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mpu6050: Add scripts and modified kernel module for mpu6050 #123

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26 changes: 18 additions & 8 deletions mpu6050/Makefile
100644 → 100755
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Original file line number Diff line number Diff line change
Expand Up @@ -7,26 +7,36 @@ obj-m := mpu6050.o

else

export KERNELDIR = /usr/src/linux-headers-4.14.84-sunxi

ifeq ($(KERNELDIR),)
ifeq ($(BBB_KERNEL),)
$(error Path to kernel tree - KERNELDIR or BBB_KERNEL variable is not defined!)
endif
endif

KERNELDIR ?= $(BBB_KERNEL)
#KERNELDIR ?= $(BBB_KERNEL)

export ARCH = arm
export CROSS_COMPILE ?= arm-linux-gnueabihf-


.PHONY: all clean

all:
ifeq ($(KERNELDIR),)
ifeq ($(BBB_KERNEL),)
$(error Path to kernel tree - KERNELDIR or BBB_KERNEL variable is not defined!)
endif
endif
$(MAKE) -C $(KERNELDIR) M=$(CURDIR) modules

clean:
ifeq ($(KERNELDIR),)
ifeq ($(BBB_KERNEL),)
$(error Path to kernel tree - KERNELDIR or BBB_KERNEL variable is not defined!)
endif
endif
$(MAKE) -C $(KERNELDIR) M=$(CURDIR) clean


install:
#sudo cp mpu6050.ko /lib/modules/4.14.84-sunxi/kernel/
#sudo cp mpu6050.ko /lib/modules/4.14.84-sunxi/kernel/drivers/
sudo cp mpu6050.ko /lib/modules/4.14.84-sunxi/kernel/drivers/i2c/
sudo depmod -a

endif
1 change: 1 addition & 0 deletions mpu6050/dt/compile.sh
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@@ -0,0 +1 @@
olegh@orangepione:/boot/overlay-user$ dtc -I dts -O dtb mpu6050.dtso > mpu6050.dtbo

@yekovalyov yekovalyov Jan 21, 2019

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Does it work as expected?

@OlegH-ua OlegH-ua Jan 22, 2019

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If you mean did overlays work - yes, sure, it works.
If you mean that there is no dtso file in the pull request - yes, it's an missmatch and my little error. After some experiments I had changed file name to .dts, but this example had been left unchanged - i was made before. It was long time ago, more than a month.

Binary file added mpu6050/dt/mpu6050.dtbo
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20 changes: 20 additions & 0 deletions mpu6050/dt/mpu6050.dts
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@@ -0,0 +1,20 @@
/dts-v1/;
/plugin/;

/ {
compatible = "allwinner,sun8i-h3";

fragment@0 {
target = <&i2c0>;
__overlay__ {
#address-cells = <1>;
#size-cells = <0>;
status = "okay";
mpu6050@68 {
compatible = "mpu6050";
reg = <0x68>;
status = "okay";
};
};
};
};
11 changes: 11 additions & 0 deletions mpu6050/mpu6050-mod.log
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@@ -0,0 +1,11 @@
olegh@orangepione:/sys/class/mpu6050$ cat accel
10476 2944 12188
olegh@orangepione:/sys/class/mpu6050$ cat gyro
-198 138 -126
olegh@orangepione:/sys/class/mpu6050$ cat temperature
30
olegh@orangepione:/sys/class/mpu6050$ cat all
10356 2812 12276
-248 191 -105
30
olegh@orangepione:/sys/class/mpu6050$
157 changes: 71 additions & 86 deletions mpu6050/mpu6050.c
100644 → 100755
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Expand Up @@ -5,14 +5,22 @@
#include <linux/i2c.h>
#include <linux/i2c-dev.h>

#include <linux/jiffies.h>

#include "mpu6050-regs.h"

uint32_t GetTickCount(void)
{
return jiffies_to_msecs(get_jiffies_64());
}


struct mpu6050_data {
struct i2c_client *drv_client;
int accel_values[3];
int gyro_values[3];
int temperature;
uint32_t LastReadTick;
};

static struct mpu6050_data g_mpu6050_data;
Expand Down Expand Up @@ -51,9 +59,16 @@ static int mpu6050_read_data(void)
dev_info(&drv_client->dev, "TEMP = %d\n",
g_mpu6050_data.temperature);

g_mpu6050_data.LastReadTick = GetTickCount();
return 0;
}

static int mpu6050_read_data2(void)
{
if ((GetTickCount() - g_mpu6050_data.LastReadTick) < 3) return 0;
return mpu6050_read_data();
}

static int mpu6050_probe(struct i2c_client *drv_client,
const struct i2c_device_id *id)
{
Expand Down Expand Up @@ -114,84 +129,75 @@ MODULE_DEVICE_TABLE(i2c, mpu6050_idtable);

static struct i2c_driver mpu6050_i2c_driver = {
.driver = {
.name = "gl_mpu6050",
.name = "mpu6050",
.owner = THIS_MODULE,
},

.probe = mpu6050_probe,
.remove = mpu6050_remove,
.id_table = mpu6050_idtable,
};

static ssize_t accel_x_show(struct class *class,
struct class_attribute *attr, char *buf)
{
mpu6050_read_data();

sprintf(buf, "%d\n", g_mpu6050_data.accel_values[0]);
return strlen(buf);
}

static ssize_t accel_y_show(struct class *class,
struct class_attribute *attr, char *buf)
static ssize_t accel_show(struct class *class, struct class_attribute *attr, char *buf)
{
mpu6050_read_data();
mpu6050_read_data2();

sprintf(buf, "%d\n", g_mpu6050_data.accel_values[1]);
sprintf(buf, "%d %d %d\n",
g_mpu6050_data.accel_values[0],
g_mpu6050_data.accel_values[1],
g_mpu6050_data.accel_values[2]
);
return strlen(buf);
}

static ssize_t accel_z_show(struct class *class,
struct class_attribute *attr, char *buf)
static ssize_t gyro_show(struct class *class, struct class_attribute *attr, char *buf)
{
mpu6050_read_data();

sprintf(buf, "%d\n", g_mpu6050_data.accel_values[2]);
return strlen(buf);
}
mpu6050_read_data2();

static ssize_t gyro_x_show(struct class *class,
struct class_attribute *attr, char *buf)
{
mpu6050_read_data();
sprintf(buf, "%d %d %d\n",
g_mpu6050_data.gyro_values[0],
g_mpu6050_data.gyro_values[1],
g_mpu6050_data.gyro_values[2]
);

sprintf(buf, "%d\n", g_mpu6050_data.gyro_values[0]);
return strlen(buf);
}

static ssize_t gyro_y_show(struct class *class,
struct class_attribute *attr, char *buf)
static ssize_t temp_show(struct class *class, struct class_attribute *attr, char *buf)
{
mpu6050_read_data();
mpu6050_read_data2();

sprintf(buf, "%d\n", g_mpu6050_data.gyro_values[1]);
sprintf(buf, "%d\n", g_mpu6050_data.temperature);
return strlen(buf);
}

static ssize_t gyro_z_show(struct class *class,
struct class_attribute *attr, char *buf)
static ssize_t all_show(struct class *class, struct class_attribute *attr, char *buf)
{
mpu6050_read_data();
mpu6050_read_data2();

sprintf(buf, "%d\n", g_mpu6050_data.gyro_values[2]);
sprintf(buf, "%d %d %d\n%d %d %d\n%d\n",
g_mpu6050_data.accel_values[0],
g_mpu6050_data.accel_values[1],
g_mpu6050_data.accel_values[2],
g_mpu6050_data.gyro_values[0],
g_mpu6050_data.gyro_values[1],
g_mpu6050_data.gyro_values[2],
g_mpu6050_data.temperature
);
return strlen(buf);
}

static ssize_t temp_show(struct class *class,
struct class_attribute *attr, char *buf)
{
mpu6050_read_data();

sprintf(buf, "%d\n", g_mpu6050_data.temperature);
return strlen(buf);
}
#define CLASS_ATTR(myname, mymode, showfunc, mynull) \
static struct class_attribute class_attr_##myname = { \
.attr = { .name = #myname , .mode = mymode }, \
.show = showfunc, \
};

CLASS_ATTR(accel_x, 0444, &accel_x_show, NULL);
CLASS_ATTR(accel_y, 0444, &accel_y_show, NULL);
CLASS_ATTR(accel_z, 0444, &accel_z_show, NULL);
CLASS_ATTR(gyro_x, 0444, &gyro_x_show, NULL);
CLASS_ATTR(gyro_y, 0444, &gyro_y_show, NULL);
CLASS_ATTR(gyro_z, 0444, &gyro_z_show, NULL);
CLASS_ATTR(accel, 0444, &accel_show, NULL);
CLASS_ATTR(gyro, 0444, &gyro_show, NULL);
CLASS_ATTR(temperature, 0444, &temp_show, NULL);
CLASS_ATTR(all, 0444, &all_show, NULL);


static struct class *attr_class;

Expand All @@ -216,40 +222,16 @@ static int mpu6050_init(void)
}
pr_info("mpu6050: sysfs class created\n");

/* Create accel_x */
ret = class_create_file(attr_class, &class_attr_accel_x);
if (ret) {
pr_err("mpu6050: failed to create sysfs class attribute accel_x: %d\n", ret);
return ret;
}
/* Create accel_y */
ret = class_create_file(attr_class, &class_attr_accel_y);
/* Create accel */
ret = class_create_file(attr_class, &class_attr_accel);
if (ret) {
pr_err("mpu6050: failed to create sysfs class attribute accel_y: %d\n", ret);
pr_err("mpu6050: failed to create sysfs class attribute accel: %d\n", ret);
return ret;
}
/* Create accel_z */
ret = class_create_file(attr_class, &class_attr_accel_z);
/* Create gyro */
ret = class_create_file(attr_class, &class_attr_gyro);
if (ret) {
pr_err("mpu6050: failed to create sysfs class attribute accel_z: %d\n", ret);
return ret;
}
/* Create gyro_x */
ret = class_create_file(attr_class, &class_attr_gyro_x);
if (ret) {
pr_err("mpu6050: failed to create sysfs class attribute gyro_x: %d\n", ret);
return ret;
}
/* Create gyro_y */
ret = class_create_file(attr_class, &class_attr_gyro_y);
if (ret) {
pr_err("mpu6050: failed to create sysfs class attribute gyro_y: %d\n", ret);
return ret;
}
/* Create gyro_z */
ret = class_create_file(attr_class, &class_attr_gyro_z);
if (ret) {
pr_err("mpu6050: failed to create sysfs class attribute gyro_z: %d\n", ret);
pr_err("mpu6050: failed to create sysfs class attribute gyro: %d\n", ret);
return ret;
}
/* Create temperature */
Expand All @@ -258,6 +240,12 @@ static int mpu6050_init(void)
pr_err("mpu6050: failed to create sysfs class attribute temperature: %d\n", ret);
return ret;
}
/* Create all */
ret = class_create_file(attr_class, &class_attr_all);
if (ret) {
pr_err("mpu6050: failed to create sysfs class attribute all: %d\n", ret);
return ret;
}

pr_info("mpu6050: sysfs class attributes created\n");

Expand All @@ -268,13 +256,10 @@ static int mpu6050_init(void)
static void mpu6050_exit(void)
{
if (attr_class) {
class_remove_file(attr_class, &class_attr_accel_x);
class_remove_file(attr_class, &class_attr_accel_y);
class_remove_file(attr_class, &class_attr_accel_z);
class_remove_file(attr_class, &class_attr_gyro_x);
class_remove_file(attr_class, &class_attr_gyro_y);
class_remove_file(attr_class, &class_attr_gyro_z);
class_remove_file(attr_class, &class_attr_accel);
class_remove_file(attr_class, &class_attr_gyro);
class_remove_file(attr_class, &class_attr_temperature);
class_remove_file(attr_class, &class_attr_all);
pr_info("mpu6050: sysfs class attributes removed\n");

class_destroy(attr_class);
Expand All @@ -290,7 +275,7 @@ static void mpu6050_exit(void)
module_init(mpu6050_init);
module_exit(mpu6050_exit);

MODULE_AUTHOR("Andriy.Khulap <andriy.khulap@globallogic.com>");
MODULE_AUTHOR("Oleg.Khokhlov <oleg.khokhlov.ua@gmail.com>");
MODULE_DESCRIPTION("mpu6050 I2C acc&gyro");
MODULE_LICENSE("GPL");
MODULE_VERSION("0.1");
MODULE_VERSION("0.3");
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