linux下mpu6050驱动

LitchiCheng

linux下mpu6050驱动 [复制链接]

<div class='showpostmsg'># linux下mpu6050驱动
## 视频讲解

[video(video-ASCejqRf-1703404139750)(type-bilibili)(url-https://player.bilibili.com/player.html?aid=249033128)(image-https://img-blog.csdnimg.cn/img_convert/a69a48a0a2735563aee5aeee5517e4ca.jpeg)(title-【Linux】imx6下编写mpu6050（i2c）驱动流程（上）)]

[video(video-vluUgmhx-1703404177670)(type-bilibili)(url-https://player.bilibili.com/player.html?aid=761596537)(image-https://img-blog.csdnimg.cn/img_convert/e3c5572f172a5e4bff20f6f642b10e0b.jpeg)(title-【Linux】imx6下编写mpu6050（i2c）驱动流程（下）)]
## 代码
- 先上代码：
- [github仓库链接](https://github.com/darboy/mpu6050-linux)
- [gitee仓库链接](https://gitee.com/darboy/mpu6050-linux)

## 设备树
在i2c的控制器下追加该设备
```c
&i2c2 {
    clock_frequency = <100000>;
    pinctrl-names = "default";
    pinctrl-0 = <&pinctrl_i2c2>;
    status = "okay";
    mpu6050:mpu6050@68 {
        compatible = "dar,mpu6050";
        reg = <0x68>;
        status = "okay";/* 如果需要改为okay */
    };
}；
```
## Makefile
- 修改内核目录KERNELDIR，xxx为用户
- source编译环境后，可直接make或讲CC更换为指定的交叉编译器即可

```c
KERNELDIR := /home/xxx/Project/linux/kernal_source/linux-imx-rel_imx_4.1.15_2.1.0_ga_alientek/
CURRENT_PATH := $(shell pwd)

obj-m := mpu6050.o

build: kernel_modules

kernel_modules:
    $(MAKE) -C $(KERNELDIR) M=$(CURRENT_PATH) modules
    date
    $(CC) mpu6050Demo.c -o mpu6050Demo -Wall -pthread -O2

install:
    scp mpu6050Demo mpu6050.ko root@192.168.192.5:/home/root

clean:
    $(MAKE) -C $(KERNELDIR) M=$(CURRENT_PATH) clean
    rm mpu6050Demo -rf
```

## 编译

```powershell
cd ./mpu6050-linux
source /opt/fsl-imx-x11/4.1.15-2.1.0/environment-setup-cortexa7hf-neon-poky-linux-gnueabi 
make
make install
```

## 测试
1. 登录开发板
2. mpu6050Demo为测试程序，将会读取6轴数据
3. mpu6050.ko为模块驱动，通过insmod加载，匹配设备树后，在/dev中生成mpu6050设备
4. 执行如下命令

```powershell
ssh root@192.168.192.5
insmod mpu6050.ko
chmod +x mpu6050Demo
./mpu6050Demp
```

加载驱动
![777504](/data/attachment/forum/202401/19/092626pxf5nebzf1wztff8.png?rand=3050.1778313107798)
mpu6050设备已经加载

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LitchiCheng

帖子里面的讲解视频失效了，更新如下：

【Linux】imx6下编写mpu6050（i2c）驱动流程（上）

【Linux】imx6下编写mpu6050（i2c）驱动流程（下）