg[2] = {
-
{client->addr,
0,
2, txbuf},
-
};
-
-
i2c_transfer(client->adapter, msg, ARRAY_SIZE(msg));
-
-
return
0;
-
}
-
-
-
static int mpu6050_open(struct inode *inode, struct file *file)
-
{
-
return
0;
-
}
-
-
static int mpu6050_release(struct inode *inode, struct file *file)
-
{
-
return
0;
-
}
-
-
static long mpu6050_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
-
{
-
union mpu6050_data data;
-
struct i2c_client *client = mpu6050->client;
-
-
switch(cmd) {
-
case GET_ACCEL:
-
data.accel.x = mpu6050_read_byte(client, ACCEL_XOUT_L);
-
data.accel.x |= mpu6050_read_byte(client, ACCEL_XOUT_H) <<
8;
-
-
data.accel.y = mpu6050_read_byte(client, ACCEL_YOUT_L);
-
data.accel.y |= mpu6050_read_byte(client, ACCEL_YOUT_H) <<
8;
-
-
data.accel.z = mpu6050_read_byte(client, ACCEL_ZOUT_L);
-
data.accel.z |= mpu6050_read_byte(client, ACCEL_ZOUT_H) <<
8;
-
break;
-
-
case GET_GYRO:
-
-
data.gyro.x = mpu6050_read_byte(client, GYRO_XOUT_L);
-
data.gyro.x |= mpu6050_read_byte(client, GYRO_XOUT_H) <<
8;
-
-
data.gyro.y = mpu6050_read_byte(client, GYRO_YOUT_L);
-
data.gyro.y |= mpu6050_read_byte(client, GYRO_YOUT_H) <<
8;
-
-
data.gyro.z = mpu6050_read_byte(client, GYRO_ZOUT_L);
-
data.gyro.z |= mpu6050_read_byte(client, GYRO_ZOUT_H) <<
8;
-
break;
-
-
case GET_TEMP:
-
data.temp = mpu6050_read_byte(client, TEMP_OUT_L);
-
data.temp |= mpu6050_read_byte(client, TEMP_OUT_H) <<
8;
-
break;
-
-
default:
-
printk(
"invalid argument\n");
-
return -EINVAL;
-
}
-
-
if (copy_to_user((
void *)arg, &data,
sizeof(data)))
-
return -EFAULT;
-
-
return
sizeof(data);
-
}
-
-
struct file_operations mpu6050_fops = {
-
.owner = THIS_MODULE,
-
.open = mpu6050_open,
-
.release = mpu6050_release,
-
.unlocked_ioctl = mpu6050_ioctl,
-
};
-
-
static int mpu6050_probe(struct i2c_client *client, const struct i2c_device_id *id)
-
{
-
int ret;
-
dev_t devno = MKDEV(MPU6050_MAJOR, MPU6050_MINOR);
-
printk(
"match OK!\n");
-
-
mpu6050 = kzalloc(
sizeof(*mpu6050), GFP_KERNEL);
-
if (mpu6050 ==
NULL) {
-
return -ENOMEM;
-
}
-
-
mpu6050->client = client;
-
-
ret = register_chrdev_region(devno,
1,
"mpu6050");
-
if (ret <
0) {
-
printk(
"failed to register char device region!\n");
-
goto err1;
-
}
-
-
cdev_init(&mpu6050->cdev, &mpu6050_fops);
-
mpu6050->cdev.owner = THIS_MODULE;
-
ret = cdev_add(&mpu6050->cdev, devno,
1);
-
if (ret <
0) {
-
printk(
"failed to add device\n");
-
goto err2;
-
}
-
-
mpu6050_write_byte(client, PWR_MGMT_1,
0x00);
-
mpu6050_write_byte(client, SMPLRT_DIV,
0x07);
-
mpu6050_write_byte(client, CONFIG,
0x06);
-
mpu6050_write_byte(client, GYRO_CONFIG,
0xF8);
-
mpu6050_write_byte(client, ACCEL_CONFIG,
0x19);
-
-
return
0;
-
err2:
-
unregister_chrdev_region(devno,
1);
-
err1:
-
kfree(mpu6050);
-
return ret;
-
}
-
-
static int mpu6050_remove(struct i2c_client *client)
-
{
-
dev_t devno = MKDEV(MPU6050_MAJOR, MPU6050_MINOR);
-
cdev_del(&mpu6050->cdev);
-
unregister_chrdev_region(devno,
1);
-
kfree(mpu6050);
-
-
return
0;
-
}
-
-
static
const
struct i2c_device_id mpu6050_id[] = {
-
{
"mpu6050",
0},
-
{}
-
};
-
-
static
struct of_device_id mpu6050_dt_match[] = {
-
{.compatible =
"invense,mpu6050" },
-
{
/*northing to be done*/},
-
};
-
-
struct i2c_driver mpu6050_driver = {
-
.driver = {
-
.name =
"mpu6050",
-
.owner = THIS_MODULE,
-
.of_match_table = of_match_ptr(mpu6050_dt_match),
-
},
-
.probe = mpu6050_probe,
-
.remove = mpu6050_remove,
-
.id_table = mpu6050_id,
-
};
-
-
static init _
init mpu6050_init(void)
-
{
-
return i2c_add_driver(&mpu6050_driver);
-
}
-
-
static
void _
exit mpu6050_exit(void)
-
{
-
return i2c_del_driver(&mpu6050_driver);
-
}
-
-
module_init(&mpu6050_init);
-
module_exit(&mpu6050_exit);
-
#include <stdio.h>
-
#include <stdlib.h>
-
#include <unistd.h>
-
#include <fcntl.h>
-
#include <sys/ioctl.h>
-
-
#include "mpu6050.h"
-
-
int main(int argc, const char *argv[])
-
{
-
int fd;
-
union mpu6050_data data;
-
-
fd = open(
"/dev/mpu6050", O_RDWR);
-
if (fd <
0) {
-
perror(
"open");
-
exit(
1);
-
}
-
-
while(
1) {
-
ioctl(fd, GET_ACCEL, &data);
-
printf(
"acceleration data: x = %04x, y = %04x, z = %04x\n",
-
data.accel.x, data.accel.y, data.accel.z);
-
-
ioctl(fd, GET_GYRO, &data);
-
printf(
"gyroscope data: x = %04x, y = %04x, z = %04x\n",
-
data.accel.x, data.accel.y, data.accel.z);
-
-
sleep(
1);
-
}
-
-
close(fd);
-
-
return
0;
-
}
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