MT8781平台sensorhub3.0驱动移植

1. sensorhub 3.0架构介绍

2. 驱动移植

2.1 SCP侧驱动移植

1. 添加工程配置

路径：vendor/mediatek/proprietary/tinysys/scp/project/RV55_A/mt6789/tb8781p1_64/
文件：project.mk

CFG_AK7323_SUPPORT = yes
CFG_LSM6DSO_SUPPORT = yes

2. 添加驱动所需dts信息

//路径：vendor/mediatek/proprietary/tinysys/scp/project/RV55_A/mt6789/tb8781p1_64/sensor/
//文件：dts.c
#ifdef CFG_LSM6DSO_SUPPORT
    {    .key = "name",                 .string = "lsm6dso_ois"}, /* 与驱动中解析dts保持一致 */
    {    .key = "bus_id",               .u8 = 1}, /* SPI总线 */
    {    .key = "direction",            .u8 = 0},
    {    .key = "eint_num",             .u8 = 2},
#endif

#ifdef CFG_AK7323_SUPPORT
    {    .key = "name",                 .string = "ak7323_ois"},
    {    .key = "bus_id",               .u8 = 0}, /* i2c总线*/
    {    .key = "slave_addr",           .u8 = 0x00}, /* broadcast */
    {    .key = "slave_addr_x",           .u8 = 0x6c}, /* X axis */
    {    .key = "slave_addr_y",           .u8 = 0x6d}, /* Y axis */
    {    .key = "direction",            .u8 = 0},
#endif

3. 添加驱动文件

//路径：vendor/mediatek/proprietary/tinysys/scp/middleware/sensorhub/drivers/physical/ois
//文件：ak7323_ois.c/lsm6dso_ois.c/ois_subdev.c

4. 添加驱动编译选项

//路径：vendor/mediatek/proprietary/tinysys/scp/project/RV55_A/mt6789/platform/features/
//文件：sensorhub.mk
ifeq ($(CFG_AK7323_SUPPORT),yes)
INCLUDES += $(ALGO_DIR)/ois/akm/include //编译算法库时头文件
AW_LIB_FILES  += $(ALGO_DIR)/ois/akm/src/akm_algo_ois.c //编译算法库时源文件

INCLUDES += $(ALGO_DIR)/ois/akm  //算法库引用头文件目录
LIBFLAGS += -L$(ALGO_DIR)/ois/akm -lakm_ois  //算法库路径，且算法库名称为akm_ois.a

C_FILES  += $(PHYSICAL_DRV_DIR)/ois/lsm6dso_ois.c
C_FILES  += $(PHYSICAL_DRV_DIR)/ois/ois_subdev.c
C_FILES  += $(PHYSICAL_DRV_DIR)/ois/ak7323_ois.c
endif

5. 配置overlay（本例子不需要配置）

#define OVERLAY_SECTION_OIS                     \
     OVERLAY_ONE_OBJECT(lsm6dso, lsm6dso)

#ifdef OVERLAY_SECTION_OIS
#define OVERLAY0 OVERLAY_SECTION_OIS
#endif

2.2 kernel侧配置

3. 算法库编译及移植

按照以下编译和移植算法后，在文件中引用算法库头文件即可调用内部接口

1. 添加算法库文件

//路径：vendor/mediatek/proprietary/tinysys/scp/middleware/sensorhub/algos/RV55_A/ois/akm/src/
//文件：akm_algo_ois.c
├── akm //创建目录
│   ├── include  //创建头文件目录
│   │   └── akm_algo_ois.h
│   ├── libakm_ois.a //编译后生成的库文件
│   └── src //创建源文件目录
│       └── akm_algo_ois.c

2. 添加编译算法库选项

//路径：vendor/mediatek/proprietary/tinysys/scp/project/RV55_A/mt6789/platform/features/
//文件：sensorhub.mk
ifeq ($(CFG_AK7323_SUPPORT),yes)
INCLUDES += $(ALGO_DIR)/ois/akm/include
AKM_LIB_FILES  += $(ALGO_DIR)/ois/akm/src/akm_algo_ois.c
endif

3. 修改编译库文件

diff --git a/vendor/mediatek/proprietary/tinysys/scp/build/config.mk b/vendor/mediatek/proprietary/tinysys/scp/build/config.mk
index 63960866664..859aa7cc90c 100644
--- a/vendor/mediatek/proprietary/tinysys/scp/build/config.mk
+++ b/vendor/mediatek/proprietary/tinysys/scp/build/config.mk
@@ -120,7 +120,9 @@ $(PROCESSOR).ASM2_FILE    := $(SCP_BIN_STEM).asm2
 $(PROCESSOR).RELF_FILE    := $(SCP_BIN_STEM).relf
 $(PROCESSOR).IMG_HDR_CFG := $(SCP_BUILT_DIR)/img_hdr_$(notdir $(SCP_BIN_STEM)).cfg
 $(PROCESSOR)_DRAM.IMG_HDR_CFG := $(SCP_BUILT_DIR)/img_hdr_$(notdir $(SCP_BIN_STEM))_dram.cfg
-
+$(PROCESSOR).STATIC_LIB := $(SCP_MIDDLEWARE_DIR)/sensorhub/algos/$(PROCESSOR)/ois/akm/libakm_ois.a

 # ESL-specific outputs
 $(PROCESSOR).ESL_AP_LINK_LD   := $(SCP_BUILT_DIR)/link.ap.ld
 $(PROCESSOR).ESL_MCU0_LINK_LD := $(SCP_BUILT_DIR)/link.mcu0.ld
@@ -202,6 +204,11 @@ S_OBJS    := $(sort $(S_FILES:%.S=$(SCP_BUILT_DIR)/%.o))
 OBJS += $(sort $(C_OBJS) $(S_OBJS))
 $(OBJS): $($(PROCESSOR).TINYSYS_CONFIG_H)
 

+AKM_LIB_FILES   := $(patsubst ./%,%,$(AKM_LIB_FILES))
+AKM_LIB_OBJS    := $(sort $(AKM_LIB_FILES:%.c=$(SCP_BUILT_DIR)/%.o))
+$(AKM_LIB_OBJS): $($(PROCESSOR).TINYSYS_CONFIG_H)

 # Set dependency
 DEPS += $(sort $(filter-out %.P,$(MAKEFILE_LIST)))
 
@@ -229,7 +236,14 @@ $(S_OBJS): PRIVATE_CFLAGS := $(CFLAGS)
 $(S_OBJS): PRIVATE_INCLUDES := $(INCLUDES)
 $(S_OBJS): $(SCP_BUILT_DIR)/%.o: %.S
 	$(compile-c-or-s-to-o)
-

+$(AKM_LIB_OBJS): PRIVATE_BUILD_TAG := $(TINYSYS_SCP)
+$(AKM_LIB_OBJS): PRIVATE_CC := $(CC)
+$(AKM_LIB_OBJS): PRIVATE_CFLAGS := $(CFLAGS)
+$(AKM_LIB_OBJS): PRIVATE_INCLUDES := $(INCLUDES)
+$(AKM_LIB_OBJS): $(SCP_BUILT_DIR)/%.o: %.c
+	$(compile-c-or-s-to-o)

 # Generate header file that contains all config options and its values
 .PHONY: configheader
 configheader: $($(PROCESSOR).TINYSYS_CONFIG_H)
@@ -242,7 +256,10 @@ $($(PROCESSOR).TINYSYS_CONFIG_H):
 
 $(OBJS): $(DEPS)
 -include $(OBJS:.o=.P)
-

+$(AKM_LIB_OBJS):$(DEPS)
+-include $(AKM_LIB_OBJS:.o=.P)

 ###########################################################
 ## Processor-based SCP build targets
 ###########################################################
@@ -301,6 +318,12 @@ $($(PROCESSOR).ELF_FILE): PRIVATE_RVXX_CPU := $(RVXX_CPU)
 $($(PROCESSOR).ELF_FILE): PRIVATE_OBJS := $(OBJS)
 $($(PROCESSOR).ELF_FILE): PRIVATE_LINK_LD := $($(PROCESSOR).LINK_LD)
 $($(PROCESSOR).ELF_FILE): $(OBJS)

+AKM_LIB_COMPILE := yes
+ifeq ($(AKM_LIB_COMPILE), yes)
+$($(PROCESSOR).ELF_FILE): $($(PROCESSOR).STATIC_LIB)
+endif

 $($(PROCESSOR).ELF_FILE): $(MY_LIBFLAGS_SEARCH_FILE)
 $($(PROCESSOR).ELF_FILE): $($(PROCESSOR).LINK_LD) $(DEPS)
 	@echo '$(TINYSYS_SCP): ELF     $@'
@@ -314,7 +337,16 @@ $($(PROCESSOR).ELF_FILE): $($(PROCESSOR).LINK_LD) $(DEPS)
 ifneq ($(CFG_UBSAN_SUPPORT),yes)
 	$(hide)PLATFORM=$(PRIVATE_PLATFORM) $(MCHECK) -d SCP $(SCP_SETTING_INI) $(PRIVATE_MAP_FILE)
 endif
-

+ifeq ($(AKM_LIB_COMPILE), yes)
+$($(PROCESSOR).STATIC_LIB): PRIVATE_CC := $(CC)
+$($(PROCESSOR).STATIC_LIB): PRIVATE_CFLAGS := $(CFLAGS)
+$($(PROCESSOR).STATIC_LIB): PRIVATE_INCLUDES := $(INCLUDES)
+$($(PROCESSOR).STATIC_LIB): $(AKM_LIB_OBJS)
+	@echo '-------------------AKM_LIB $@-------------------'
+	$(AR) -r $@ $^
+endif

 $($(PROCESSOR).LINK_LD): PRIVATE_CC := $(CC)
 $($(PROCESSOR).LINK_LD): PRIVATE_CFLAGS := $(CFLAGS)
 $($(PROCESSOR).LINK_LD): PRIVATE_INCLUDES := $(INCLUDES)

4. 多个sensor之间的调用

1. 开机先加载lsm6dso模块，初始化subdev，比如MODULE_DECLARE(lsm6dso_ois, vice, lsm6dso_ois_init);
2. 再初始化ak7323模块，比如LATE_DECLARE(ak7323, vice, ak7323_init);
3. ak7323模块中先通过全局变量获取subdev的指针，然后调用lsm6dso的接口

5. log抓取

MTK平台开机过程中的SCP相关log会存在buf里面，所以开机后也可以通过脚本抓取开机过程log

adb wait-for-device
adb root
adb remount

adb shell "echo 1 > /sys/class/misc/scp/scp_mobile_log" 
adb shell "while true; do cat /dev/scp | grep -E 'ak7323|lsm6dso';done" 

pause

2. 使用平台自身带软件debuglog工具
   打开开关，关机，重启手机，关机开关，软件会提示log所在路径，push出来后将内部几个scp相关log导出即可。