imx8qm 9轴运动位置传感器LSM9DS1移植

HAL代码：
https://github.com/STMicroelectronics/STMems_Android_Sensor_HAL_IIO
https://www.st.com/content/st_com/zh/products/embedded-software/mems-and-sensors-software/drivers-for-mems/androidhal-iio.html

内核驱动代码：
https://github.com/STMicroelectronics/STMems_Linux_IIO_drivers/tree/linux-4.14.y-gh

增加uevent节点如下：
/sys/bus/iio/devices/iio:device0
/sys/bus/iio/devices/iio:device1

HAL层参考文档：
STMicroelectronics\SensorHAL_IIO\Documentation

编译指令：
mm sensors-defconfig
“make sensors-defconfig” Set to default configuration “make sensors-menuconfig” Text based color menus, radiolists & dialogs. “make sensors-cleanconf” Delete hal_config, hal_config.old and configuration.h files.

如何进入menuconfig：
source env.sh
export PLATFORM_VERSION=9
make sensors-menuconfig

生成路径：
out/target/product/mek_8q/obj_arm/SHARED_LIBRARIES/sensors.imx8_intermediates/sensors.imx8.so.toc
out\target\product\mek_8q\vendor\lib64\hw\sensors.imx8.so
过滤打印信息：
logcat -s SensorHAL
/dev下文件打不开
打印如下，怀疑是selinux权限问题：

01-01 00:00:13.326  2349  2349 D SensorHAL: 3 IIO devices available into /sys/bus/iio/devices/ folder.
01-01 00:00:13.326  2349  2349 D SensorHAL: "lsm9ds1_gyro": IIO device found and supported. Wake-up sensor: no
01-01 00:00:13.328  2349  2349 D SensorHAL: "lsm9ds1_magn": IIO device found and supported. Wake-up sensor: no
01-01 00:00:13.330  2349  2349 D SensorHAL: "lsm9ds1_accel": IIO device found and supported. Wake-up sensor: no
01-01 00:00:13.341  2349  2349 E SensorHAL: LSM9DS1 Gyroscope Sensor: Failed to open iio char device (/dev/iio:device1).
01-01 00:00:13.341  2349  2349 E SensorHAL: "lsm9ds1_gyro": failed to create HW sensor class.
01-01 00:00:13.341  2349  2349 E SensorHAL: LSM9DS1 Magnetometer Sensor: Failed to open iio char device (/dev/iio:device2).
01-01 00:00:13.341  2349  2349 E SensorHAL: "lsm9ds1_magn": failed to create HW sensor class.
01-01 00:00:13.341  2349  2349 E SensorHAL: LSM9DS1 Accelerometer Sensor: Failed to open iio char device (/dev/iio:device0).
01-01 00:00:13.341  2349  2349 E SensorHAL: "lsm9ds1_accel": failed to create HW sensor class.
01-01 00:00:13.341  2349  2349 D SensorHAL: 0 sensors available and ready.

selinux报错：

[  530.748281] init: Service 'vendor.sensors-hal-1-0' (pid 3731) received signal 15
[  530.755847] init: Sending signal 9 to service 'vendor.sensors-hal-1-0' (pid 3731) process group...
[  530.765260] libprocessgroup: Successfully killed process cgroup uid 1000 pid 3731 in 0ms
[  530.774552] init: starting service 'vendor.sensors-hal-1-0'...
[  530.820472] type=1400 audit(156635
1060.028:2718): avc: denied { call } for pid=2253 comm="surfaceflinger" scontext=u:r:surfaceflinger:s0 tcontext=u:r:mediacodec:s0 tclass=binder permissive=1 b/77924251
[  530.838455] type=1400 audit(1566351086.288:2719): avc: denied { read } for pid=4549 comm="android.hardwar" name="iio:device1" dev="tmpfs" ino=16734 scontext=u:r:hal_sensors_default:s0 tcontext=u:object_r:iio_device:s0 tclass=chr_file permissive=1
[  530.860517] type=1400 audit(1566351086.288:2719): avc: denied { read } for pid=4549 comm="android.hardwar" name="iio:device1" dev="tmpfs" ino=16734 scontext=u:r:hal_sensors_default:s0 tcontext=u:object_r:iio_device:s0 tclass=chr_file permissive=1
[  530.882399] type=1400 audit(1566351086.288:2720): avc: denied { open } for pid=4549 comm="android.hardwar" path="/dev/iio:device1" dev="tmpfs" ino=16734 scontext=u:r:hal_sensors_default:s0 tcontext=u:object_r:iio_device:s0 tclass=chr_file permissive=1
[  530.904925] type=1400 audit(1566351086.288:2720): avc: denied { open } for pid=4549 comm="android.hardwar" path="/dev/iio:device1" dev="tmpfs" ino=16734 scontext=u:r:hal_sensors_default:s0 tcontext=u:object_r:iio_device:s0 tclass=chr_file permissive=1
[  530.927244] type=1400 audit(1566351086.288:2721): avc: denied { ioctl } for pid=4549 comm="android.hardwar" path="/dev/iio:device1" dev="tmpfs" ino=16734 ioctlcmd=0x6990 scontext=u:r:hal_sensors_default:s0 tcontext=u:object_r:iio_device:s0 tclass=chr_file permissive=1

增加权限如下：

+++ b/android9.0.0/device/fsl/imx8q/sepolicy/hal_sensors_default.te
+allow hal_sensors_default iio_device:chr_file { ioctl read open };

设备加载了，但是app还是读不到数据：

01-01 00:00:12.893  2380  2380 D SensorHAL: "lsm9ds1_magn": IIO device found and supported. Wake-up sensor: no
01-01 00:00:12.894  2380  2380 D SensorHAL: "lsm9ds1_accel": IIO device found and supported. Wake-up sensor: no
01-01 00:00:12.895  2377  2377 I android.hardware.light@2.0-service: Registration complete for android.hardware.light@2.0::ILight/default.
01-01 00:00:12.895  2380  2380 D SensorHAL: "LSM9DS1 Gyroscope Sensor": injection mode not available.
01-01 00:00:12.896  2380  2380 D SensorHAL: "LSM9DS1 Gyroscope Sensor": created HW class instance, handle: 1 (sensor type: 4).
01-01 00:00:12.896  2380  2380 D SensorHAL: "LSM9DS1 Magnetometer Sensor": injection mode not available.
01-01 00:00:12.896  2380  2380 D SensorHAL: "LSM9DS1 Magnetometer Sensor": created HW class instance, handle: 2 (sensor type: 2).
01-01 00:00:12.896  2379  2379 I android.hardware.power@1.0-service: Registration complete for android.hardware.power@1.0::IPower/default.
01-01 00:00:12.896  2380  2380 D SensorHAL: "LSM9DS1 Accelerometer Sensor": injection mode not available.
01-01 00:00:12.896  2380  2380 D SensorHAL: "LSM9DS1 Accelerometer Sensor": created HW class instance, handle: 3 (sensor type: 1).
01-01 00:00:12.896  2380  2380 D SensorHAL: 3 sensors available and ready.

增加calibration权限错误：

must be associated with the "coredomain" attribute because they are executed

解决方案：
typeattribute STSensors coredomain;

磁力计读取数据异常，导致整机断电：

08-21 09:39:08.682 2379 2379 E SensorHAL: LSM9DS1 Magnetometer Sensor: Failed to write hw fifo watermark.

原因：中断被拉高后，一直无法拉低，将该输入引脚SPDIF0_RX改为pull-down，改成DRDY_M引脚后正常。
引脚配置：

		pinctrl_hog: hoggrp {
			fsl,pins = <
                SC_P_SPDIF0_RX_LSIO_GPIO2_IO14          0x18000040 //magn irq  pull-down
			>;
		};

读取状态寄存器：
加速度计：i2cget -f -y 2 0x6a 0x17
磁力计：i2cget -f -y 2 0x1c 0x27