#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?“mpu6050.h“




struct?mpu6050_device{
	struct?i2c_client?*mpu6050_client;
????struct?cdev?cdev;

}

static?struct?mpu6050_device?*mpu6050;
static?int?major;
static?struct?class?*class;
//static?struct?device?*dev;



static?const?struct?i2c_device_id?mpu6050_id[]?=?{
	{?“mpu6050“?0?}
	{?}
};
	

static?int?mpu6050_read?（struct?i2c_client?*client?unsigned?char?reg）

{
???/*傳入buf[0]:addr*/
???struct?i2c_msg?msg[2];
???unsigned?char?reg_addrdata;
???//copy_from_user（®_addrbuf1）;
???msg[0].addr=client->addr;
???msg[0].flags?=0;
???msg[0].len?=1;
???msg[0].buf=®_addr;
???msg[1].addr?=client->addr;
???msg[1].flags=I2C_M_RD;
???msg[1].len=1;
???msg[1].buf=&data;
???i2c_transfer（client->adaptermsg2）;
???//i2c_smbus_read_byte_data（mpu6050_clientaddr）;
??//?copy_to_user（buf&data1）;
???return?data;

}


static?int?mpu6050_write?（struct?i2c_client?*client?unsigned?char?reg?unsigned?char?val）
{
???/*buf[0]?addr
????*buf[1]?data
????*/
????struct?i2c_msg?msg;
????unsigned?char?buf[2];
	buf[0]=reg;
	buf[1]=val;
????//unsigned?char?reg_addrdata;
????//unsigned?char?ker_buf[2];
	//copy_from_user（ker_bufbuf2）;
	//reg_addr=ker_buf[0];
	//data=ker_buf[1];
????msg.addr=client->addr;
	msg.flags=0;
	msg.buf?=buf;
	msg.len=2;
	i2c_transfer（client->adapter&msg1）;
	return?0;
	
}
static?int?mpu6050_ioctl（struct?file?*file?unsigned?int?cmdunsigned?long?arg）
{
???
???union?mpu6050_data?data;
	struct?i2c_client?*client?=?mpu6050->client;

	switch（cmd）?{
	case?GET_ACCEL:
		data.accel.x?=?mpu6050_read_byte（client?ACCEL_XOUT_L）;
		data.accel.x?|=?mpu6050_read_byte（client?ACCEL_XOUT_H）?<
		data.accel.y?=?mpu6050_read_byte（client?ACCEL_YOUT_L）;
		data.accel.y?|=?mpu6050_read_byte（client?ACCEL_YOUT_H）?<
		data.accel.z?=?mpu6050_read_byte（client?ACCEL_ZOUT_L）;
		data.accel.z?|=?mpu6050_read_byte（client?ACCEL_ZOUT_H）?<		break;

	case?GET_GYRO:

		data.gyro.x?=?mpu6050_read_byte（client?GYRO_XOUT_L）;
		data.g