1.
I2C驱动开发:
I2C从设备驱动开发
硬件芯片:从设备
cmos camera
ts :电容触摸屏
gsenor: 重力传感器
eeprom: 存储设备
HDMI:高清输出接口
2.
i2c子系统软件框架
应用
------------------------------------------
i2c driver:从设备驱动层
需要和应用层进行交互
封包数据,不知道数据是如何写入到硬件
------------------------------------------
i2c 核心层:维护i2c 总线,包括i2c driver, i2c client链表
drivers/i2c/i2c-core.c
---------------------------------------------------
i2c adapter层:i2c控制层,初始化i2c控制器
完成将数据写入或读取-从设备硬件
不知道数据具体是什么,但是知道如何操作从设备
drivers/i2c/busses/i2c-s3c2410.c
================================================================
确保i2c core和i2c adatper层必须编译进内核
3.
I2c子系统中涉及到的设备树文件:
i2c@138B0000 {/*i2c adapter5信息*/
#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";
mpu6050@68 { /*i2c client信息*/
compatible = "invensense,mpu6050";
reg = <0x68>;
};
};
4.
i2c driver驱动的编写:
a, 添加i2c client的信息,必须包含在控制器对应的节点中
b,直接编写i2c driver
1,构建i2c driver,并注册到i2c总线
2,实现probe:
申请设备号,实现fops
创建设备文件
通过i2c的接口去初始化i2c从设备
几个常用的对象:
struct i2c_driver {//表示是一个从设备的驱动对象
int (*probe)(struct i2c_client *, const struct i2c_device_id *);
int (*remove)(struct i2c_client *);
struct device_driver driver; //继承了父类
|
const struct of_device_id *of_match_table;
const struct i2c_device_id *id_table;//用于做比对,非设备树的情况
}
注册和注销
int i2c_add_driver( struct i2c_driver *driver);
void i2c_del_driver(struct i2c_driver *driver);
struct i2c_client {//描述一个从设备的信息,不需要在代码中创建,因为是由i2c adapter帮我们创建
unsigned short addr; //从设备地址,来自于设备树中<reg>
char name[I2C_NAME_SIZE]; //用于和i2c driver进行匹配,来自于设备树中compatible
struct i2c_adapter *adapter;//指向当前从设备所存在的i2c adapter
struct device dev; // 继承了父类
};
创建i2c client的函数
struct i2c_client *i2c_new_device(struct i2c_adapter *adap, struct
i2c_board_info const *info)
struct i2c_adapter {//描述一个i2c控制器,也不是我们要构建,原厂的代码会帮我们构建
const struct i2c_algorithm *algo; //算法
|
int (*master_xfer)(struct i2c_adapter *adap, struct i2c_msg *msgs,int num);
struct device dev; //继承了父类,也会被加入到i2c bus
int nr; //编号
}
注册和注销:
int i2c_add_adapter(struct i2c_adapter * adapter);
void i2c_del_adapter(struct i2c_adapter * adap);
struct i2c_msg {//描述一个从设备要发送的数据的数据包
__u16 addr; //从设备地址,发送给那个从设备
__u16 flags; //读1还是写0
__u16 len; //发送数据的长度
__u8 *buf; //指向数据的指针
};
//写从设备
int i2c_master_send(const struct i2c_client * client,const char * buf,int count)
//读从设备
int i2c_master_recv(const struct i2c_client * client,char * buf,int count)
以上两个函数都调用了:
int i2c_transfer(struct i2c_adapter *adap, struct i2c_msg *msgs, int num)
5.mpu6050的寄存器信息和设置
寄存器:
#define SMPLRT_DIV 0x19 //采样频率寄存器-25 典型值:0x07(125Hz)
//寄存器集合里的数据根据采样频率更新
#define CONFIG 0x1A //配置寄存器-26-典型值:0x06(5Hz)
//DLPF is disabled(DLPF_CFG=0 or 7)
#define GYRO_CONFIG 0x1B //陀螺仪配置-27,可以配置自检和满量程范围
//典型值:0x18(不自检,2000deg/s)
#define ACCEL_CONFIG 0x1C//加速度配置-28 可以配置自检和满量程范围及高通滤波频率
//典型值:0x01(不自检,2G,5Hz)
#define ACCEL_XOUT_H 0x3B //59-65,加速度计测量值 XOUT_H
#define ACCEL_XOUT_L 0x3C // XOUT_L
#define ACCEL_YOUT_H 0x3D //YOUT_H
#define ACCEL_YOUT_L 0x3E //YOUT_L
#define ACCEL_ZOUT_H 0x3F //ZOUT_H
#define ACCEL_ZOUT_L 0x40 //ZOUT_L---64
#define TEMP_OUT_H 0x41 //温度测量值--65
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43//陀螺仪值--67,采样频率(由寄存器 25 定义)写入到这些寄存器
#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 //陀螺仪值--72
#define PWR_MGMT_1 0x6B //电源管理 典型值:0x00(正常启用)
6. ioctrl
ioctl: 给驱动发送不同指令
应用程序:
ioctl(fd, cmd, args);
========================================
驱动中:xxx_ioctl()
{
switch(cmd){
}
}
如何定义命令:
1, 直接定义一个数字
#define IOC_GET_ACCEL 0x9999
2, 通过系统的接口
_IO(x,y)
_IOR(x,y,z)
_IOW(x,y,z)
参数1:表示magic,字符
参数2:区分不同命令,整数
参数3:传给驱动数据类型
7.
mpu6050.h
#ifndef __MPU6050_H__
#define __MPU6050_H__
union mpu6050_data{
struct {
short x;
short y;
short z;
}accel;
struct {
short x;
short y;
short z;
}gyro;
short temp;
};
#define IOC_GET_ACCEL _IOR('M',0x34,union mpu6050_data)
#define IOC_GET_GYRO _IOR('M',0x35,union mpu6050_data)
#define IOC_GET_TEMP _IOR('M',0x36,union mpu6050_data)
#endif
mpu6050_drv.c
#include <linux/init.h>
#include <linux/module.h>
#include <linux/input.h>
#include <linux/interrupt.h>
#include <linux/slab.h>
#include <linux/of.h>
#include <linux/of_irq.h>
#include <linux/of_gpio.h>
#include <linux/i2c.h>
#include <asm/io.h>
#include <asm/uaccess.h>
#include "mpu6050.h"
#define SMPLRT_DIV 0x19 //采样频率寄存器-25 典型值:0x07(125Hz)
//寄存器集合里的数据根据采样频率更新
#define CONFIG 0x1A //配置寄存器-26-典型值:0x06(5Hz)
//DLPF is disabled(DLPF_CFG=0 or 7)
#define GYRO_CONFIG 0x1B //陀螺仪配置-27,可以配置自检和满量程范围
//典型值:0x18(不自检,2000deg/s)
#define ACCEL_CONFIG 0x1C //加速度配置-28 可以配置自检和满量程范围及高通滤波频率
//典型值:0x01(不自检,2G,5Hz)
#define ACCEL_XOUT_H 0x3B //59-65,加速度计测量值 XOUT_H
#define ACCEL_XOUT_L 0x3C // XOUT_L
#define ACCEL_YOUT_H 0x3D //YOUT_H
#define ACCEL_YOUT_L 0x3E //YOUT_L
#define ACCEL_ZOUT_H 0x3F //ZOUT_H
#define ACCEL_ZOUT_L 0x40 //ZOUT_L---64
#define TEMP_OUT_H 0x41 //温度测量值--65
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43 //陀螺仪值--67,采样频率(由寄存器 25 定义)写入到这些寄存器
#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 //陀螺仪值--72
#define PWR_MGMT_1 0x6B //电源管理 典型值:0x00(正常启用)
//设计一个全局的设备对象
struct mpu_sensor{
int dev_major;
struct device *dev;
struct class *cls;
struct i2c_client *client; //记录probe中的client
};
struct mpu_sensor *mpu_dev;
int mpu6050_write_bytes(struct i2c_client * client,char * buf,int count)
{
int ret;
struct i2c_adapter *adapter = client->adapter;
struct i2c_msg msg;
msg.addr = client->addr;
msg.flags = 0;
msg.buf = buf;
msg.len = count;
ret = i2c_transfer(adapter,&msg,1);
return ret == 1?count:ret;
}
int mpu6050_read_bytes(struct i2c_client * client,char * buf,int count)
{
int ret;
struct i2c_adapter *adapter = client->adapter;
struct i2c_msg msg;
msg.addr = client->addr;
msg.flags = 1;
msg.buf = buf;
msg.len = count;
ret = i2c_transfer(adapter,&msg,1);
return ret == 1?count:ret;
}
//读取某个特定寄存器的地址,然后返回值
int mpu6050_read_reg_byte(struct i2c_client * client,char reg)
{
// 先写寄存器的地址
int ret;
struct i2c_adapter *adapter= client->adapter;
struct i2c_msg msg[2];
char rxbuf[1];
msg[0].addr = client->addr;
msg[0].flags = 0;
msg[0].len = 1;
msg[0].buf = ®
//然后在读寄存器的值
msg[1].addr = client->addr;
msg[1].flags = 1;
msg[1].len = 1;
msg[1].buf = rxbuf;
ret = i2c_transfer(adapter,msg,2);
if(ret < 0)
{
printk("%s error \n",__FUNCTION__);
return ret;
}
return rxbuf[0];
}
int mpu6050_dv_open (struct inode *inode, struct file *filp)
{
return 0;
}
int mpu6050_drv_close (struct inode *inode, struct file *filp)
{
return 0;
}
long mpu6050_drv_ioctrl (struct file *filp, unsigned int cmd, unsigned long args)
{
union mpu6050_data data;
int ret;
switch(cmd)
//读数据
{
case IOC_GET_ACCEL:
data.accel.x = mpu6050_read_reg_byte(mpu_dev->client,ACCEL_XOUT_L);
data.accel.x |= mpu6050_read_reg_byte(mpu_dev->client,ACCEL_XOUT_H)<<8;
data.accel.y = mpu6050_read_reg_byte(mpu_dev->client,ACCEL_YOUT_L);
data.accel.y |= mpu6050_read_reg_byte(mpu_dev->client,ACCEL_YOUT_H)<<8;
data.accel.z = mpu6050_read_reg_byte(mpu_dev->client,ACCEL_ZOUT_L);
data.accel.z |= mpu6050_read_reg_byte(mpu_dev->client,ACCEL_ZOUT_H)<<8;
break;
case IOC_GET_GYRO:
data.gyro.x = mpu6050_read_reg_byte(mpu_dev->client,GYRO_XOUT_L);
data.gyro.x |= mpu6050_read_reg_byte(mpu_dev->client,GYRO_XOUT_H)<<8;
data.gyro.y= mpu6050_read_reg_byte(mpu_dev->client,GYRO_YOUT_L);
data.gyro.y|= mpu6050_read_reg_byte(mpu_dev->client,GYRO_YOUT_H)<<8;
data.gyro.z= mpu6050_read_reg_byte(mpu_dev->client,GYRO_ZOUT_L);
data.gyro.z|= mpu6050_read_reg_byte(mpu_dev->client,GYRO_ZOUT_H)<<8;
break;
case IOC_GET_TEMP:
data.temp = mpu6050_read_reg_byte(mpu_dev->client,TEMP_OUT_L);
data.temp |= mpu6050_read_reg_byte(mpu_dev->client,TEMP_OUT_H)<<8;
break;
default:
printk("invalid cmd\n");
return -EINVAL;
}
ret = copy_to_user((void __user *)args,&data,sizeof(data));
if(ret > 0)
{
printk ("%s error \n",__FUNCTION__);
return -1;
}
return 0;
}
const struct file_operations mpu6050_fops = {
.open = mpu6050_dv_open,
.release = mpu6050_drv_close,
.unlocked_ioctl = mpu6050_drv_ioctrl,
};
int mpu6050_drv_prob(struct i2c_client *client, const struct i2c_device_id *id)
{
printk("-----%s----\n", __FUNCTION__);
/*
申请设备号,实现fileoperation
创建设备文件
通过i2c接口去初始化i2c丛设备
*/
mpu_dev = kzalloc(sizeof(struct mpu_sensor),GFP_KERNEL);
mpu_dev->client = client;
mpu_dev->dev_major = register_chrdev(0,"mpu_drv",&mpu6050_fops);
mpu_dev ->cls = class_create(THIS_MODULE,"mpu_cls");
mpu_dev ->dev = device_create(mpu_dev ->cls,NULL,
MKDEV(mpu_dev->dev_major,0),NULL,"mpu_sensor");
//初始化i2c从设备
char buf1[2] = {PWR_MGMT_1, 0x0};
mpu6050_write_bytes(mpu_dev->client, buf1, 2);
char buf2[2] = {SMPLRT_DIV, 0x07};
mpu6050_write_bytes(mpu_dev->client, buf2, 2);
char buf3[2] = {CONFIG, 0x06};
mpu6050_write_bytes(mpu_dev->client, buf3, 2);
char buf4[2] ={GYRO_CONFIG, 0x18};
mpu6050_write_bytes(mpu_dev->client, buf4, 2);
char buf5[2] = {ACCEL_CONFIG, 0x01};
mpu6050_write_bytes(mpu_dev->client, buf5, 2);
return 0;
}
int mpu6050_drv_remove(struct i2c_client *client)
{
device_destroy(mpu_dev ->cls,mpu_dev ->dev);
class_destroy(mpu_dev ->cls);
unregister_chrdev(mpu_dev->dev_major,"mpu_drv");
kfree(mpu_dev);
}
const struct of_device_id of_mpu6050_id[] = {
{.compatible = "invensense,mpu6050"},
{},
};
const struct i2c_device_id mpu_id_table[] = {
{"mpu60xx_drv",0x1234567},
{},
};
struct i2c_driver mpu6050_drv = {
.probe = mpu6050_drv_prob,
.remove = mpu6050_drv_remove,
.driver = {
.name = "lin_mpu6050_drv",//随便写,/sys/bus/i2c/driver/lin_mpu6050_drv
.of_match_table = of_match_ptr(of_mpu6050_id),
},
.id_table = mpu_id_table,//可以不写,为了非设备树匹配
};
static int __init mpu6050_drv_init(void)
{
//1.构建i2c driver,并注册到i2c总线
return i2c_add_driver(&mpu6050_drv);
}
static void __exit mpu6050_drv_exit(void)
{
i2c_del_driver(&mpu6050_drv);
}
module_init(mpu6050_drv_init);
module_exit(mpu6050_drv_exit);
MODULE_LICENSE("GPL");
mpu6050_test.c
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include "mpu6050.h"
int main(int argc, const char *argv[])
{
int fd;
union mpu6050_data data;
fd = open ("/dev/mpu_sensor",O_RDWR);
if(fd < 0)
{
perror("open\n");
exit(1);
}
while(1)
{
ioctl(fd,IOC_GET_ACCEL, &data);
printf("accel data : x = %d , y = %d , z = %d \n",data.accel.x,data.accel.y,data.accel.z);
ioctl(fd,IOC_GET_GYRO, &data);
printf("gyro data : x = %d , y = %d , z = %d \n",data.gyro.x,data.gyro.y,data.gyro.z);
ioctl(fd,IOC_GET_TEMP,&data);
printf("temp data = %d \n",data.temp);
printf("********************************\n");
sleep(1);
}
return 0;
}
~
Makefile
CROSS_COMPILE=arm-none-linux-gnueabi-
CC=$(CROSS_COMPILE)gcc
KERNEL_DIR=/home/linux/fs4412/kernel/linux-3.14
CUR_DIR=$(shell pwd)
ROOTFS_DIR=/home/linux/fs4412/share/rootfs
MODULE_NAME=mpu6050_drv
APP_NAME=mpu6050_test
ifeq ($(KERNELRELEASE),)
all:
make -C $(KERNEL_DIR) M=$(CUR_DIR) modules
$(CC) $(APP_NAME).c -o $(APP_NAME)
clean:
make -C $(KERNEL_DIR) M=$(CUR_DIR) clean
install:
cp *.ko $(APP_NAME) $(ROOTFS_DIR)/drv_module
else
obj-m += $(MODULE_NAME).o
endif