bmi088 linux驱动及应用测试程序

#include <linux/types.h> #include <linux/kernel.h> #include <linux/delay.h> #include <linux/ide.h> #include <linux/init.h> #include <linux/module.h> #include <linux/errno.h> #include <linux/gpio.h> #include <linux/cdev.h> #include <linux/device.h> #include <linux/of_gpio.h> #include <linux/semaphore.h> #include <linux/timer.h> #include <linux/i2c.h> #include <asm/uaccess.h> #include <asm/io.h> #include "bmi088_i2c.h" #define bmi088i2c_CNT 1 #define bmi088i2c_NAME "bmi088i2c" struct bmi088i2c_dev { dev_t devid; /* 设备号 */ struct cdev cdev; /* cdev */ struct class *class; /* 类 */ struct device *device; /* 设备 */ struct device_node *nd[2]; /* 设备节点 */ unsigned char chip_addr[2]; /* 设备节点 */ int major; /* 主设备号 */ void *private_data; /* 私有数据 */ int16_t acceleration[3], gyro[3], temp; /* 芯片数据 */ }; typedef enum { CHANELL_GYRO = 0, CHANELL_ACC, CHANELL_TEMP }CHANELL_TYPE; static struct bmi088i2c_dev bmi088i2cdev; /* * @description : 从bmi088i2c读取多个寄存器数据 * @param - dev: bmi088i2c设备 * @param - reg: 要读取的寄存器首地址 * @param - val: 读取到的数据 * @param - len: 要读取的数据长度 * @return : 操作结果 */ static int bmi088i2c_read_regs(struct bmi088i2c_dev *dev,u8 chip_addr, u8 reg, void *val, int len) { int ret; struct i2c_msg msg[2]; struct i2c_client *client = (struct i2c_client *)dev->private_data; /* msg[0]为发送要读取的首地址 */ msg[0].addr = chip_addr; /* bmi088i2c地址 */ msg[0].flags = 0; /* 标记为发送数据 */ msg[0].buf = &reg; /* 读取的首地址 */ msg[0].len = 1; /* reg长度*/ /* msg[1]读取数据 */ msg[1].addr = chip_addr; /* bmi088i2c地址 */ msg[1].flags = I2C_M_RD; /* 标记为读取数据*/ msg[1].buf = val; /* 读取数据缓冲区 */ msg[1].len = len; /* 要读取的数据长度*/ ret = i2c_transfer(client->adapter, msg, 2); if(ret == 2) { ret = 0; } else { printk("i2c rd failed=%d reg=%06x len=%d\n",ret, reg, len); ret = -EREMOTEIO; } return ret; } /* * @description : 向bmi088i2c多个寄存器写入数据 * @param - dev: bmi088i2c设备 * @param - reg: 要写入的寄存器首地址 * @param - val: 要写入的数据缓冲区 * @param - len: 要写入的数据长度 * @return : 操作结果 */ static s32 bmi088i2c_write_regs(struct bmi088i2c_dev *dev, u8 chip_addr, u8 reg, u8 *buf, u8 len) { u8 b[256]; struct i2c_msg msg; struct i2c_client *client = (struct i2c_client *)dev->private_data; b[0] = reg; /* 寄存器首地址 */ memcpy(&b[1],buf,len); /* 将要写入的数据拷贝到数组b里面 */ msg.addr = chip_addr; /* bmi088i2c地址 */ msg.flags = 0; /* 标记为写数据 */ msg.buf = b; /* 要写入的数据缓冲区 */ msg.len = len + 1; /* 要写入的数据长度 */ printk("addr %x, buf %x %x,len %d\r\n",msg.addr,msg.buf[0],msg.buf[1],msg.len); return i2c_transfer(client->adapter, &msg, 1); } /* * @description : 读取bmi088i2c指定寄存器值，读取一个寄存器 * @param - dev: bmi088i2c设备 * @param - reg: 要读取的寄存器 * @return : 读取到的寄存器值 */ static unsigned char bmi088i2c_read_reg(struct bmi088i2c_dev *dev, CHANELL_TYPE type, u8 reg) { u8 data = 0; if(type == CHANELL_GYRO) bmi088i2c_read_regs(dev, BMI08_GYRO_I2C_ADDR_PRIMARY, reg, &data, 1); else if(type == CHANELL_ACC) bmi088i2c_read_regs(dev, BMI08_ACCEL_I2C_ADDR_PRIMARY, reg, &data, 1); return data; } /* * @description : 向bmi088i2c指定寄存器写入指定的值，写一个寄存器 * @param - dev: bmi088i2c设备 * @param - reg: 要写的寄存器 * @param - data: 要写入的值 * @return : 无 */ static void bmi088i2c_write_reg(struct bmi088i2c_dev *dev, CHANELL_TYPE sensor_type, u8 reg, u8 data) { u8 buf = 0; buf = data; if(sensor_type == CHANELL_GYRO) bmi088i2c_write_regs(dev, BMI08_GYRO_I2C_ADDR_PRIMARY, reg, &buf, 1); else if(sensor_type == CHANELL_ACC) bmi088i2c_write_regs(dev, BMI08_ACCEL_I2C_ADDR_PRIMARY, reg, &buf, 1); } static void bmi088_reset(void) { u8 ret; ret = bmi088i2c_read_reg(&bmi088i2cdev,CHANELL_ACC,BMI08_REG_ACCEL_CHIP_ID); printk("read acc chip id : %x\r\n",ret); #if 1 mdelay(30); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_PWR_CONF, 0x03); // printk("%s: %d\r\n",__func__,__LINE__); mdelay(10); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_PWR_CTRL, 0x00); // printk("%s: %d\r\n",__func__,__LINE__); mdelay(30); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_SOFTRESET, 0xB6); // printk("%s: %d\r\n",__func__,__LINE__); mdelay(100); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_PWR_CONF, 0x00); // printk("%s: %d\r\n",__func__,__LINE__); mdelay(10); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_PWR_CTRL, 0x04); // printk("%s: %d\r\n",__func__,__LINE__); mdelay(30); ret = bmi088i2c_read_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_PWR_CTRL); printk("acc id(0x04) %x\r\n",ret); mdelay(20); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_CONF, 0x8B); mdelay(20); ret = bmi088i2c_read_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_CONF); printk("acc id(0x8B) %x\r\n",ret); mdelay(20); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_RANGE, 0x03); mdelay(20); ret = bmi088i2c_read_reg(&bmi088i2cdev, CHANELL_ACC, BMI08_REG_ACCEL_RANGE); printk("acc id(0x03) %x\r\n",ret); mdelay(20); #endif printk("-------------------------\r\n"); ret = bmi088i2c_read_reg(&bmi088i2cdev,CHANELL_GYRO,BMI08_REG_GYRO_CHIP_ID); printk("read gyro chip id : %x\r\n",ret); #if 1 bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_LPM1, 0x80); printk("gyro suspend mode\r\n"); mdelay(50); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_SOFTRESET, 0xB6); printk("soft reset\r\n"); mdelay(80); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_LPM1, 0x00); printk("gyro suspend mode\r\n"); mdelay(50); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_RANGE, 0x00); ret = bmi088i2c_read_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_RANGE); printk("gyro id(0x00) %x\r\n",ret); mdelay(20); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_BANDWIDTH, 0x81); ret = bmi088i2c_read_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_BANDWIDTH); printk("gyro id(0x81) %x\r\n",ret); mdelay(20); bmi088i2c_write_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_LPM1, 0x00); ret = bmi088i2c_read_reg(&bmi088i2cdev, CHANELL_GYRO, BMI08_REG_GYRO_LPM1); printk("gyro id(0x00) %x\r\n",ret); mdelay(20); #endif } /* * @description : 读取bmi088i2c的数据，读取原始数据 * @param - dev: bmi088i2c设备 * @return : 无。 */ void bmi088i2c_readdata(struct bmi088i2c_dev *dev, CHANELL_TYPE sensor_type) { unsigned char i =0; unsigned char buf[6]; unsigned char val = 0x3B; int ret; if(sensor_type == CHANELL_GYRO) { bmi088i2c_read_regs(dev, BMI08_GYRO_I2C_ADDR_PRIMARY, BMI08_REG_GYRO_X_LSB, buf, 6); for(i = 0; i < 3; i++) { dev->gyro[i] = (buf[(i * 2) + 1] << 8 | buf[i * 2]); } } if(sensor_type == CHANELL_ACC) { ret = bmi088i2c_read_regs(dev, BMI08_ACCEL_I2C_ADDR_PRIMARY, BMI08_REG_ACCEL_X_LSB, buf, 6); // printk("[ %d ]acc value: ",ret); for(i = 0; i < 3; i++) { dev->acceleration[i] = (buf[(i * 2) + 1] << 8 | buf[i * 2]); // printk("%x ",dev->acceleration[i]); } // printk("\r\n"); } // if(sensor_type == CHANELL_TEMP) // { // bmi088i2c_read_regs(dev, BMI08_ACCEL_I2C_ADDR_PRIMARY, BMI08_REG_TEMP_MSB, buf, 2); //// printk("msb : %x\r\n",buf[0]); // dev->temp = buf[0] << 3 | (((buf[1] >> 5) & 0x07)); //// bmi088i2c_read_regs(dev, BMI08_ACCEL_I2C_ADDR_PRIMARY, BMI08_REG_TEMP_LSB, buf, 1); //// printk("lsb : %x\r\n",buf[1]); //// dev->temp |= ((buf[1] >> 5) & 0x07); // } } /* * @description : 打开设备 * @param - inode : 传递给驱动的inode * @param - filp : 设备文件，file结构体有个叫做private_data的成员变量 * 一般在open的时候将private_data指向设备结构体。 * @return : 0 成功;其他 失败 */ static int bmi088i2c_open(struct i