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MPU6500六轴陀螺仪linux驱动(spi&i2c合并)--

MPU6500六轴陀螺仪linux驱动(spi&i2c合并)--

作者: applecai | 来源:发表于2020-12-14 21:49 被阅读0次

    一，前言

    MPU6500六轴陀螺仪linux驱动(spi)--Apple的学习笔记昨天已经做了spi的linux驱动，它和i2c的驱动有很多雷同，所以我也参考linux的设计思路，雷同部分合并为core。测试通过。工程上传到我的gitee工程17。

    二，驱动源码

    apple6500.h

    /**********************************************************************************
Copyright (C), by AppleCai
Project                      : Study Kernel
Description                  : BSP level for MPU6500
CPU and Compiler             : AM335x,ARM-LINIX-GCC
|----------------------------------------------------------------------------------
|               R E V I S I O N   H I S T O R Y
|----------------------------------------------------------------------------------
| Date        Version  Author   Description
| --------    -------  ------   ---------------------------------------------------
| 2020-12-14  1.0.0    AppleCai MPU6500_001: Initial release version
**********************************************************************************/
#ifndef _APPLE6500_H_
#define _APPLE6500_H_

#define APPLE6500_DRV_NAME  "apple6500sensor"
struct apple6500;
struct device;
struct apple6500_transfer_func {
    int (*read) (struct device *dev, unsigned off);
    int (*write) (struct device *dev, unsigned off, unsigned char v);
    int (*readblock)(struct device *dev, unsigned off,unsigned char *buf, size_t size);
};
int apple6500_remove(struct apple6500 *m);
struct apple6500 *apple6500_probe(struct device *dev,const struct apple6500_transfer_func *trops);

#endif

    apple6500_core.c

    /**********************************************************************************
Copyright (C), by AppleCai
Project                      : Study Kernel
Description                  : BSP level for MPU6500
CPU and Compiler             : AM335x,ARM-LINIX-GCC
|----------------------------------------------------------------------------------
|               R E V I S I O N   H I S T O R Y
|----------------------------------------------------------------------------------
| Date        Version  Author   Description
| --------    -------  ------   ---------------------------------------------------
| 2020-12-08  1.0.0    AppleCai MPU6500_001: Initial release version just add frame
| 2020-12-09  1.0.1    AppleCai MPU6500_002: add WMI reg and I2C DTB
| 2020-12-10  1.0.2    AppleCai MPU6500_003: add Initial reg and report functions
| 2020-12-11  1.0.3    AppleCai MPU6500_004: Optimize code structure
| 2020-12-12  1.0.4    AppleCai MPU6500_005: change i2c to spi
| 2020-12-13  1.0.5    AppleCai MPU6500_006: fix bug:spi send cmd then read incorrect
| 2020-12-14  1.0.6    AppleCai MPU6500_007: merge i2c and spi to core
**********************************************************************************/
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/delay.h>
#include <linux/input-polldev.h>
#include <linux/of_device.h>
#include "apple6500.h"



#define POLL_INTERVAL           200
#define POLL_INTERVAL_MAX       500

struct apple6500_chip_reg {
    /* regs */
    char who_am_i;
    char pwr_mgmt_1;
    char pwr_mgmt_2;
    char smplrt_div;
    char sensor_config;
    char accel_config;
    char accel_config2;
    char accel_xout_h;
    char temp_out_h;
    char gyro_xout_h;
    char gyro_config;
    char signal_path_reset;
    char user_config;
};
static const struct apple6500_chip_reg chipregs={
    /* reg addr */
    .who_am_i= 117,
    .pwr_mgmt_1= 107,
    .pwr_mgmt_2= 108,
    .smplrt_div= 25,
    .sensor_config= 26,
    .gyro_config= 27,
    .accel_config= 28,
    .accel_config2= 29,
    .accel_xout_h= 59,
    .temp_out_h= 65,
    .gyro_xout_h= 67,
    .signal_path_reset= 104,
    .user_config= 106,
};

struct apple6500_chip_config{
    char chip_id;
    char chip_enable_sensor;
    char chip_frequency_acc;
    char chip_frequency_gyro;
    char chip_frequency_DIV;
    char chip_reset;
    char chip_sensor_reset;
    char chip_sensitivity_acc;
    char chip_sensitivity_gyro; 
    char chip_selectedclock;
    char chip_usrconfig;
};
/* apple6500 status */
struct apple6500 {
    struct device   *dev;
    struct input_polled_dev *idev;
    const struct apple6500_chip_reg *regs;
    struct apple6500_chip_config cfgs;
    const struct apple6500_transfer_func *tf;
    struct mutex mulock;
    int bustype;
};

static void apple6500_poll(struct input_polled_dev *dev)
{
    struct apple6500 *m = dev->private;

    int ax, ay, az,gx,gy,gz,temp;
    int ret;
    u8 buf[14];
    mutex_lock(&m->mulock);
    ret = m->tf->readblock(m->dev, m->regs->accel_xout_h, buf, sizeof(buf));
    if (ret < 0)
    {
        dev_err(m->dev, "polling error\n");
        return;
    }
    mutex_unlock(&m->mulock);
    ax = ( buf[0] << 8 ) | buf[1];
    ay = ( buf[2] << 8 ) | buf[3];
    az = ( buf[4] << 8 ) | buf[5];
    temp = ( buf[6] << 8 ) | buf[7];
    gx = ( buf[8] << 8 ) | buf[9];
    gy = ( buf[10] << 8 ) | buf[11];
    gz = ( buf[12] << 8 ) | buf[13];

    input_report_abs(dev->input, ABS_X, ax);
    input_report_abs(dev->input, ABS_Y, ay);
    input_report_abs(dev->input, ABS_Z, az);
    input_report_abs(dev->input, ABS_RX, gx);
    input_report_abs(dev->input, ABS_RY, gy);
    input_report_abs(dev->input, ABS_RZ, gz);
    input_report_abs(dev->input, ABS_MISC, temp);//Temperature = 36.53 + regval/340
    input_sync(dev->input);

}
static void apple6500_Init_reg(struct apple6500_chip_config * cfgs)
{
    cfgs->chip_id = 0x70; // id for MPU6500
    cfgs->chip_enable_sensor = 0; // enable all
    cfgs->chip_frequency_acc = 4; // 50Hz/2=25Hz then select 20Hz
    cfgs->chip_frequency_DIV = 19; // 1000/(19+1) = 50Hz clock for acc
    cfgs->chip_frequency_gyro = 4; // 1K 20Hz,due to FCHOICE_B=0
    cfgs->chip_reset = 1<<7; // true 
    cfgs->chip_sensor_reset = 7; // all reset
    cfgs->chip_usrconfig = 0x11; // spi enable and reset all path  
    cfgs->chip_sensitivity_acc = 0; // 65536/4 = 16384 LBS/s
    cfgs->chip_sensitivity_gyro = 3<<3; // 65536/4000 = 16.384 LBS/s
    cfgs->chip_selectedclock = 1; // PLL with axis 
}
static int apple6500_CheckId(struct apple6500 *m)
{
    int IdNum = 0;
    IdNum = m->tf->read(m->dev, m->regs->who_am_i);
    if(m->cfgs.chip_id != IdNum)
    {
        dev_err(m->dev, "Not found MPU6500,id is %d\n",IdNum);
        return -ENXIO;
    }   
    return 0;
}

static int apple6500_ResetChipAndSelectClock(struct apple6500 *m)
{
    int err = 0;
    int val = 0;
    val = m->cfgs.chip_reset+m->cfgs.chip_selectedclock;
    err = m->tf->write(m->dev, m->regs->pwr_mgmt_1,val);
    if(err)
    {
        dev_err(m->dev, "reset command error\n");
    }
    /* if use spi shall add delay timer */
    if(m->bustype == BUS_SPI)
    {
        msleep(100);
        err = m->tf->write(m->dev, m->regs->signal_path_reset,m->cfgs.chip_sensor_reset);
        if(err)
        {
            dev_err(m->dev, "reset command2 error\n");
        }
        msleep(100);
        err = m->tf->write(m->dev, m->regs->user_config,m->cfgs.chip_usrconfig);
        if(err)
        {
            dev_err(m->dev, "usr config error\n");
        }
        msleep(100);
    }
    return err;
}

static int apple6500_EnableSensor(struct apple6500 *m)
{
    int err = 0;
    err = m->tf->write(m->dev, m->regs->pwr_mgmt_2,m->cfgs.chip_enable_sensor);
    if(err)
    {
        dev_err(m->dev, "enable command error\n");
    }   
    return err;
}

static int apple6500_SetACCSamplerate(struct apple6500 *m)
{
    int err = 0;
    err = m->tf->write(m->dev, m->regs->accel_config2,m->cfgs.chip_frequency_acc);
    if(err)
    {
        dev_err(m->dev, "set acc bandwidths error\n");
    }   
    err = m->tf->write(m->dev, m->regs->smplrt_div,m->cfgs.chip_frequency_DIV);
    if(err)
    {
        dev_err(m->dev, "set acc clock division error\n");
    }   
    return err;
}

static int apple6500_SetGyroSamplerate(struct apple6500 *m)
{
    int err = 0;
    err = m->tf->write(m->dev, m->regs->sensor_config,m->cfgs.chip_frequency_gyro);
    if(err)
    {
        dev_err(m->dev, "set gyro bandwidths error\n");
    }   
    return err;
}

static int apple6500_SetAccSensitivity(struct apple6500 *m)
{
    int err = 0;
    err = m->tf->write(m->dev, m->regs->accel_config,m->cfgs.chip_sensitivity_acc);
    if(err)
    {
        dev_err(m->dev, "set acc sensitivity error\n");
    }   
    return err;
}

static int apple6500_SetGyroSensitivity(struct apple6500 *m)
{
    int err = 0;
    err = m->tf->write(m->dev, m->regs->gyro_config,m->cfgs.chip_sensitivity_gyro);
    if(err)
    {
        dev_err(m->dev, "set gyro sensitivity error\n");
    }   
    return err;
}

static int apple6500_Init(struct apple6500 *m)
{
    
    int ret = 0;

    /* load default configuration value */
    apple6500_Init_reg(&m->cfgs);
    /* check id */
    ret = apple6500_CheckId(m);
    if (ret < 0)
        return -1;
    /* set reset chip and select clock */
    ret = apple6500_ResetChipAndSelectClock(m);
    /* enable acc and gyro */
    ret = apple6500_EnableSensor(m);
    /* set sample rate and bandwith for acc*/
    ret = apple6500_SetACCSamplerate(m);
    /* set sample rate and bandwith for gyro*/
    ret = apple6500_SetGyroSamplerate(m);   
    /* set sensitivity for acc*/
    ret = apple6500_SetAccSensitivity(m);   
    /* set sensitivity for gyro*/
    ret = apple6500_SetGyroSensitivity(m);
    if (ret < 0)
    {
        dev_err(m->dev,"init error\n");
        return -1;
    }
    
    return ret;
}

/* Initialize the APPLE6500 chip */
static void apple6500_open(struct input_polled_dev *dev)
{
    int ret = 0;
    struct apple6500 *m = dev->private;
    mutex_init(&m->mulock);
    mutex_lock(&m->mulock);
    ret = apple6500_Init(m);
    mutex_unlock(&m->mulock);
    if (ret < 0)
    {
        dev_err(m->dev, "apple6500 initialization failed\n");
        return;
    }
}

static void apple6500_close(struct input_polled_dev *dev)
{
    struct apple6500 *m = dev->private;
}
/*
 * probe
 */
struct apple6500 *apple6500_probe(struct device *dev,const struct apple6500_transfer_func *trops)
{
    struct input_polled_dev *idev;
    struct apple6500 *m;
    int err;
    
    m = devm_kzalloc(dev, sizeof(*m), GFP_KERNEL);
    if (!m)
        return -ENOMEM;

    idev = devm_input_allocate_polled_device(dev);
    if (!idev)
        return -ENOMEM;

    m->dev = dev;
    m->idev = idev;
    m->regs = &chipregs;
    m->tf = trops;

    idev->private       = m;
    idev->input->name   = APPLE6500_DRV_NAME;
    idev->input->id.bustype = m->bustype;
    idev->input->id.vendor = 0xABCD;
    idev->input->id.product = 0x0001;
    idev->input->id.version = 0x0100;
    idev->poll      = apple6500_poll;
    idev->poll_interval = POLL_INTERVAL;
    idev->poll_interval_max = POLL_INTERVAL_MAX;
    idev->open      = apple6500_open;
    idev->close     = apple6500_close;

    __set_bit(EV_ABS, idev->input->evbit);
    input_set_abs_params(idev->input, ABS_X, -32768, 32767, 0, 0);
    input_set_abs_params(idev->input, ABS_Y, -32768, 32767, 0, 0);
    input_set_abs_params(idev->input, ABS_Z, -32768, 32767, 0, 0);
    input_set_abs_params(idev->input, ABS_RX, -32768, 32767, 0, 0);
    input_set_abs_params(idev->input, ABS_RY, -32768, 32767, 0, 0);
    input_set_abs_params(idev->input, ABS_RZ, -32768, 32767, 0, 0);
    input_set_abs_params(idev->input, ABS_MISC, -32768, 32767, 0, 0);

    err = input_register_polled_device(idev);
    if (err) {
        input_unregister_polled_device(idev);
        dev_err(dev, "failed to register polled input device\n");
        goto out;
    }
    return m;
out:
    input_unregister_polled_device(idev);
    return ERR_PTR(err);
}
EXPORT_SYMBOL_GPL(apple6500_probe);

int apple6500_remove(struct apple6500 *m)
{
    //disable sensor
    input_unregister_polled_device(m->idev);
    input_free_polled_device(m->idev);
    dev_info(m->dev, "%s: removed\n", APPLE6500_DRV_NAME);
    kfree(m);
    return 0;
}
EXPORT_SYMBOL_GPL(apple6500_remove);

MODULE_AUTHOR("AppleCai");
MODULE_DESCRIPTION("APPLE6500 Acceler and Gyro Driver");
MODULE_LICENSE("GPL");

    apple6500_i2c.c

    /**********************************************************************************
Copyright (C), by AppleCai
Project                      : Study Kernel
Description                  : BSP level for MPU6500
CPU and Compiler             : AM335x,ARM-LINIX-GCC
|----------------------------------------------------------------------------------
|               R E V I S I O N   H I S T O R Y
|----------------------------------------------------------------------------------
| Date        Version  Author   Description
| --------    -------  ------   ---------------------------------------------------
| 2020-12-14  1.0.0    AppleCai MPU6500_001: Initial release version
**********************************************************************************/
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/delay.h>
#include <linux/i2c.h>
#include <linux/input-polldev.h>
#include <linux/of_device.h>
#include "apple6500.h"
#if 0  //dts
&i2c2 {  
    pinctrl-names = "default";
    pinctrl-0 = <&i2c2_pins>;

    status = "okay";
    clock-frequency = <100000>;

    apple_MPU6500: apple_MPU6500@68 {
        compatible ="applecai,apple6500i2c";
        reg = <0x68>;
    };
};
#endif
static int apple6500_read_i2c(struct device *dev, unsigned off)
{
    struct i2c_client *c = to_i2c_client(dev);
    int ret;

    ret = i2c_smbus_read_byte_data(c, off);
    if (ret < 0)
        dev_err(dev,"failed to read register 0x%02x, error %d\n",off, ret);

    return ret;
}

static int apple6500_write_i2c(struct device *dev, unsigned off, unsigned char v)
{
    struct i2c_client *c = to_i2c_client(dev);
    int error;

    error = i2c_smbus_write_byte_data(c, off, v);
    if (error < 0) {
        dev_err(dev,"failed to write to register 0x%02x, error %d\n",off, error);
        return error;
    }

    return 0;
}

static int apple6500_read_block_i2c(struct device *dev, unsigned off,unsigned char *buf, size_t size)
{
    struct i2c_client *c = to_i2c_client(dev);
    int err;

    err = i2c_smbus_read_i2c_block_data(c, off, size, buf);
    if (err < 0) {
        dev_err(&c->dev,"failed to read block data error %d\n", err);
        return err;
    }

    return 0;
}
static const struct apple6500_transfer_func apple6500_tf_i2c = {
    .write = apple6500_write_i2c,
    .read = apple6500_read_i2c,
    .readblock = apple6500_read_block_i2c
};

static const struct of_device_id apple6500_dt_ids[] = {
    { .compatible = "applecai,apple6500i2c"},
    { /* sentinel */ }
};
/*
 * I2C probe
 */
static int apple6500_i2c_probe(struct i2c_client *c,
             const struct i2c_device_id *id)
{
    struct apple6500 *m;
    int err;
    /* Check basic functionality */
    err = i2c_check_functionality(c->adapter, I2C_FUNC_SMBUS_WRITE_BYTE_DATA|
                                  I2C_FUNC_SMBUS_READ_BYTE_DATA|
                                  I2C_FUNC_SMBUS_READ_I2C_BLOCK);
    if (!err) {
        dev_err(&c->dev, "%s adapter not supported\n",
            dev_driver_string(&c->adapter->dev));
        return -ENODEV;
    }
    m = apple6500_probe(&c->dev,&apple6500_tf_i2c);
    if (IS_ERR(m))
        return PTR_ERR(m);
    i2c_set_clientdata(c, m);

    return 0;
}

static int apple6500_i2c_remove(struct i2c_client *c)
{
    struct apple6500 *m = i2c_get_clientdata(c);
    
    return apple6500_remove(m);
}

MODULE_DEVICE_TABLE(of, apple6500_dt_ids);

static struct i2c_driver apple6500_driver = {
    .driver = {
        .name   = APPLE6500_DRV_NAME,
        .of_match_table = apple6500_dt_ids,
    },
    .probe      = apple6500_i2c_probe,
    .remove   = apple6500_i2c_remove,
};

module_i2c_driver(apple6500_driver);

MODULE_AUTHOR("AppleCai");
MODULE_DESCRIPTION("APPLE6500 Acceler and Gyro Driver I2C");
MODULE_LICENSE("GPL");

    apple6500_spi.c

    /**********************************************************************************
Copyright (C), by AppleCai
Project                      : Study Kernel
Description                  : BSP level for MPU6500
CPU and Compiler             : AM335x,ARM-LINIX-GCC
|----------------------------------------------------------------------------------
|               R E V I S I O N   H I S T O R Y
|----------------------------------------------------------------------------------
| Date        Version  Author   Description
| --------    -------  ------   ---------------------------------------------------
| 2020-12-14  1.0.0    AppleCai MPU6500_001: Initial release version
**********************************************************************************/
#if 0 // DTS
spi0_pins: pinmux_spi0_pins {
    pinctrl-single,pins = <
        AM33XX_PADCONF(AM335X_PIN_SPI0_SCLK,PIN_INPUT, MUX_MODE0)       /* SPI0_SCLK */
        AM33XX_PADCONF(AM335X_PIN_SPI0_D0, PIN_INPUT_PULLUP, MUX_MODE0)     /* SPI0_D0 */
        AM33XX_PADCONF(AM335X_PIN_SPI0_D1, PIN_OUTPUT, MUX_MODE0)   /* SPI0_D1 */
        AM33XX_PADCONF(AM335X_PIN_SPI0_CS0, PIN_OUTPUT, MUX_MODE0)  /* SPI0_CS0 */
    >;
};


&spi0 {
    status = "okay";
    pinctrl-names = "default";
    pinctrl-0 = <&spi0_pins>;

    apple_MPU6500spi@0 {
        compatible ="applecai,apple6500spi";//"rohm,dh2228fv";
        reg = <0>;
        spi-cpol;
        spi-cpha;
        spi-max-frequency = <100000>;
        spi-tx-bus-width=<1>;
        spi-rx-bus-width=<1>;
    };
};
#endif
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/delay.h>
#include <linux/spi/spi.h>
#include <linux/input-polldev.h>
#include <linux/of_device.h>
#include "apple6500.h"
/* spi */
#define APPLE6500_CMD_MULTB (1 << 6)
#define APPLE6500_CMD_READ  (1 << 7)
#define APPLE6500_WRITECMD(reg) (reg & 0x7F)
#define APPLE6500_READCMD(reg)  (APPLE6500_CMD_READ | (reg & 0x7F))

static int apple6500_read_spi(struct device *dev, unsigned off)
{
    struct spi_device *spi = to_spi_device(dev);
    unsigned char cmd;
    int ret;
    
    cmd = APPLE6500_READCMD(off);
    ret=spi_w8r8(spi, cmd);
    
    return ret;
}

static int apple6500_write_spi(struct device *dev, unsigned off, unsigned char v)
{
    struct spi_device *spi = to_spi_device(dev);
    unsigned char buf[2];

    buf[0] = APPLE6500_WRITECMD(off);
    buf[1] = v;

    return spi_write(spi, buf, sizeof(buf));
}

static int apple6500_read_block_spi(struct device *dev, unsigned off,unsigned char *buf, size_t size)
{
    struct spi_device *spi = to_spi_device(dev);
    ssize_t status;

    off = APPLE6500_READCMD(off);
    status = spi_write_then_read(spi, &off, 1, buf, size);

    return (status < 0) ? status : 0;
}
static const struct apple6500_transfer_func apple6500_tf_spi = {
    .write = apple6500_write_spi,
    .read = apple6500_read_spi,
    .readblock = apple6500_read_block_spi,
};

static const struct of_device_id apple6500spi_dt_ids[] = {
    { .compatible = "applecai,apple6500spi"},
    { /* sentinel */ }
};
/*
 * I2C init/probing/exit functions
 */
static int apple6500_spi_probe(struct spi_device *spi)
{
    struct apple6500 *m;
    
    m = apple6500_probe(&spi->dev,&apple6500_tf_spi);
    if (IS_ERR(m))
        return PTR_ERR(m);
    spi_set_drvdata(spi, m);
    
    return 0;
}

static int apple6500_spi_remove(struct spi_device *spi)
{
    struct apple6500 *m = spi_get_drvdata(spi);

    return apple6500_remove(m);
}


MODULE_DEVICE_TABLE(of, apple6500spi_dt_ids);

static struct spi_driver apple6500_driver = {
    .driver = {
        .name   = APPLE6500_DRV_NAME,
        .of_match_table = apple6500spi_dt_ids,
    },
    .probe      = apple6500_spi_probe,
    .remove   = apple6500_spi_remove,
};

module_spi_driver(apple6500_driver);

MODULE_AUTHOR("AppleCai");
MODULE_DESCRIPTION("APPLE6500 Acceler and Gyro Driver SPI");
MODULE_LICENSE("GPL");

    Makefile

    #copyright by AppleCai
KERNELDIR :=/home/applecai/studybr/buildroot-2020.05.2/output/build/linux-custom
CURRENT_PATH := $(shell pwd)

obj-m += apple6500_core.o
obj-m += apple6500_i2c.o
obj-m += apple6500_spi.o

build: kernel_modules

kernel_modules:
    $(MAKE) -C $(KERNELDIR) M=$(CURRENT_PATH) modules

clean:
    $(MAKE) -C $(KERNELDIR) M=$(CURRENT_PATH) clean

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