[RISC-V]Milk-v开发板 陀螺仪 lsm6dsr i2c驱动module及测试程序
碰到权限问题
sudo chmod 777 -R /home/dar/riscv/milkv/duo-buildroot-sdk
加载配置及环境
cd build/
source milkvsetup.sh
defconfig cv1800b_milkv_duo_sd
编译驱动，要求先编译内核
build_all
设备树
build\boards\cv180x\cv1800b_milkv_duo_sd\dts_riscv\cv1800b_milkv_duo_sd.dts
&i2c3 {
status = "okay";
lsm6dsr:lsm6dsr@6b {
compatible = "litchicheng,lsm6dsr";
reg = <0x6b>;
status = "okay";
};
};
驱动仓库地址
riscv_milkv-duo
测试效果
[root@milkv]~# insmod i2c-lsm6dsr.ko
[root@milkv]~# lsmod
Module Size Used by Tainted: GF
i2c_lsm6dsr 4450 0
cvi_vc_driver 879138 0 [permanent]
cv180x_jpeg 25220 1 cvi_vc_driver,[permanent]
cv180x_vcodec 28451 2 cvi_vc_driver,cv180x_jpeg,[permanent]
cv180x_tpu 32041 0 [permanent]
cv180x_clock_cooling 5953 0 [permanent]
cv180x_thermal 3404 0
cv180x_rgn 100809 0 [permanent]
cv180x_dwa 48669 0 [permanent]
cv180x_vpss 280938 0 [permanent]
cv180x_vi 338826 0 [permanent]
snsr_i2c 9341 0 [permanent]
cvi_mipi_rx 54306 0 [permanent]
cv180x_fast_image 32955 0 [permanent]
cv180x_rtos_cmdqu 25922 1 cv180x_fast_image,[permanent]
cv180x_base 96472 8 cvi_vc_driver,cv180x_rgn,cv180x_dwa,cv180x_vpss,cv180x_vi,snsr_i2c,cvi_mipi_rx,cv180x_rtos_cmdqu,[permanent]
cv180x_sys 64161 7 cvi_vc_driver,cv180x_rgn,cv180x_dwa,cv180x_vpss,cv180x_vi,cv180x_fast_image,cv180x_base,[permanent]
[root@milkv]~# ls /dev
bus cvi_vc_dec3 cvitekaadc ion stderr
console cvi_vc_dec4 cvitekadac kmsg stdin
cvi-base cvi_vc_dec5 fd log stdout
cvi-dwa cvi_vc_dec6 full lsm6dsr tty
cvi-fast-image cvi_vc_dec7 gpiochip0 mem ttyS0
cvi-mipi-rx cvi_vc_dec8 gpiochip1 mmcblk0 ttyS1
cvi-rgn cvi_vc_enc0 gpiochip2 mmcblk0p1 ttyS2
cvi-rtos-cmdqu cvi_vc_enc1 gpiochip3 mmcblk0p2 ttyS3
cvi-sys cvi_vc_enc2 gpiochip4 null ttyS4
cvi-tpu0 cvi_vc_enc3 hwrng ptmx urandom
cvi-vi cvi_vc_enc4 i2c-0 pts zero
cvi-vpss cvi_vc_enc5 i2c-1 random
cvi_vc_dec0 cvi_vc_enc6 i2c-2 rfkill
cvi_vc_dec1 cvi_vc_enc7 i2c-3 shm
cvi_vc_dec2 cvi_vc_enc8 i2c-4 snd
ADC value:
gx = 20, gy = -31, gz = -12
ax = 836, ay = -9022, az = -13048
temp = 0
TRUE value:act gx = 1.40°/S, act gy = -2.17°/S, act gz = -0.84°/S
act ax = 0.41g, act ay = -4.41g, act az = -6.37g
ADC value:
gx = 27, gy = -34, gz = -22
ax = 820, ay = -9004, az = -13021
temp = 0
TRUE value:act gx = 1.89°/S, act gy = -2.38°/S, act gz = -1.54°/S
act ax = 0.40g, act ay = -4.40g, act az = -6.36g
视频讲解
[RISC-V]Milk-v开发板 陀螺仪 lsm6dsr i2c驱动module及测试程序