android sensor移植

sensor直接连接到应用处理器，并有linuxkernel管理。本文涉及到kernel驱动，sensor HAL以及SensorService。

sensor架构

安卓提供Sensor API和SensorManager，然而没有提供Sensor HAL和sensor驱动。

电源管理和管脚功能设置在设备树中应当设置好，Sensor类用于支持一些新特性。增加了一些sensor新特性，如：NativeSensorManager,，CalibrationManager,虚拟传感器支持，

传感器驱动

内核sensor驱动，包括电源，pin脚，传感器类，通常传感器驱动位于drivers/input/misc/。

传感器的电源

设备树配置

传感器芯片的驱动由sensor的probe驱动设置，mmc3416xpj的配置驱动如下：

memsic@30 { /* Magnetic field sensor */
compatible = "memsic,mmc3416x";
reg = <0x30>;
vdd-supply = <&pm8916_l17>;
vio-supply = <&pm8916_l6>;
memsic,dir = "obverse-x-axis-forward";
memsic,auto-report;
};

vdd-supply：指示给传感器供电的电源器件；pm8916_l17电源管理器

vio-supply：IO和I2C需要的数字电源，pm8916_l6是电源管理器

arch/arm/boot/dts/qcom/xxxx-regulator.dtsi

更多设备树定义见：

kernel/Documentation/bindings/input/misc/ .

regulator

在操作sensor chip之前需要初始化该芯片，regulator_get，regualator_count_voltages，regulator_set_voltages , regulator_enable ,以及regulator_disable。

管脚控制

设备树配置

akm@c {
compatible = "ak,ak09911";
reg = <0x0c>;
pinctrl-names = "default","sleep";
pinctrl-0 = <&akm_default>;
pinctrl-1 = <&akm_sleep>;
vdd-supply = <&pm8916_l17>;
vio-supply = <&pm8916_l6>;
akm,layout = <0x3>;
akm,gpio_rstn = <&msm_gpio 36 0x0>;
akm,auto-report;
};
akm_reset_pin {
qcom,pins = <&gp 36>;
qcom,pin-func = <0>;
qcom,num-grp-pins = <1>;
label = "akm_reset_pin";
akm_default: akm_default {
drive-strength = <6>;
bias-pull-up;
};
akm_sleep: akm_sleep {
drive-strength = <2>;
bias-pull-down;
};
};

pinctrl初始化

在probe是被调用。

pinctrl_get()--获得设备的pinctrl

pinctrl_lookup_state()--获取管脚状态

pinctrl_select_state()--设置硬件管脚状态

可以参考drivers/input/misc/akm09911.c提供的pin脚相关详细信息。

Sensor 类支持

这个是sensor类框架如下：

为了支持这一通用架构，需要按增加一些callback支持。

1.添加头文件

#include <linux/sensors.h>

2.增加sensors_classdev类

static struct sensors_classdev sensors_cdev;
struct sensor_data {
... ...
struct sensors_classdev cdev;
}

3.注册设备类

sensors_classdev_register(&client->dev, &sensor_data->cdev);

4.在注册设备之前填充结构体相关字段

.name = "kxtj9-accel",
.vendor = "Kionix",
.version = 1,
.handle = 0,
.type = 1,
.max_range = "19.6",
.resolution = "0.01",
.sensor_power = "0.2",
.min_delay = 2000,
.fifo_reserved_event_count = 0,
.fifo_max_event_count = 0,
.enabled = 0
.delay_msec = 200,
.sensors_enable = NULL,
.sensors_poll_delay = NULL,
}

5.实现回调

data->cdev.sensors_enable = sensor_enable_set;
data->cdev.sensors_poll_delay = sensor_poll_delay_set;

可以参考drivers/input/misc/mmc3416x.c 。
推荐使用cdev name注册到sensor类。

Native sensor HAL

其定义于

hardware/libhardware/include/hardware/sensors.h

CalibrationManager

数据结构

CalibrationManager加载第三方校正库，calibration 模块数据被用于HAL和第三方库，定义于：

hardware/qcom/sensors/CalibrationModule.h

struct sensor_cal_algo_t;
struct sensor_cal_module_t;
struct sensor_algo_args {
    int enable;
    int delay_ms;
    struct sensor_t sensor;
    int (*store_calibrate_params)(struct sensor_t *sensor, struct
    sensors_event_t *bias);
};
struct compass_algo_args {
    struct sensor_algo_args common;
    uint32_t reserved[16];
};
struct gyro_algo_args {
    struct sensor_algo_args common;
    float bias[3];
};
struct sensor_algo_methods_t {
    int (*convert)(sensors_event_t *raw, sensors_event_t *result, struct
    sensor_algo_args *args);
    /* Note that the config callback is called from a different thread as
    convert */
    int (*config)(int cmd, struct sensor_algo_args *args);
};
struct sensor_cal_methods_t {
    int (*init)(const struct sensor_cal_module_t* module, struct
    sensor_algo_args *args);
    void (*deinit)();
    /* Return 0 on success */
    int (*get_algo_list)(const struct sensor_cal_algo_t **algo);
};
struct sensor_cal_algo_t {
    /* Tag of the algo */
   int tag;
   /* Version of the algo */
   int version;
   /* Type of sensor this algo supported*/
   int type;
   /* The compatible sensors */
   const char **compatible;
   /* Sensor calibration module */
   struct sensor_cal_module_t *module;
   /* Sensor algo methods */
   struct sensor_algo_methods_t *methods;
};
struct sensor_cal_module_t {
  /* Tag of the module */
  uint32_t tag;
  /* Id of the module */
  char *id;
  /* Version of the calibration module */
  uint32_t version;
  /* Vendor of the calibration lib */
  char *vendor;
  /* Point to the handle of this module */
  void *dso;
  /* Number of algos */
  uint32_t number;
  /* Callbacks of the calibration lib provided */
  struct sensor_cal_methods_t *methods;
  /* The compatible sensors list for this library */
  int reserved[6];
};

sensor_cal_module_t定义了该模块的描述，其保存了对自身的引用，CalibrationManager调用init，deinit以及get_algo_list和矫正库交互，get_cal_algo_list返回库包括的算法，

struct sensor_algo_methods_t {
  int (*convert)(sensors_event_t *raw, sensors_event_t *result,
  struct sensor_algo_args *args);
  /* Note that the config callback is called from a different
  thread as convert */
  int (*config)(int cmd, struct sensor_algo_args *args);
};

校正库

校正库可以放在安卓代码库的任何地方，校正库应当被编译成一个共享库，该库位于system/vendor/lib，Sensor HAL使用兼容表选择校正算法，所以兼容表必须被正确设置，

hardware/qcom/sensors/algo/common/common_wrapper.c

校正库由calmodule.cfg配置，代码位于/system/vendor/lib。

NativeSensorManager

NativeSensorManager的源代码位于hardware/qcom/sensors/；

图：call和poll流程

NativeSensorManager初始化

NativeSensorManager也许会在open_sensors之前被调用。

初始化过程如下：

1.扫描/dev/input目录，并获得传感器的路径名和设备名

2.通过/sys/class/sensors获得sensor list。

3.将sensor list和设备节点路径相关联

4.初始化硬件驱动（sensorBase 子类）

5.初始化虚拟sensor

命令和数据流管理

NativeSensorManager接收所有的命令和数据。

虚拟设备管理

NativeSensorManager管理，支持的设备是Orientation, Linear Acceleration, Gravity, Rotation Vector, Pseudo Gyroscope, and Uncalibrated Magnetic Field。