鲁班猫2 rk3568安卓传感器sensor适配

选型

甲方的需求是做出来需要类似AW的摔倒检测

需要高动态

大概可能是需要高量程（比如acc+-32g?

但是因为项目时间需求我还是向mpu6050妥协（但是最后还是烂了

别问我为什么选中这家伙
安卓RK3399编译驱动MPU6050，实现内核层与HAL层驱动_适合研究android hal的开发板-CSDN博客
ROC-RK3308-CC开发实例总结--MPU6050运动处理传感器模块调试-CSDN博客
我一搜RK 的kernel SDK，哎，确实是有驱动可以probe的，买它
...
谨慎用适配linux的思路选型，如果你要开发速度快的话

踩坑

rk3568_lubancat_2_v2_hdmi:/ $ dmesg | grep mpu
[    1.237727] inv-mpu6050-i2c 3-0068: mounting matrix not found: using identity...
[    1.237749] inv-mpu6050-i2c 3-0068: Could not find IRQ 0
[    1.237812] inv-mpu6050-i2c: probe of 3-0068 failed with error -22

能看到目前是能正确进入他的初始化函数的

但是，为什么获取不到irq呢，whyyyyyy

最后调整dts

&i2c3 {
    status = "okay";
    pinctrl-names = "default";
    pinctrl-0 = <&i2c3m0_xfer>;     //使用GPIO0_A1和GPIO0_A0复用为I2C3引脚
    #address-cells = <1>;
    #size-cells = <0>;
    clock-frequency = <400000>;//需要配置为400kHz,要不然的话i2cdetect的时候0x68不稳定
    mpu6050@68 { 
        compatible = "invensense,mpu6050";
        reg = <0x68>;
        status = "okay";
        mpu-int_config = <0>;
        mpu-level_shifter = <0>;
        mpu-orientation = <1 0 0 0 1 0 0 0 1>;
        interrupt-parent = <&gpio0>;
        interrupts = <RK_PB0 IRQ_TYPE_LEVEL_LOW>;
        irq-gpios = <&gpio0 RK_PB0 IRQ_TYPE_LEVEL_LOW>;
        orientation-x = <0>;
        orientation-y = <1>;
        orientation-z = <1>;
            mount-matrix = "-0.984807753012208",  /* x0 */
                "0",                   /* y0 */
                "-0.173648177666930",  /* z0 */
                "0",                   /* x1 */
                "-1",                  /* y1 */
                "0",                   /* z1 */
                "-0.173648177666930",  /* x2 */
                "0",                   /* y2 */
                "0.984807753012208";   /* z2 */
        support-hw-poweroff = <0>;
        mpu-debug = <1>;
    };
};

锁定在了

        interrupt-parent = <&gpio0>;
        interrupts = <RK_PB0 IRQ_TYPE_LEVEL_LOW>;
        irq-gpios = <&gpio0 RK_PB0 IRQ_TYPE_LEVEL_LOW>;

其实在加入前两行的时候，dmesg | grep mpu 后关于mpu的log都没有了，以为寄了
但是我后面去看iio设备的时候才发现已经注册上了
ls /sys/bus/iio/devices，有了trigger就注册好中断了

but good new is，我已经打通了linux并成功获得数据了，但是仅限自己cat出来，明天看看能不能打通hal层（总感觉这玩意缺斤少两，怎么下面的文件比网上的要少

rk3568_lubancat_2_v2_hdmi:/ # ls /sys/bus/iio/devices/iio\:device1/
buffer                    in_accel_y_calibbias        in_anglvel_y_calibbias  of_node
current_timestamp_clock   in_accel_y_raw              in_anglvel_y_raw        power
dev                       in_accel_z_calibbias        in_anglvel_z_calibbias  sampling_frequency
in_accel_matrix           in_accel_z_raw              in_anglvel_z_raw        sampling_frequency_available
in_accel_mount_matrix     in_anglvel_mount_matrix     in_gyro_matrix          scan_elements
in_accel_scale            in_anglvel_scale            in_temp_offset          subsystem
in_accel_scale_available  in_anglvel_scale_available  in_temp_raw             trigger
in_accel_x_calibbias      in_anglvel_x_calibbias      in_temp_scale           uevent
in_accel_x_raw            in_anglvel_x_raw            name

CSDN:（会多点enable的东西

rk3399_mid:/sys/bus/iio/devices/iio:device0 # ls
accl_enable            event_display_orientation in_accel_z_calibbias   quaternion_on                smd_delay_threshold2
accl_matrix            event_smd                 in_accel_z_offset      reg_dump                     smd_enable
buffer                 firmware_loaded           in_anglvel_scale       sampling_frequency           smd_threshold
dev                    gyro_enable               in_anglvel_x_calibbias sampling_frequency_available subsystem
display_orientation_on gyro_matrix               in_anglvel_y_calibbias scan_elements                temperature
dmp_event_int_on       in_accel_scale            in_anglvel_z_calibbias secondary_name               trigger
dmp_firmware           in_accel_x_calibbias      name                   self_test                    uevent
dmp_int_on             in_accel_x_offset         of_node                self_test_samples
dmp_on                 in_accel_y_calibbias      power                  self_test_threshold
dmp_output_rate        in_accel_y_offset         power_state            smd_delay_threshold

在摇晃陀螺仪时cat数据，不动时加速度稳定：

rk3568_lubancat_2_v2_hdmi:/ # cat /sys/bus/iio/devices/iio\:device1/in_accel_y
in_accel_y_calibbias    in_accel_y_raw
at /sys/bus/iio/devices/iio\:device1/in_accel_y_raw                                                                   <
31630
at /sys/bus/iio/devices/iio\:device1/in_accel_y_raw                                                                   <
6654
at /sys/bus/iio/devices/iio\:device1/in_accel_y_raw                                                                   <
7336
at /sys/bus/iio/devices/iio\:device1/in_accel_y_raw                                                                   <
7026
at /sys/bus/iio/devices/iio\:device1/in_accel_y_raw                                                                   <
17042
at /sys/bus/iio/devices/iio\:device1/in_accel_y_raw                                                                   <
-32768
at /sys/bus/iio/devices/iio\:device1/in_accel_y_raw                                                                   <
32767
at /sys/bus/iio/devices/iio\:device1/in_accel_y_raw                                                                   <
26704

证明内核已经驱动成功了，剩下hal

但是万万没想到hal才是最难的

然后尝试在正点原子的a11下面编译，出现了部分好转

[ 98% 274/279] including vendor/rockchip/hardware/65xx/Android.mk ...
FAILED: 
In file included from build/make/core/prebuilt.mk:53:
In file included from vendor/rockchip/hardware/65xx/Android.mk:2:
In file included from vendor/rockchip/hardware/65xx/libsensors_iio/Android.mk:167:
build/make/core/shared_library.mk:16: error: sensors.rk3566_r: LOCAL_MODULE_PATH for shared libraries is unsupported in multiarch builds, use LOCAL_MODULE_RELATIVE_PATH instead.
18:22:38 ckati failed with: exit status 1

#### failed to build some targets (57 seconds) ####

开始魔改LOCAL_MODULE_PATH
然后又说我缺libinvensense_hal.so
。。。
原话：其实真没搞懂modifiy他那个Makefile脚本那步，到底怎么样才能include到htc/flounder那步
可能是把当前目录cp到65xx下，然后修改65xx大的makefile使得cp的文件夹也加入编译中
那这两个sharedlib就是同一个，不会缺libinvensense_hal.so
但是已经折腾了四天了，是时候破局了

破局

根据BoardConfig和sensor的mk来看，st和MPU_VR是互斥的，于是打算直接看看官方的support list或者其他方案

# Sensors
BOARD_SENSOR_ST := true
BOARD_SENSOR_MPU_VR := false
BOARD_SENSOR_MPU_PAD := false

BOARD_USES_GENERIC_INVENSENSE := false

RocketChip Sensor Hal

默认的st是能正常通过编译的

代码路径：hardware/rockchip/sensor/st，支持最新的 SENSORS_DEVICE_API _VERSION_1_3 android sensors hal API 接口

那上层的HAL层能够正常编译通过的话，那直接可以看kernel driver了

Rockchip sensors kernel driver

代码路径：kernel/drivers/input/sensors，其中 sensor-dev.c 是核心代码，整合了不同类型的 sensor，包括 accel, gyro, lsensor, psensor, compass 等。

通过翻看官方文档Rockchip_Developer_Guide_Sensors_CN.pdf

其实文档与源码已经有点老了

那就直接看源码

找到源码目录，发现有很多的支持了

有我们的老顾客mpu6500、icm2060x

也看到了正点原子支持的sh3001，我就说怎么淘宝没得卖也不是什么热门芯片为什么正点原子要用呢，教程也不带一个

原来rk官方已经支持进去了

选型​

踩坑​

破局​

RocketChip Sensor Hal​

Rockchip sensors kernel driver​

选型

踩坑

破局

RocketChip Sensor Hal

Rockchip sensors kernel driver