Regmap子系统之六轴传感器驱动-完整驱动icm20607.c示例源码

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| #include <linux/module.h> #include <linux/init.h> #include <linux/fs.h> // 包含文件系统相关函数的头文件 #include <linux/uaccess.h> // 包含用户空间数据访问函数的头文件 #include <linux/cdev.h> //包含字符设备头文件 #include <linux/device.h> #include <linux/delay.h> #include <linux/spi/spi.h> #include <linux/regmap.h> #include <linux/of.h> #include <linux/of_address.h> #include <linux/of_gpio.h> #include "icm20607.h" #define ICM20607_REG_WHOAMI 0x75 #define ICM20607_WHOAMI_VALUE 0xAF #define DEVICE_NAME "icm20607" // 设备名称 static dev_t dev_num; //分配的设备号 int major; //主设备号 int minor; //次设备号 struct icm20607_dev { struct spi_device *spi_dev; /* spi设备 */ dev_t dev_num; /* 设备号*/ struct cdev cdev; /* cdev */ struct class *class; /* 类*/ struct device *device; /* 设备 */ struct device_node *nd; /* 设备节点 */ int cs_gpio; /* 片选所使用的GPIO编号 */ signed int gyro_x_adc; /* 陀螺仪X轴原始值*/ signed int gyro_y_adc; /* 陀螺仪Y轴原始值*/ signed int gyro_z_adc; /* 陀螺仪Z轴原始值*/ signed int accel_x_adc; /* 加速度计X轴原始值*/ signed int accel_y_adc; /* 加速度计Y轴原始值*/ signed int accel_z_adc; /* 加速度计Z轴原始值*/ signed int temp_adc; /* 温度原始值*/ struct regmap *spi_regmap; /* regmap */ struct regmap_config regmap_config; }; void icm20607_readdata(struct icm20607_dev *dev) { u8 ret; unsigned char data14; ret = regmap_bulk_read(dev->spi_regmap, ICM20_ACCEL_XOUT_H, data, 14);/*读多个寄存器的值*/ dev->accel_x_adc = (signed short)((data0 << 8) | data1); dev->accel_y_adc = (signed short)((data2 << 8) | data3); dev->accel_z_adc = (signed short)((data4 << 8) | data5); dev->temp_adc = (signed short)((data6 << 8) | data7); dev->gyro_x_adc = (signed short)((data8 << 8) | data9); dev->gyro_y_adc = (signed short)((data10 << 8) | data11); dev->gyro_z_adc = (signed short)((data12 << 8) | data13); } static int icm20607_spi_read(struct icm20607_dev *dev, unsigned int reg, unsigned int *val) { return regmap_read(dev->spi_regmap, reg, val); } static int icm20607_spi_write(struct icm20607_dev *dev, unsigned int reg, unsigned int val) { return regmap_write(dev->spi_regmap, reg, val); } static const struct regmap_config spi_regmap_config = { .reg_bits = 8, .val_bits = 8, .read_flag_mask = 0x80, .reg_read = icm20607_spi_read, .reg_write = icm20607_spi_write, .max_register = ICM20607_REG_WHOAMI, }; static int device_open(struct inode *inode, struct file *file) { // 在这里处理设备打开的操作 printk(KERN_INFO "This is device_open.\n"); return 0; } static int device_release(struct inode *inode, struct file *file) { // 在这里处理设备关闭的操作 printk(KERN_INFO "This is device_release.\n"); return 0; } static ssize_t device_read(struct file *file, char __user *buffer, size_t length, loff_t *offset) { signed int data7; long err = 0; struct cdev *cdev = file->f_path.dentry->d_inode->i_cdev; struct icm20607_dev *dev = container_of(cdev, struct icm20607_dev, cdev); icm20607_readdata(dev); data0 = dev->gyro_x_adc; data1 = dev->gyro_y_adc; data2 = dev->gyro_z_adc; data3 = dev->accel_x_adc; data4 = dev->accel_y_adc; data5 = dev->accel_z_adc; data6 = dev->temp_adc; err = copy_to_user(buffer, data, sizeof(data)); return 0; } static ssize_t device_write(struct file *file, const char __user *buffer, size_t length, loff_t *offset) { // 在这里处理设备写入的操作 printk(KERN_INFO "This is device_write.\n"); return 0; } void icm20607_reginit(struct icm20607_dev *dev) { u8 value = 0; icm20607_spi_write(dev, ICM20_PWR_MGMT_1, 0x80); mdelay(50); icm20607_spi_write(dev, ICM20_PWR_MGMT_1, 0x01); mdelay(50); icm20607_spi_read(dev, ICM20_WHO_AM_I,&value); printk("ICM20607 ID = %#X\r\n", value); icm20607_spi_write(dev, ICM20_SMPLRT_DIV, 0x00); /* 输出速率是内部采样率*/ icm20607_spi_write(dev, ICM20_GYRO_CONFIG, 0x18); /* 陀螺仪±2000dps量程 */ icm20607_spi_write(dev, ICM20_ACCEL_CONFIG, 0x18); /* 加速度计±16G量程*/ icm20607_spi_write(dev, ICM20_CONFIG, 0x04); /* 陀螺仪低通滤波BW=20Hz */ icm20607_spi_write(dev, ICM20_ACCEL_CONFIG2, 0x04); /* 加速度计低通滤波BW=21.2Hz */ icm20607_spi_write(dev, ICM20_PWR_MGMT_2, 0x00); /* 打开加速度计和陀螺仪所有轴*/ icm20607_spi_write(dev, ICM20_LP_MODE_CFG, 0x00); /* 关闭低功耗*/ icm20607_spi_write(dev, ICM20_FIFO_EN, 0x00); /* 关闭FIFO */ } static struct file_operations fops = { .owner = THIS_MODULE, .open = device_open, .release = device_release, .read = device_read, .write = device_write, }; static int icm20607_probe(struct spi_device *spi) { int ret; unsigned int whoami; struct icm20607_dev *icm20607dev; /* 分配icm20607dev对象的空间 */ icm20607dev = devm_kzalloc(&spi->dev, sizeof(*icm20607dev), GFP_KERNEL); if(!icm20607dev) return -ENOMEM; // 创建 ICM20607 设备的 regmap icm20607dev->spi_regmap = regmap_init_spi(spi, &spi_regmap_config); if (IS_ERR(icm20607dev->spi_regmap)) { dev_err(&spi->dev, "Failed to initialize regmap: %ld\n", PTR_ERR(icm20607dev->spi_regmap)); return PTR_ERR(icm20607dev->spi_regmap); } // 注册字符设备驱动程序 ret = alloc_chrdev_region(&icm20607dev->dev_num,0,1,DEVICE_NAME); if (ret < 0) { printk(KERN_ALERT "Failed to allocate device number: %d\n", ret); return ret; } major=MAJOR(icm20607dev->dev_num); minor=MINOR(icm20607dev->dev_num); printk(KERN_INFO "major number: %d\n",major); printk(KERN_INFO "minor number: %d\n",minor); icm20607dev->cdev.owner = THIS_MODULE; cdev_init(&icm20607dev->cdev,&fops); cdev_add(&icm20607dev->cdev,icm20607dev->dev_num,1); // 创建设备类 icm20607dev->class = class_create(THIS_MODULE, DEVICE_NAME); if (IS_ERR(icm20607dev->class)) { pr_err("Failed to create class\n"); return PTR_ERR(icm20607dev->class); } // 创建设备节点并关联到设备类 icm20607dev->device = device_create(icm20607dev->class, NULL, MKDEV(major, minor), NULL, DEVICE_NAME); if (IS_ERR(icm20607dev->device)) { pr_err("Failed to create device\n"); class_destroy(icm20607dev->class); return PTR_ERR(icm20607dev->device); } /*初始化spi_device */ icm20607dev->spi_dev = spi; spi->mode = SPI_MODE_0; spi_setup(spi); /* 初始化ICM20607内部寄存器 */ icm20607_reginit(icm20607dev); /* 保存icm20607dev结构体 */ spi_set_drvdata(spi, icm20607dev); pr_info("ICM20607 SPI device probed successfully\n"); return 0; } static int icm20607_remove(struct spi_device *spi) { struct icm20607_dev *icm20607dev = spi_get_drvdata(spi); // 在此处执行 ICM20607 设备的清理操作 //删除cdev cdev_del(&icm20607dev->cdev); //注销设备号 unregister_chrdev_region(icm20607dev->dev_num, 1); //注销设备 device_destroy(icm20607dev->class, icm20607dev->dev_num); //注销类 class_destroy(icm20607dev->class); //删除regmap regmap_exit(icm20607dev->spi_regmap); pr_info("ICM20607 SPI device removed successfully\n"); return 0; } static const struct of_device_id icm20607_of__match\[\] = { { .compatible = "icm20607", }, {}, }; static struct spi_driver icm20607_driver = { .driver = { .name = "icm20607", .owner = THIS_MODULE, .of_match_table = icm20607_of__match, }, .probe = icm20607_probe, .remove = icm20607_remove, }; static int __init icm20607_init(void) { int ret; ret = spi_register_driver(&icm20607_driver); if (ret < 0) { pr_err("Failed to register ICM20607 driver: %d\n", ret); return ret; } pr_info("ICM20607 SPI device driver loaded\n"); return 0; } static void __exit icm20607_exit(void) { spi_unregister_driver(&icm20607_driver); pr_info("ICM20607 SPI device driver unloaded\n"); } module_init(icm20607_init); module_exit(icm20607_exit); MODULE_LICENSE("GPL"); MODULE_AUTHOR("Your Name"); MODULE_DESCRIPTION("ICM20607 SPI device driver"); |