在 AOSP 中添加自定义传感器

Question

我想在我的 AOSP 源代码中添加 LSM6DS3 传感器驱动程序。我正在使用 SC600T 设备。

1. 我已经将lsm6ds3 添加到该位置 /SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/kernel/msm-4.9/drivers/iio/imu/st_lsm6ds3，带有Makefile 和Kconfig 文件。

2. 在/../../iio/imu/Kconfig 文件中添加以下行：

   source "drivers/iio/imu/st_lsm6ds3/Kconfig" 
   

3. 添加到/../../iio/imu/Makefile的下面一行。

   obj-y += st_lsm6ds3/
   

4. /SC600T/../../iio/imu/st_lsm6ds3/Makefile的内容：

   # SPDX-License-Identifier: GPL-2.0-only
   st_lsm6dsx-y := st_lsm6dsx_core.o st_lsm6dsx_buffer.o \
       st_lsm6dsx_shub.o
   
   obj-$(CONFIG_IIO_ST_LSM6DSX) += st_lsm6dsx.o
   obj-$(CONFIG_IIO_ST_LSM6DSX_I2C) += st_lsm6dsx_i2c.o
   obj-$(CONFIG_IIO_ST_LSM6DSX_SPI) += st_lsm6dsx_spi.o
   obj-$(CONFIG_IIO_ST_LSM6DSX_I3C) += st_lsm6dsx_i3c.o
   

5. 我还在设备树文件中添加了lsm6ds3节点：

   &i2c_2 {
       status = "ok";
       #address-cells = <0x1>;
       #size-cells = <0x0>;
       lsm6ds3@6b {
           compatible = "st,lsm6ds3";
           reg = <0x6b>;
           interrupt-parent = <&tlmm>;
           interrupt-gpios = <&tlmm 45 0x2008>;
           interrupts = <45 0x02>;
       };
   

我已在 SENSOR_I2C_SCL（引脚号 131）和 SENSOR_I2C_SDA（引脚号 132）上连接了 LSM6DS3 加速度计传感器。

之后，我在目标设备（SC600T）上成功编译了源代码和flash boot和dtbo。

当我尝试使用 adb shell >> /sys/bus/devices/i2C/devices 检查传感器数据时，节点可用并且 lsm6ds3 地址节点是 6b 也是可用的。 但是没有探测到 lsm6ds3 传感器。 enter image description here

enter image description here

然后我将在 msm8953_defconfig 文件中添加以下行。

6. 在 msm8953_defconfig 文件中添加以下行：

    CONFIG_IIO_ST_LSM6DSX=y 
    CONFIG_IIO_ST_LSM6DSX_I2C=y
    CONFIG_IIO_ST_LSM6DSX_SPI=y
    CONFIG_IIO_ST_LSM6DSX_I3C=y 
   

在我编译源代码时添加此文件后出现以下错误：

[  2% 309/12824] Building kernel...
FAILED: out/target/product/msm8953_64/obj/kernel/msm-4.9/arch/arm64/boot/Image.gz-dtb 
/bin/bash -c "(rm -rf out/target/product/msm8953_64/obj/kernel/msm-4.9/arch/arm64/boot/dts ) && (make -j3 -C kernel/msm-4.9 O=../../out/target/product/msm8953_64/obj/kernel/msm-4.9 DTC_EXT=dtc CONFIG_BUILD_ARM64_DT_OVERLAY=y ARCH=arm64 CROSS_COMPILE=aarch64-linux-android- KCFLAGS=-mno-android ) && (make -j3 -C kernel/msm-4.9 O=../../out/target/product/msm8953_64/obj/kernel/msm-4.9 DTC_EXT=dtc CONFIG_BUILD_ARM64_DT_OVERLAY=y ARCH=arm64 CROSS_COMPILE=aarch64-linux-android- KCFLAGS=-mno-android modules ) && (make -j3 -C kernel/msm-4.9 O=../../out/target/product/msm8953_64/obj/kernel/msm-4.9 INSTALL_MOD_PATH=../../../dlkm INSTALL_MOD_STRIP=1 DTC_EXT=dtc CONFIG_BUILD_ARM64_DT_OVERLAY=y ARCH=arm64 CROSS_COMPILE=aarch64-linux-android- modules_install ) && (mdpath=\`find out/target/product/msm8953_64/dlkm/lib/modules -type f -name modules.dep\`; if [ \"\$mdpath\" != \"\" ];then mpath=\`dirname \$mdpath\`; ko=\`find \$mpath/kernel -type f -name *.ko\`; for i in \$ko; do mv \$i out/target/product/msm8953_64/dlkm/lib/modules/; done; fi ) && (mdpath=\`find out/target/product/msm8953_64/dlkm/lib/modules -type f -name modules.dep\`; if [ \"\$mdpath\" != \"\" ];then mpath=\`dirname \$mdpath\`; rm -rf \$mpath; fi )"
make: Entering directory `/media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/kernel/msm-4.9'
make[1]: Entering directory `/media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/out/target/product/msm8953_64/obj/kernel/msm-4.9'
  GEN     ./Makefile
scripts/kconfig/conf  --silentoldconfig Kconfig
make[2]: Leaving directory `/media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/out/target/product/msm8953_64/obj/kernel/msm-4.9'
make[1]: Entering directory `/media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/out/target/product/msm8953_64/obj/kernel/msm-4.9'
  CHK     include/config/kernel.release
  GEN     ./Makefile
  CHK     include/generated/uapi/linux/version.h
  CHK     include/generated/utsrelease.h
  Using /media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/kernel/msm-4.9 as source for kernel
  /media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/kernel/msm-4.9 is not clean, please run 'make mrproper'
  in the '/media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/kernel/msm-4.9' directory.
make[2]: *** [prepare3] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: Leaving directory `/media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/out/target/product/msm8953_64/obj/kernel/msm-4.9'
make: *** [sub-make] Error 2
make: Leaving directory `/media/ubuntu/Vezo_360/SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/kernel/msm-4.9'
[  2% 312/12824] target  C: libdsutils <= vendor/qcom/proprietary/data/dsutils/src/ds_util.c
vendor/qcom/proprietary/data/dsutils/src/ds_util.c:719:7: warning: unused variable 'adb_lvl' [-Wunused-variable]
  int adb_lvl = 0;
      ^
vendor/qcom/proprietary/data/dsutils/src/ds_util.c:2357:5: warning: unused function 'ds_can_exec' [-Wunused-function]
int ds_can_exec
    ^
2 warnings generated.
[  2% 314/12824] target  C++: KmInstallKeybox <= ven...ecuremsm/keymaster_install_toolbox/InstallKeybox.cpp
ninja: build stopped: subcommand failed.
20:36:27 ninja failed with: exit status 1

#### failed to build some targets (42 seconds) ####

在 AOSP 中添加任何自定义传感器，这是否所有步骤都是强制性的？ 为什么没有探测到 lsm6ds3 传感器？我需要从硬件方面检查什么吗？

Answer 1

移远 SC600 设备上的传感器通过称为 ADSP 的东西，即闭源。在此系统下，传感器通过 vendor/qcom/proprietary/sensors/dsps/reg_defaults/sensor_def_qcomdev.conf 文件进行配置。

有一个可与 ADSP 配合使用的兼容传感器列表。您必须向您的 Quectel 代表询问。否则你必须要求他们集成你想要的传感器，这当然要求太多了，所以认为这是不可能的（除非高通把 ADSP 源代码交给你，我认为这不会发生)。