Skip to content

Driver Model Reference¶

Updated: 7/10/26

Repository Layout¶

Repos generated from driver-template share a common layout. The MPU6050 driver follows this structure.

File tree¶

mpu6050-driver/
├── zephyr/module.yml
├── Kconfig
├── CMakeLists.txt
├── src/
│   ├── CMakeLists.txt
│   ├── Kconfig
│   ├── mpu6050.c
│   ├── mpu6050.h
│   ├── transfer.h
│   ├── hardware_transfer.c
│   ├── lib_mock_transfer.c
│   └── simulation_transfer.c
├── lib/
│   ├── mpu6050_lib.c
│   └── mpu6050_lib.h
└── dts/bindings/
    └── zephyr,mpu6050.yaml

Path	Role
`zephyr/module.yml`	Declares the west module name and CMake/Kconfig/devicetree roots
`Kconfig`	Top-level entry; sources `src/Kconfig`
`CMakeLists.txt`	Top-level entry; adds `src/` when the driver symbol is enabled
`src/<chip>.c`	Zephyr driver shell — API, `init()`, device registration
`src/<chip>.h`	Config/data structs, API declarations
`src/transfer.h`	Transfer function contract shared by driver and backends
`src/*_transfer.c`	One file per non–public-mock backend
`lib/<chip>_lib.c`	Bus-agnostic protocol and register logic
`dts/bindings/`	Devicetree binding YAML for the device `compatible` string

Instance Definition¶

The template code may need an adjustment to the DeviceTree Instance Definition if the driver uses the Sensor API

Macro	Use
`DEVICE_DT_INST_DEFINE`	Generic Zephyr device with a custom API struct
`SENSOR_DEVICE_DT_INST_DEFINE`	Sensor API driver (e.g. MPU6050)

DBuild — per-device mode selection and snippet wiring
Driver catalog — mission-specific API references