The MPU3050 is a three-axis gyroscope chip developed by Invensense. Its primary function is to measure angular velocity, allowing it to determine the motion state of an object, which is why it's also referred to as a motion sensor. This makes it widely used in various applications such as robotics, gaming, and wearable devices.
The following diagram shows the system block diagram of the MPU3050. The chip features one interrupt pin that can be controlled via I2C to read the xGyro, yGyro, and zGyro values.
In terms of device driver implementation, the MPU3050 is represented using the `mpu3050_sensor` structure, which encapsulates the I2C client and input device for handling data transfer of the x, y, and z axis readings.
```c
struct mpu3050_sensor {
struct i2c_client *client; // I2C client
struct device *dev; // Device file
struct input_dev *idev; // Input device
};
```
To store the xGyro, yGyro, and zGyro values, the `axis_data` structure is used:
```c
struct axis_data {
s16 x; // X-axis
s16 y; // Y-axis
s16 z; // Z-axis
};
```
**First, register the I2C device**
The first step in the driver setup is to register the I2C driver. This is done using the `module_i2c_driver` macro.
```c
module_i2c_driver(mpu3050_i2c_driver);
```
Then, define the I2C driver structure with the necessary callbacks and properties:
```c
static const struct i2c_driver mpu3050_i2c_driver = {
.driver = {
.name = "mpu3050",
.owner = THIS_MODULE,
.pm = &mpu3050_pm,
.of_match_table = mpu3050_of_match,
},
.probe = mpu3050_probe, // Probe method
.remove = __devexit_p(mpu3050_remove), // Remove method
.id_table = mpu3050_ids, // Device ID table
};
```
**Next, match the I2C device and register the driver**
For the hardware platform, like the HTC One Max board, the I2C device must be registered with the appropriate settings. Here’s how it is implemented:
```c
static struct i2c_board_info __initdata mpu3050_GSBI12_boardinfo[] = {
{
I2C_BOARD_INFO("mpu3050", 0xD0),
.irq = PM8921_GPIO_IRQ(PM8921_IRQ_BASE, PM_GYRO_INT),
.platform_data = &mpu3050_data,
},
};
```
Finally, call the `i2c_register_board_info` function to register the device on the specific I2C bus:
```c
i2c_register_board_info(MSM8064_GSBI2_QUP_I2C_BUS_ID,
mpu3050_GSBI12_boardinfo,
ARRAY_SIZE(mpu3050_GSBI12_boardinfo));
```
This completes the initial setup for the MPU3050 gyroscope driver, enabling communication between the hardware and the Linux kernel.
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