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location /SC600T/SC60_SC600_Android9.0.0_kernel4.9_r029/kernel/msm-4.9/drivers/iio/imu/st_lsm6ds3，其中包含Makefile和Kconfig文件。
2. 将以下行添加到/../../iio/imu/Kconfig文件中： 源“驱动程序/iio/imu/st_lsm6ds3/Kconfig”
3. 添加到/../../iio/imu/Makefile下面的行。 += st_lsm6ds3/
4. /SC600T/../../iio/imu/st_lsm6ds3/MakefileSPDX的内容-许可证-标识符:GPL-2.0-只有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 {状态= "ok"；#地址-单元格= <0x1>；#size-cell= <0x0>；lsm6ds3@6b {兼容= "st，lsm6ds3"；reg = <0x6b>；中断-父级= <&tlmm>；中断-gpios= <&tlmm 45 0x2008>；中断= <45 0x02>；}；

我把LSM6DS3加速度传感器连接在SENSOR_I2C_SCL (针号131)和SENSOR_I2C_SDA (针号132号)上。

在此之后，我成功地编译了源代码、闪存引导和目标设备上的dtbo (SC600T)。

当我试图检查传感器数据使用adb shell >> /sys/bus/devices/i2C/devices节点是可用的，lsm6ds3地址节点，即6b也是可用的。但是lsm6ds3传感器没有被探测到。在这里输入图像描述

在这里输入图像描述

然后，我将在msm8953_defconfig文件中添加以下行。

1. 在msm8953_defconfig fie中添加了以下行: 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，这些步骤是否都是强制性的？为什么lsm6ds3传感器不被探测？我需要检查硬件方面的东西吗？

Answer 1

Quectel SC600设备上的传感器通过所谓的ADSP，即封闭源。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。

有一组兼容的传感器可以与ADSP一起工作。你必须向你的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(除非高通给你ADSP源代码，我不认为它会发生)。