六、I2C总线二级外设驱动开发方法

1. 查阅原理图以便得知二级外设挂在哪条I2C总线上、二级外设的身份标识（二级外设自身的地址）

2. 参照platform样式搭建二级外设驱动框架

3. 查询二级外设芯片手册以便得知驱动需要用到的寄存器地址

注意：

（1）此处寄存器是指二级外设内部的寄存器，每个寄存器在芯片手册里有个对应编号（也被称为地址），但不是内存地址，特别提醒此寄存器不是SOC芯片内部参与内存统一编址的寄存器，更不是ARM核-CPU的寄存器

（2）通过调用i2c_tranfer函数完成与相应寄存器的数据交互

4. 参照字符驱动完成其余代码编写

5. 创建对应的i2c_client对象

linux-3.14\Documentation\i2c\instantiating-devices

匹配方式：

1. 名称匹配（id和name差不多）

2. 设备树匹配

3. ACPI匹配

Advanced Configuration and Power Management Interface 高级配置和电源管理接口

PC机平台采用的一种硬件配置接口

（咱们是arm平台这种方式用不了）

i2c二级外设驱动框架：

```c

//其它struct file_operations函数实现原理同硬编驱动



static int mpu6050_probe(struct i2c_client *pclt,const struct i2c_device_id *pid)

{

    //做硬编驱动模块入口函数的活

}



static int mpu6050_remove(struct i2c_client *pclt)

{

    //做硬编驱动模块出口函数的活

}



/*名称匹配时定义struct i2c_device_id数组*/

static struct i2c_device_id mpu6050_ids =

{

    {"mpu6050",0},

    //.....

    {}

};



/*设备树匹配时定义struct of_device_id数组*/

static struct of_device_id mpu6050_dts =

{

    {.compatible = "invensense,mpu6050"},

    //....

    {}

};



/*通过定义struct i2c_driver类型的全局变量来创建i2c_driver对象，同时对其主要成员进行初始化*/

struct i2c_driver mpu6050_driver =

{

    .driver = {

        .name = "mpu6050",

        .owner = THIS_MODULE,

        .of_match_table = mpu6050_dts,

    },

    .probe = mpu6050_probe,

    .remove = mpu6050_remove,

    .id_table = mpu6050_ids,

};



/*以下其实是个宏，展开后相当于实现了模块入口函数和模块出口函数*/

module_i2c_driver(mpu6050_driver);



MODULE_LICENSE("GPL");

```

七、I2C总线二级外设驱动开发之名称匹配

这种匹配方式需要自己创建i2c_client对象

创建i2c_client对象有三种方式：

1. i2c_register_board_info

1.当开发板上电内核跑起来的时候，肯定是架构相关的程序首先运行，也就是mach-xxx.c

2. mach-xxx.c文件里首先会定义i2c_board_info的结构体数组，在mach-xxx.c的初始化函数里调用i2c_register_board_info函数把i2c_board_inifo链接进内核的i2c_board_list链表当中去

3.在驱动i2c目录下和开发板板对应的驱动文件i2c-xxx.c里，创建i2c_adapter对象

4.这种方式严重依赖平台，缺乏灵活性，基本会被遗弃

2. i2c_new_device：明确二级外设地址的情况下可用

i2c二级外设client框架：

   ```c

   #include <linux/kernel.h>

   #include <linux/module.h>

   #include <linux/i2c.h>

   

   static struct i2c_board_info mpu6050_info =

   {

    I2C_BOARD_INFO("mpu6050",二级外设地址)  

   };

   

   static struct i2c_client *mpu6050_client;

   static int __init mpu6050_dev_init(void)

   {

       struct i2c_adapter *padp = NULL;

       padp = i2c_get_adapter(i2c通道编号);

       mpu6050_client = i2c_new_device(padp,&mpu6050_info);

       i2c_put_adapter(padp);

       return 0;

   }

   module_init(mpu6050_dev_init);

   

   static void __exit mpu6050_dev_exit(void)

   {

       i2c_unregister_device(mpu6050_client);

   }

   module_exit(mpu6050_dev_exit);

   MODULE_LICENSE("GPL");

   ```

3. i2c_new_probed_device

i2c二级外设client框架：不明确二级外设地址，但是知道是可能几个值之一的情况下可用


   ```c

   #include <linux/kernel.h>

   #include <linux/module.h>

   #include <linux/i2c.h>

   

   static const unsigned short addr_list[] =

   {

    0x68,

       //.....

       I2C_CLIENT_END

   };

   

   static struct i2c_client *mpu6050_client;

   static int __init mpu6050_dev_init(void)

   {

       struct i2c_adapter *padp = NULL;

       struct i2c_board_info mpu6050_info = {""};

       

       strcpy(mpu6050_info.type,"mpu6050");

       

       padp = i2c_get_adapter(i2c通道编号);

       mpu6050_client = i2c_new_probed_device(padp,&mpu6050_info,addr_list,NULL);

       i2c_put_adapter(padp);

       if(mpu6050_client != NULL)

       {

           return 0;

       }

       else

       {

        return -ENODEV;

       }

   }

   module_init(mpu6050_dev_init);

   

   static void __exit mpu6050_dev_exit(void)

   {

       i2c_unregister_device(mpu6050_client);

   }

   module_exit(mpu6050_dev_exit);

   MODULE_LICENSE("GPL");

   ```

mpu6050_client.c

#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/i2c.h>


static struct i2c_board_info mpu6050_info = 
{
	I2C_BOARD_INFO("mpu6050",0x68)
};

static struct i2c_client *gpmpu6050_client = NULL;

static int __init mpu6050_client_init(void)
{
	struct i2c_adapter *padp = NULL;

	padp = i2c_get_adapter(5);
	gpmpu6050_client = i2c_new_device(padp,&mpu6050_info);
	i2c_put_adapter(padp);
	return 0;
}

static void  mpu6050_client_exit(void)
{
	i2c_unregister_device(gpmpu6050_client);
}

module_init(mpu6050_client_init);
module_exit(mpu6050_client_exit);
MODULE_LICENSE("GPL");

mpu6050_drv.c

#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/fs.h>
#include <linux/i2c.h>
#include <linux/cdev.h>
#include <linux/wait.h>
#include <linux/sched.h>
#include <linux/poll.h>
#include <linux/slab.h>
#include <linux/mm.h>
#include <linux/io.h>
#include <asm/uaccess.h>
#include <asm/atomic.h>

#include "mpu6050.h"

#define SMPLRT_DIV 0x19
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define ACCEL_CONFIG 0x1C

#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48

#define PWR_MGMT_1  0x6B

int major = 11;
int minor = 0;
int mpu6050_num  = 1;

struct mpu6050_dev
{
	struct cdev mydev;
	struct i2c_client *pclt;

};

struct mpu6050_dev *pgmydev = NULL;

int mpu6050_read_byte(struct i2c_client *pclt,unsigned char reg)
{
	int ret = 0;
	char txbuf[1] = {reg};
	char rxbuf[1] = {0};

	struct i2c_msg msg[2] = 
	{
		{pclt->addr,0,1,txbuf},
		{pclt->addr,I2C_M_RD,1,rxbuf}
	};

	ret = i2c_transfer(pclt->adapter,msg,ARRAY_SIZE(msg));
	if(ret < 0)
	{
		printk("ret = %d,in mpu6050_read_byte\n",ret);
		return ret;
	}

	return rxbuf[0];
}


int mpu6050_write_byte(struct i2c_client *pclt,unsigned char reg,unsigned char val)
{
	int ret = 0;
	char txbuf[2] = {reg,val};

	struct i2c_msg msg[1] = 
	{
		{pclt->addr,0,2,txbuf},
	};

	ret = i2c_transfer(pclt->adapter,msg,ARRAY_SIZE(msg));
	if(ret < 0)
	{
		printk("ret = %d,in mpu6050_write_byte\n",ret);
		return ret;
	}

	return 0;
}


int mpu6050_open(struct inode *pnode,struct file *pfile)
{
	pfile->private_data =(void *) (container_of(pnode->i_cdev,struct mpu6050_dev,mydev));
	
	return 0;
}

int mpu6050_close(struct inode *pnode,struct file *pfile)
{
	return 0;
}


long mpu6050_ioctl(struct file *pfile,unsigned int cmd,unsigned long arg)
{
	struct mpu6050_dev *pmydev = (struct mpu6050_dev *)pfile->private_data;
	union mpu6050_data data;

	switch(cmd)
	{
		case GET_ACCEL:
			data.accel.x = mpu6050_read_byte(pmydev->pclt,ACCEL_XOUT_L);
			data.accel.x |= mpu6050_read_byte(pmydev->pclt,ACCEL_XOUT_H) << 8;
			
			data.accel.y = mpu6050_read_byte(pmydev->pclt,ACCEL_YOUT_L);
			data.accel.y |= mpu6050_read_byte(pmydev->pclt,ACCEL_YOUT_H) << 8;

			data.accel.z = mpu6050_read_byte(pmydev->pclt,ACCEL_ZOUT_L);
			data.accel.z |= mpu6050_read_byte(pmydev->pclt,ACCEL_ZOUT_H) << 8;
			break;
		case GET_GYRO:
			data.gyro.x = mpu6050_read_byte(pmydev->pclt,GYRO_XOUT_L);
			data.gyro.x |= mpu6050_read_byte(pmydev->pclt,GYRO_XOUT_H) << 8;
			
			data.gyro.y = mpu6050_read_byte(pmydev->pclt,GYRO_YOUT_L);
			data.gyro.y |= mpu6050_read_byte(pmydev->pclt,GYRO_YOUT_H) << 8;

			data.gyro.z = mpu6050_read_byte(pmydev->pclt,GYRO_ZOUT_L);
			data.gyro.z |= mpu6050_read_byte(pmydev->pclt,GYRO_ZOUT_H) << 8;
			break;
		case GET_TEMP:
			data.temp = mpu6050_read_byte(pmydev->pclt,TEMP_OUT_L);
			data.temp |= mpu6050_read_byte(pmydev->pclt,TEMP_OUT_H) << 8;
			break;
		default:
			return -EINVAL;
	}

	if(copy_to_user((void *)arg,&data,sizeof(data)))
	{
		return -EFAULT;
	}

	return sizeof(data);
}

void init_mpu6050(struct i2c_client *pclt)
{
	mpu6050_write_byte(pclt,PWR_MGMT_1,0x00);
	mpu6050_write_byte(pclt,SMPLRT_DIV,0x07);
	mpu6050_write_byte(pclt,CONFIG,0x06);
	mpu6050_write_byte(pclt,GYRO_CONFIG,0xF8);
	mpu6050_write_byte(pclt,ACCEL_CONFIG,0x19);
}

struct file_operations myops = {
	.owner = THIS_MODULE,
	.open = mpu6050_open,
	.release = mpu6050_close,
	.unlocked_ioctl = mpu6050_ioctl,
};

static int mpu6050_probe(struct i2c_client *pclt,const struct i2c_device_id *pid)
{
	int ret = 0;
	dev_t devno = MKDEV(major,minor);

	/*申请设备号*/
	ret = register_chrdev_region(devno,mpu6050_num,"mpu6050");
	if(ret)
	{
		ret = alloc_chrdev_region(&devno,minor,mpu6050_num,"mpu6050");
		if(ret)
		{
			printk("get devno failed\n");
			return -1;
		}
		major = MAJOR(devno);//容易遗漏，注意
	}

	pgmydev = (struct mpu6050_dev *)kmalloc(sizeof(struct mpu6050_dev),GFP_KERNEL);
	if(NULL == pgmydev)
	{
		unregister_chrdev_region(devno,mpu6050_num);
		printk("kmalloc failed\n");
		return -1;
	}
	memset(pgmydev,0,sizeof(struct mpu6050_dev));

	pgmydev->pclt = pclt;

	/*给struct cdev对象指定操作函数集*/	
	cdev_init(&pgmydev->mydev,&myops);

	/*将struct cdev对象添加到内核对应的数据结构里*/
	pgmydev->mydev.owner = THIS_MODULE;
	cdev_add(&pgmydev->mydev,devno,mpu6050_num);

	init_mpu6050(pgmydev->pclt);

	return 0;
}

static int mpu6050_remove(struct i2c_client *pclt)
{
	dev_t devno = MKDEV(major,minor);


	cdev_del(&pgmydev->mydev);

	unregister_chrdev_region(devno,mpu6050_num);

	kfree(pgmydev);
	pgmydev = NULL;

	return 0;
}

struct i2c_device_id mpu6050_ids[] = 
{
	{"mpu6050",0},
	{}
};

struct i2c_driver mpu6050_driver = 
{
	.driver = {
		.name = "mpu6050",
		.owner = THIS_MODULE,
	},
	.probe = mpu6050_probe,
	.remove = mpu6050_remove,
	.id_table = mpu6050_ids,
};

#if 0
int __init mpu6050_driver_init(void)
{
	i2c_add_driver(&mpu6050_driver);
}

void __exit mpu6050_driver_exit(void)
{
	i2c_del_driver(&mpu6050_driver);
}
module_init(mpu6050_driver_init);
module_exit(mpu6050_driver_exit);
#else
module_i2c_driver(mpu6050_driver);
#endif

MODULE_LICENSE("GPL");

#ifndef MPU_6050_H
#define MPU_6050_H

struct accel_data
{
	unsigned short x;
	unsigned short y;
	unsigned short z;
};
struct gyro_data
{
	unsigned short x;
	unsigned short y;
	unsigned short z;
};

union mpu6050_data
{
	struct accel_data accel;
	struct gyro_data gyro;
	unsigned short temp;
};

#define MPU6050_MAGIC 'K'

#define GET_ACCEL _IOR(MPU6050_MAGIC,0,union mpu6050_data)
#define GET_GYRO _IOR(MPU6050_MAGIC,1,union mpu6050_data)
#define GET_TEMP _IOR(MPU6050_MAGIC,2,union mpu6050_data)


#endif

使用probed也行

#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/i2c.h>


static unsigned short mpu6050_addr_list[] = 
{
	0x68,
	0x69,
	I2C_CLIENT_END
};

static struct i2c_client *gpmpu6050_client = NULL;

static int __init mpu6050_client_init(void)
{
	struct i2c_adapter *padp = NULL;
	struct i2c_board_info mpu6050_info = {""};


	strcpy(mpu6050_info.type,"mpu6050");
	padp = i2c_get_adapter(5);
	gpmpu6050_client = i2c_new_probed_device(padp,&mpu6050_info,mpu6050_addr_list,NULL);
	i2c_put_adapter(padp);

	if(gpmpu6050_client != NULL)
	{
		return 0;
	}
	else
	{
		return -ENODEV;
	}
}

static void  mpu6050_client_exit(void)
{
	i2c_unregister_device(gpmpu6050_client);
}

module_init(mpu6050_client_init);
module_exit(mpu6050_client_exit);
MODULE_LICENSE("GPL");

测试用的APP

#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <unistd.h>


#include <stdio.h>

#include "mpu6050.h"

int main(int argc,char *argv[])
{
	int fd = -1;
	union mpu6050_data data;

	if(argc < 2)
	{
		printf("The argument is too few\n");
		return 1;
	}

	fd = open(argv[1],O_RDONLY);
	if(fd < 0)
	{
		printf("open %s failed \n",argv[1]);
		return 2;
	}

	while(1)
	{
		sleep(2);

		ioctl(fd,GET_ACCEL,&data);
		printf("Accel-x=0x%x\n",data.accel.x);
		printf("Accel-y=0x%x\n",data.accel.y);
		printf("Accel-z=0x%x\n",data.accel.z);

		ioctl(fd,GET_GYRO,&data);
		printf("Gyro-x=0x%x\n",data.gyro.x);
		printf("Gyro-y=0x%x\n",data.gyro.y);
		printf("Gyro-z=0x%x\n",data.gyro.z);

		ioctl(fd,GET_TEMP,&data);
		printf("Temp=0x%x\n",data.temp);

		printf("\n");
	}


	close(fd);
	fd = -1;
	return 0;
}

八、I2C总线二级外设驱动开发之设备树匹配

0x68是从设备号，interrupt是中断

IIC的实现和前面LED不太一样那个使用设备树匹配不需要ip IIC需要有一个IP。

#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/fs.h>
#include <linux/i2c.h>
#include <linux/cdev.h>
#include <linux/wait.h>
#include <linux/sched.h>
#include <linux/poll.h>
#include <linux/slab.h>
#include <linux/mm.h>
#include <linux/io.h>
#include <asm/uaccess.h>
#include <asm/atomic.h>

#include "mpu6050.h"

#define SMPLRT_DIV 0x19
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define ACCEL_CONFIG 0x1C

#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48

#define PWR_MGMT_1  0x6B

int major = 11;
int minor = 0;
int mpu6050_num  = 1;

struct mpu6050_dev
{
	struct cdev mydev;
	struct i2c_client *pclt;

};

struct mpu6050_dev *pgmydev = NULL;

int mpu6050_read_byte(struct i2c_client *pclt,unsigned char reg)
{
	int ret = 0;
	char txbuf[1] = {reg};
	char rxbuf[1] = {0};

	struct i2c_msg msg[2] = 
	{
		{pclt->addr,0,1,txbuf},
		{pclt->addr,I2C_M_RD,1,rxbuf}
	};

	ret = i2c_transfer(pclt->adapter,msg,ARRAY_SIZE(msg));
	if(ret < 0)
	{
		printk("ret = %d,in mpu6050_read_byte\n",ret);
		return ret;
	}

	return rxbuf[0];
}


int mpu6050_write_byte(struct i2c_client *pclt,unsigned char reg,unsigned char val)
{
	int ret = 0;
	char txbuf[2] = {reg,val};

	struct i2c_msg msg[1] = 
	{
		{pclt->addr,0,2,txbuf},
	};

	ret = i2c_transfer(pclt->adapter,msg,ARRAY_SIZE(msg));
	if(ret < 0)
	{
		printk("ret = %d,in mpu6050_write_byte\n",ret);
		return ret;
	}

	return 0;
}


int mpu6050_open(struct inode *pnode,struct file *pfile)
{
	pfile->private_data =(void *) (container_of(pnode->i_cdev,struct mpu6050_dev,mydev));
	
	return 0;
}

int mpu6050_close(struct inode *pnode,struct file *pfile)
{
	return 0;
}


long mpu6050_ioctl(struct file *pfile,unsigned int cmd,unsigned long arg)
{
	struct mpu6050_dev *pmydev = (struct mpu6050_dev *)pfile->private_data;
	union mpu6050_data data;

	switch(cmd)
	{
		case GET_ACCEL:
			data.accel.x = mpu6050_read_byte(pmydev->pclt,ACCEL_XOUT_L);
			data.accel.x |= mpu6050_read_byte(pmydev->pclt,ACCEL_XOUT_H) << 8;
			
			data.accel.y = mpu6050_read_byte(pmydev->pclt,ACCEL_YOUT_L);
			data.accel.y |= mpu6050_read_byte(pmydev->pclt,ACCEL_YOUT_H) << 8;

			data.accel.z = mpu6050_read_byte(pmydev->pclt,ACCEL_ZOUT_L);
			data.accel.z |= mpu6050_read_byte(pmydev->pclt,ACCEL_ZOUT_H) << 8;
			break;
		case GET_GYRO:
			data.gyro.x = mpu6050_read_byte(pmydev->pclt,GYRO_XOUT_L);
			data.gyro.x |= mpu6050_read_byte(pmydev->pclt,GYRO_XOUT_H) << 8;
			
			data.gyro.y = mpu6050_read_byte(pmydev->pclt,GYRO_YOUT_L);
			data.gyro.y |= mpu6050_read_byte(pmydev->pclt,GYRO_YOUT_H) << 8;

			data.gyro.z = mpu6050_read_byte(pmydev->pclt,GYRO_ZOUT_L);
			data.gyro.z |= mpu6050_read_byte(pmydev->pclt,GYRO_ZOUT_H) << 8;
			break;
		case GET_TEMP:
			data.temp = mpu6050_read_byte(pmydev->pclt,TEMP_OUT_L);
			data.temp |= mpu6050_read_byte(pmydev->pclt,TEMP_OUT_H) << 8;
			break;
		default:
			return -EINVAL;
	}

	if(copy_to_user((void *)arg,&data,sizeof(data)))
	{
		return -EFAULT;
	}

	return sizeof(data);
}

void init_mpu6050(struct i2c_client *pclt)
{
	mpu6050_write_byte(pclt,PWR_MGMT_1,0x00);
	mpu6050_write_byte(pclt,SMPLRT_DIV,0x07);
	mpu6050_write_byte(pclt,CONFIG,0x06);
	mpu6050_write_byte(pclt,GYRO_CONFIG,0xF8);
	mpu6050_write_byte(pclt,ACCEL_CONFIG,0x19);
}

struct file_operations myops = {
	.owner = THIS_MODULE,
	.open = mpu6050_open,
	.release = mpu6050_close,
	.unlocked_ioctl = mpu6050_ioctl,
};

static int mpu6050_probe(struct i2c_client *pclt,const struct i2c_device_id *pid)
{
	int ret = 0;
	dev_t devno = MKDEV(major,minor);

	/*申请设备号*/
	ret = register_chrdev_region(devno,mpu6050_num,"mpu6050");
	if(ret)
	{
		ret = alloc_chrdev_region(&devno,minor,mpu6050_num,"mpu6050");
		if(ret)
		{
			printk("get devno failed\n");
			return -1;
		}
		major = MAJOR(devno);//容易遗漏，注意
	}

	pgmydev = (struct mpu6050_dev *)kmalloc(sizeof(struct mpu6050_dev),GFP_KERNEL);
	if(NULL == pgmydev)
	{
		unregister_chrdev_region(devno,mpu6050_num);
		printk("kmalloc failed\n");
		return -1;
	}
	memset(pgmydev,0,sizeof(struct mpu6050_dev));

	pgmydev->pclt = pclt;

	/*给struct cdev对象指定操作函数集*/	
	cdev_init(&pgmydev->mydev,&myops);

	/*将struct cdev对象添加到内核对应的数据结构里*/
	pgmydev->mydev.owner = THIS_MODULE;
	cdev_add(&pgmydev->mydev,devno,mpu6050_num);

	init_mpu6050(pgmydev->pclt);

	return 0;
}

static int mpu6050_remove(struct i2c_client *pclt)
{
	dev_t devno = MKDEV(major,minor);


	cdev_del(&pgmydev->mydev);

	unregister_chrdev_region(devno,mpu6050_num);

	kfree(pgmydev);
	pgmydev = NULL;

	return 0;
}

struct of_device_id mpu6050_dt[] = 
{
	{.compatible = "invensense,mpu6050"},
	{}
};


struct i2c_device_id mpu6050_ids[] = 
{
	{"mpu6050",0},
	{}
};


struct i2c_driver mpu6050_driver = 
{
	.driver = {
		.name = "mpu6050",
		.owner = THIS_MODULE,
		.of_match_table = mpu6050_dt,
	},
	.probe = mpu6050_probe,
	.remove = mpu6050_remove,
	.id_table = mpu6050_ids,
};

#if 0
int __init mpu6050_driver_init(void)
{
	i2c_add_driver(&mpu6050_driver);
}

void __exit mpu6050_driver_exit(void)
{
	i2c_del_driver(&mpu6050_driver);
}
module_init(mpu6050_driver_init);
module_exit(mpu6050_driver_exit);
#else
module_i2c_driver(mpu6050_driver);
#endif

MODULE_LICENSE("GPL");

测试程序和.h程序和上面一样。