i.MX Processors中的主题 Re: How to add the IMU sensor to HAL layer in Android 8.0

How to add the IMU sensor to HAL layer in Android 8.0

nandish_sg — Wed, 26 Feb 2020 12:02:53 GMT

Hello All,

I want to add the imu sensor (lsm9ds1: accelerometer, gyroscope, magnetometer ) to HAL layer in Android 8.0, For doing this i refer the some previous post and done the below changes in my source.

1) i add the sm9ds1_acc_gyr.c and sm9ds1_mag.c and sm9ds1.h files in following path and edited in make file and kconfig file also ../../.. /vendor/nxp-opensource/kernel_imx/drivers/input/misc$

2) init.rc

   service magd /system/bin/magd
   class late_start
   user system
   group input
   oneshot
   seclabel u:r:sensors:s0

3) in ../device/fsl/imx6/sepolicy

/system/bin/magd u:object_r:sensors_exec:s0

4) in .te file

      # magd service
      type magd, domain;
      type magd_exec, exec_type, file_type;
      init_daemon_domain(magd)

5) in myboardfile.mk

PRODUCT_PACKAGES += \
sensors.lsm9ds1

PRODUCT_PACKAGES += \
magd

6) source build/envsetup.sh

lunch

make -j8

after doing this all i am able to see the events in on target board

i) $ cat /sys/class/input/*/name
lsm9ds1_acc
lsm9ds1_gyr
lsm9ds1_mag
gpio-keys,

ii) getevent /dev/input/event0 and event1 and event2
0003 0000 ffffdcd8
0003 0001 ffffa498
0003 0002 fff0bcf8
0000 0000 00000000
0003 0000 ffffd15c
0003 0001 ffffa894
0003 0002 fff0c004
0000 0000 00000000
0003 0000 ffffda80
0003 0001 ffffa600
0003 0002 fff0c9dc

iii) ps -A

root 136 2 0 0 rescuer_thread 0 S [ci_otg]
root 137 2 0 0 rescuer_thread 0 S [lsm9ds1_acc_gyr]
root 138 2 0 0 rescuer_thread 0 S [lsm9ds1_workque]
root 139 2 0 0 rescuer_thread 0 S [dm_bufio_cache]

if flash any .apk file for sensor on traget board i am not able to see the a any data on application.

can any one help how to add and what are are all the steps need to do to resolve this issue,

thanks in advance ,

Best Regrads.

SGN

Re: How to add the IMU sensor to HAL layer in Android 8.0

igorpadykov — Tue, 03 Mar 2020 08:39:25 GMT

Hi Nandish

one can refer to android sensor hal intergartion tutorials

Sensor Stack and Kernel Module

Sensors | Android Open Source Project

Best regards
igor
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Re: How to add the IMU sensor to HAL layer in Android 8.0

nandish_sg — Mon, 13 Apr 2020 17:54:40 GMT

Hi Igor,

Thanks for your reply,

I fixed that issue,

best regards

SGN

Re: How to add the IMU sensor to HAL layer in Android 8.0

Pritamsrisahoo_ss — Mon, 11 Sep 2023 13:43:24 GMT

@nandish_sg
Can you please help me to integrate the lsm6dsm sensor on Android source code and get the values of the sensor in a application.

Steps that i have followed:

1.Driver was loaded and I can get the values in my pc terminal by:cat sys/class/i2c-dev/i2c-2/device/2-006b/iio\:device1/in_accel_x_raw

Then what i need to modify so that to achive the sensor values in any application??

Thankyou in advance..