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

Question asked by nandish sg on Feb 26, 2020
Latest reply on Apr 13, 2020 by nandish sg

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

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