Screen Auto-Rotation Issue When Porting ICM-20948 Sensor on Android 11

[hank2024]

Hi,

I'd like to seek assistance regarding a screen auto-rotation issue I encountered while attempting to port the ICM-20948 IMU sensor on Android 11.

Hardware and Software Details:

• CPU: i.MX8MQ
• Operating System: Android 11
• IMU Sensor: ICM-20948

Description of the Issue: I've been working on adding support for the ICM-20948 IMU sensor in Android to enable screen auto-rotation. However, I've encountered a problem where the screen rotation is consistently off by 90 degrees.

    

Any assistance or guidance on resolving this issue would be greatly appreciated. If there are any specific areas of concern or details required, please let me know. Thank you in advance for your help.

References:

https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/Porting-MPU6050-on-Android-to-realize-au...

https://community.nxp.com/t5/i-MX-Processors/Android-10-i-MX8MMini-g2d-rotation-issue/m-p/1051924

[hank2024 · Accepted solution]

The problem has already been solved, and it is recorded here that you need to modify the Android HAL layer yourself and adjust the IMU direction.

[Bio_TICFSL]

Hello,

You have to port the IMU driver to your android since kernel is not detected.

Regards

[hank2024]

Thanks, 

@Bio_TICFSL  I believe the ICM2048 driver has already been loaded and is running. You can see the following information by entering it in the Android terminal

130|evk_8mq:/ # dumpsys senzsorservice

Captured at: 07:19:11.364

Sensor Device:

Total 4 h/w sensors, 4 running 0 disabled clients:

0x00000002) active-count = 1; sampling_period(ms) = {66.7}, selected = 66.67 ms; batching_period(ms) = {100.0}, selected = 100.00 ms

Sensor List:

0x00000001) icm20948                z  | nxp             | ver: 1 | type: android.sensor.gyroscope(4) | perm: n/a | flags: 0x00000050

        continuous | minRate=5.00Hz | maxRate=12195.12Hz | FIFO (max,reserved) = (100, 0) events | non-wakeUp | data-injection, has-additional-info,

0x00000002) icm20948                  | nxp             | ver: 1 | type: android.sensor.accelerometer(1) | perm: n/a | flags: 0x00000010

        continuous | minRate=5.00Hz | maxRate=1209.19Hz | FIFO (max,reserved) = (100, 0) events | non-wakeUp | data-injection,

0x00000003) icm20948                  | nxp             | ver: 1 | type: android.sensor.magnetic_field(2) | perm: n/a | flags: 0x00000010

        continuous | maxDelay=0us | minDelay=-1us | FIFO (max,reserved) = (100, 0) events | non-wakeUp | data-injection,

0x00000004) opt3001                   | nxp             | ver: 1 | type: android.sensor.light(5) | perm: n/a | flags: 0x00000012

        on-change | minRate=10.00Hz | maxRate=1.25Hz | FIFO (max,reserved) = (100, 0) events | non-wakeUp | data-injection,

0x5f636779) Corrected Gyroscope Sensor | AOSP            | ver: 1 | type: android.sensor.gyroscope(4) | perm: n/a | flags: 0x00000000

        continuous | maxDelay=0us | maxRate=12195.12Hz | no batching | non-wakeUp |

0x5f676172) Game Rotation Vector Sensor | AOSP            | ver: 3 | type: android.sensor.game_rotation_vector(15) | perm: n/a | flags: 0x00000000

        continuous | maxDelay=0us | maxRate=1209.19Hz | no batching | non-wakeUp |

0x5f676273) Gyroscope Bias (debug)    | AOSP            | ver: 1 | type: android.sensor.accelerometer(1) | perm: n/a | flags: 0x00000000

        continuous | maxDelay=0us | maxRate=1209.19Hz | no batching | non-wakeUp |

0x5f67656f) GeoMag Rotation Vector Sensor | AOSP            | ver: 3 | type: android.sensor.geomagnetic_rotation_vector(20) | perm: n/a | flags: 0x00000000

        continuous | maxDelay=0us | maxRate=1209.19Hz | no batching | non-wakeUp |

0x5f677276) Gravity Sensor            | AOSP            | ver: 3 | type: android.sensor.gravity(9) | perm: n/a | flags: 0x00000000

        continuous | maxDelay=0us | maxRate=1209.19Hz | no batching | non-wakeUp |

0x5f6c696e) Linear Acceleration Sensor | AOSP            | ver: 3 | type: android.sensor.linear_acceleration(10) | perm: n/a | flags: 0x00000000

        continuous | maxDelay=0us | maxRate=1209.19Hz | no batching | non-wakeUp |

0x5f726f76) Rotation Vector Sensor    | AOSP            | ver: 3 | type: android.sensor.rotation_vector(11) | perm: n/a | flags: 0x00000000

        continuous | maxDelay=0us | maxRate=1209.19Hz | no batching | non-wakeUp |

0x5f797072) Orientation Sensor        | AOSP            | ver: 1 | type: android.sensor.orientation(3) | perm: n/a | flags: 0x00000000

        continuous | maxDelay=0us | maxRate=1209.19Hz | no batching | non-wakeUp |

Fusion States:

9-axis fusion disabled (0 clients), gyro-rate= 200.00Hz, q=< 0, 0, 0, 0 > (0), b=< 0, 0, 0 >

game fusion(no mag) disabled (0 clients), gyro-rate= 200.00Hz, q=< 0, 0, 0, 0 > (0), b=< 0, 0, 0 >

geomag fusion (no gyro) disabled (0 clients), gyro-rate= 200.00Hz, q=< 0, 0, 0, 0 > (0), b=< 0, 0, 0 >

Recent Sensor events:

icm20948: last 50 events

         1 (ts=164.197915226, wall=07:19:09.580) -0.10, 0.34, 10.23,

         2 (ts=164.233717707, wall=07:19:09.616) -0.11, 0.32, 10.24,

         3 (ts=164.269666349, wall=07:19:09.652) -0.09, 0.37, 10.18,

         4 (ts=164.305628430, wall=07:19:09.688) -0.06, 0.36, 10.18,

         5 (ts=164.341558952, wall=07:19:09.724) -0.08, 0.34, 10.21,

         6 (ts=164.377450473, wall=07:19:09.760) -0.10, 0.34, 10.18,

         7 (ts=164.413300474, wall=07:19:09.796) -0.05, 0.38, 10.12,

         8 (ts=164.449162836, wall=07:19:09.832) -0.08, 0.26, 10.18,

         9 (ts=164.484990637, wall=07:19:09.867) -0.14, 0.40, 10.16,

        10 (ts=164.520888279, wall=07:19:09.903) -0.08, 0.32, 10.14,

        11 (ts=164.556830200, wall=07:19:09.939) -0.14, 0.31, 10.17,

        12 (ts=164.592663642, wall=07:19:09.975) -0.21, 0.32, 10.13,

        13 (ts=164.628550363, wall=07:19:10.011) -0.13, 0.37, 10.11,

        14 (ts=164.664386205, wall=07:19:10.047) -0.16, 0.29, 10.31,

        15 (ts=164.700226486, wall=07:19:10.083) -0.08, 0.27, 10.19,

        16 (ts=164.736121487, wall=07:19:10.119) -0.13, 0.32, 10.17,

        17 (ts=164.771977249, wall=07:19:10.154) -0.11, 0.36, 10.25,

        18 (ts=164.807675090, wall=07:19:10.190) -0.16, 0.32, 10.17,

        19 (ts=164.843559172, wall=07:19:10.226) -0.02, 0.41, 9.99,

        20 (ts=164.879316413, wall=07:19:10.262) -0.09, 0.35, 10.14,

        21 (ts=164.915070775, wall=07:19:10.297) -0.14, 0.27, 10.22,

        22 (ts=164.950877096, wall=07:19:10.333) -0.14, 0.43, 10.13,

        23 (ts=164.986675018, wall=07:19:10.369) -0.10, 0.32, 10.36,

        24 (ts=165.022657019, wall=07:19:10.405) -0.05, 0.34, 10.32,

        25 (ts=165.058468860, wall=07:19:10.441) -0.12, 0.29, 10.14,

        26 (ts=165.094219382, wall=07:19:10.477) -0.06, 0.37, 10.13,

        27 (ts=165.129978543, wall=07:19:10.512) -0.10, 0.39, 10.24,

        28 (ts=165.165803945, wall=07:19:10.548) -0.09, 0.35, 10.24,

        29 (ts=165.201513906, wall=07:19:10.584) -0.12, 0.32, 10.19,

        30 (ts=165.237281708, wall=07:19:10.620) -0.05, 0.36, 10.09,

        31 (ts=165.272960109, wall=07:19:10.655) -0.10, 0.31, 10.23,

        32 (ts=165.308887511, wall=07:19:10.691) -0.11, 0.34, 10.16,

        33 (ts=165.344873472, wall=07:19:10.727) -0.12, 0.38, 10.17,

        34 (ts=165.380659393, wall=07:19:10.763) -0.09, 0.36, 10.10,

        35 (ts=165.416434395, wall=07:19:10.799) -0.13, 0.35, 10.19,

        36 (ts=165.452194276, wall=07:19:10.835) -0.06, 0.33, 10.16,

        37 (ts=165.487941798, wall=07:19:10.870) -0.10, 0.36, 10.15,

        38 (ts=165.523702879, wall=07:19:10.906) -0.12, 0.28, 10.20,

        39 (ts=165.559502241, wall=07:19:10.942) -0.14, 0.35, 10.07,

        40 (ts=165.595351762, wall=07:19:10.978) -0.10, 0.35, 10.20,

        41 (ts=165.631182203, wall=07:19:11.014) -0.06, 0.31, 10.21,

        42 (ts=165.666988765, wall=07:19:11.049) -0.07, 0.35, 10.17,

        43 (ts=165.702813686, wall=07:19:11.085) -0.12, 0.30, 10.15,

        44 (ts=165.738647728, wall=07:19:11.121) -0.10, 0.34, 10.17,

        45 (ts=165.774543569, wall=07:19:11.157) -0.10, 0.36, 10.12,

        46 (ts=165.810368611, wall=07:19:11.193) -0.10, 0.33, 10.23,

        47 (ts=165.846284972, wall=07:19:11.229) -0.14, 0.34, 10.14,

        48 (ts=165.882086854, wall=07:19:11.265) -0.11, 0.33, 10.22,

        49 (ts=165.918105575, wall=07:19:11.301) -0.07, 0.32, 10.16,

        50 (ts=165.954057096, wall=07:19:11.336) -0.14, 0.43, 9.99,

Active sensors:

icm20948 (handle=0x00000002, connections=1)

Socket Buffer size = 984 events

WakeLock Status: not held

Mode : NORMAL

Sensor Privacy: disabled

1 active connections

Connection Number: 0

        Operating Mode: NORMAL

         com.android.server.policy.WindowOrientationListener | WakeLockRefCount 0 | uid 1000 | cache size 0 | max cache size 0

         icm20948 0x00000002 | status: active | pending flush events 0

0 direct connections

Previous Registrations:

07:16:57 + 0x00000002 pid=  556 uid= 1000 package=com.android.server.policy.WindowOrientationListener samplingPeriod=66667us batchingPeriod=100000us

evk_8mq:/ #

evk_8mq:/ # cat /sys/bus/iio/devices/iio\:device1/in_accel_x_raw
-88
evk_8mq:/ # cat /sys/bus/iio/devices/iio\:device1/in_accel_y_raw
468
evk_8mq:/ # cat /sys/bus/iio/devices/iio\:device1/in_accel_z_raw
16904

The main issue is that when rotating the screen, it rotates an extra 90 degrees counterclockwise.