GY_91模块
1.GY-91 简介
GY-91 是MPU9250+BMP280
MPU9250是InvenSense出品的模块九轴传感器，它集成了陀螺仪三轴，加速度三轴，磁感应三轴
MPU9250的I2C从地址为0x68
BMP280:温度气压传感器
2.iio子系统
iio子系统的目录位于drivers/iio
iio子系统全称是Industrial I/O subsystem(工业 I/O 子系统）
3.i2c测试
rk3288:/system/bin # i2cdetect -y 4
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- --
70: -- -- -- -- -- -- 76 --
0x76 为BMP280
0X68 为 MPU9250
mpu6050和mpu9250用I2C通信
6050和9250的程序可以通用,GY-91的INT没有和rk3288相连
4.配置设备信息
--- a/kernel/arch/arm/boot/dts/rk3288-firefly-android.dts
+++ b/kernel/arch/arm/boot/dts/rk3288-firefly-android.dts
@@ -454,6 +454,29 @@
&i2c4 {
status = "okay";
+ clock-frequency = <400000>; //需要配置为400kHz,要不然的话i2cdetect的时候0x68不稳定
+
+ mpu6500@68 {
+ compatible = "invensense,mpu6500";
+ status = "okay";
+ pinctrl-names = "default";
+ reg = <0x68>;
+ mpu-int_config = <0x10>;
+ mpu-level_shifter = <0>;
+ mpu-orientation = <1 0 0 0 1 0 0 0 1>;
+ orientation-x = <0>;
+ orientation-y = <1>;
+ orientation-z = <1>;
+ support-hw-poweroff = <0>;
+ mpu-debug = <0>;
+ };
+
+ bmp280@76 {
+ compatible = "bmp280";
+ status = "okay";
+ reg = <0x76>;
+ };
+
};
内核配置 INV_MPU6050_IIO
Device Drivers --->
<*> Industrial I/O support --->
Inertial measurement units --->
<*> Invensense MPU6050 devices
内核配置BMP280
Device Drivers --->
<*> Industrial I/O support --->
Pressure sensors --->
<*> Bosch Sensortec BMP280 pressure sensor driver
5.测试
rk3288:/ # i2cdetect -y 4
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- --
70: -- -- -- -- -- -- UU --
BMP280 驱动OK,mpu6050驱动失败
rk3288:/ # dmesg | grep mpu6050
[ 1.118957] inv-mpu6050 4-0068: trigger probe fail -22
[ 1.119047] inv-mpu6050: probe of 4-0068 failed with error -22
fix:是因为驱动中没有注册中断反回错误
--- a/kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -128,8 +128,8 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
IRQF_TRIGGER_RISING,
"inv_mpu",
st->trig);
- if (ret)
- return ret;
+// if (ret)
+// return ret;
rk3288:/ # i2cdetect -y 4
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- UU -- -- -- -- -- -- --
70: -- -- -- -- -- -- UU --
rk3288:/ # i2cdump -f -y 4 0x68
No size specified (using byte-data access)
0 1 2 3 4 5 6 7 8 9 a b c d e f 0123456789abcdef
00: c1 cc e4 fd ab f8 de 2f f6 ea f0 00 00 69 61 76 ???????/???..iav
10: d2 cd e0 00 00 00 00 00 00 13 04 18 00 00 00 00 ???......???....
20: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
30: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
40: 00 0b 60 00 00 00 00 00 00 00 00 00 00 00 00 00 .?`.............
50: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
60: 00 00 00 00 00 00 00 00 00 00 00 40 3f 00 00 00 ...........@?...
70: 00 00 00 00 00 73 00 18 34 00 eb 34 00 27 72 00
读出来的0x75 的 who am i 为 0x73和datasheet上的不一样，但能正常使用
内核测试：
0x3b到0x40 为所测试的加速度
0x43到0x48 为GYRO的值
使能加速度:
rk3288:/ # cd sys/bus/iio/devices/iio\:device1/
echo 1 > scan_elements/in_accel_x_en
echo 1 > scan_elements/in_accel_y_en
echo 1 > scan_elements/in_accel_z_en
echo 1 > scan_elements/in_anglvel_x_en
echo 1 > scan_elements/in_anglvel_y_en
echo 1 > scan_elements/in_anglvel_z_en
echo 1 > scan_elements/in_timestamp_en
echo 1 > buffer/enable
rk3288:/sys/bus/iio/devices/iio:device1 # i2cdump -f -y 4 0x68
No size specified (using byte-data access)
0 1 2 3 4 5 6 7 8 9 a b c d e f 0123456789abcdef
00: c1 cc e4 fd ab f8 de 2f f6 ea f0 00 00 69 61 76 ???????/???..iav
10: d2 cd e0 00 00 00 00 00 00 13 04 18 00 00 00 00 ???......???....
20: 00 00 00 78 00 00 00 00 00 00 00 00 00 00 00 00 ...x............
30: 00 00 00 00 00 00 00 00 01 00 15 ea 00 20 b4 33 ........?.??. ?3
40: 10 0b e8 ff e8 ff f7 00 08 00 00 00 00 00 00 00 ???.?.?.?.......
50: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
60: 00 00 00 00 00 00 00 00 00 00 40 01 00 00 68 38 ..........@?..h8
70: 00 00 02 00 34 73 00 18 34 00 eb 34 00 27 72 00
内核可以为上层提供传感器的数据了
6.HAL 层接收数据
hardware/invensense/65xx/libsernors_iio/
手动编译后生成
out/target/product/rk3288/system/lib/hw/sensors.rk3288.so
重启系统
06-19 02:13:16.384 228 459 D SensorsHal: Couldn’t open /dev/mma8452_daemon (No such file or directory)
06-19 02:13:16.384 228 459 I SensorsHal: MmaSensor update delay: 20ms
06-19 02:13:16.384 228 459 E SensorsHal: fail to perform GSENSOR_IOCTL_APP_SET_RATE, result = -1, error is 'Bad file ’
fix:更换HAL层的选项
--- a/device/rockchip/rk3288/BoardConfig.mk
+++ b/device/rockchip/rk3288/BoardConfig.mk
@@ -46,8 +46,8 @@ TARGET_USES_64_BIT_BINDER := false
TARGET_PREFER_32_BIT := true
# Sensors
-BOARD_SENSOR_ST := true
-BOARD_SENSOR_MPU_PAD := false
+BOARD_SENSOR_ST := false
+BOARD_SENSOR_MPU_PAD := true
目录为：hardware/rockchip/sensor/
编译后生成：out/target/product/rk3288/vendor/lib/hw/sensors.rk30board.so
更改之后，点击Auto-rote 自动旋转开，则打开驱动里的buffer/enable 为 1
关闭自动旋转，则设置驱动里的buffer/enable 为 0
但是没有收到上报的数据
怀疑和中断有关，因为没有中断所以不会主动上报数据
hardware/rockchip/sensor/mpu_vr/libsensors/MPLSensor.cpp 打印
01-01 12:00:03.889 222 222 V Sensors : ---------GYRO-----200HZ--------------
01-01 12:00:03.889 222 222 V Sensors : ---------ACCEL-----200HZ--------------
hal 层已经适配
7.驱动方案
没有中断，写一个延后处理的工作，触发iio_trigger_poll
fix:
--- a/kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/kernel/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -12,6 +12,10 @@
*/
#include "inv_mpu_iio.h"
+#include
+#include
+
+struct delayed_work mpu6050_delayed_work;
static void inv_scan_query(struct iio_dev *indio_dev)
{
@@ -111,6 +115,12 @@ static const struct iio_trigger_ops inv_mpu_trigger_ops = {
.set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
};
+static struct iio_trigger *mpu6050_triger;
+
+static void mpu6050_delayed_workfn(struct work_struct *wrok){
+ iio_trigger_poll(mpu6050_triger);
+ schedule_delayed_work(&mpu6050_delayed_work, msecs_to_jiffies(500));
+}
int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
{
int ret;
@@ -128,8 +138,12 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
IRQF_TRIGGER_RISING,
"inv_mpu",
st->trig);
- if (ret)
- return ret;
+// if (ret)
+// return ret;
+//
+ mpu6050_triger = st->trig;
+ INIT_DELAYED_WORK(&mpu6050_delayed_work, mpu6050_delayed_workfn);
+ schedule_delayed_work(&mpu6050_delayed_work, msecs_to_jiffies(5000));
可以用app获取g_sensor的数据了
9.测试BMP280 温度和压力
rk3288:/sys/bus/iio/devices/iio:device2 # cat in_pressure_input
94.307410156
rk3288:/sys/bus/iio/devices/iio:device2 # cat in_temp_input
30300
--------------------------------------------------------------------
patch:
--- a/device/rockchip/rk3288/BoardConfig.mk
+++ b/device/rockchip/rk3288/BoardConfig.mk
@@ -46,8 +46,8 @@ TARGET_USES_64_BIT_BINDER := false
TARGET_PREFER_32_BIT := true
# Sensors
-BOARD_SENSOR_ST := true
-BOARD_SENSOR_MPU_PAD := false
+BOARD_SENSOR_ST := false
+BOARD_SENSOR_MPU_PAD := true
--- a/kernel/arch/arm/boot/dts/rk3288-firefly-android.dts
+++ b/kernel/arch/arm/boot/dts/rk3288-firefly-android.dts
@@ -454,6 +454,29 @@
&i2c4 {
status = "okay";
+ clock-frequency = <400000>;
+
+ mpu6500@68 {
+ compatible = "invensense,mpu6500";
+ status = "okay";
+ pinctrl-names = "default";
+ reg = <0x68>;
+ mpu-int_config = <0x10>;
+ mpu-level_shifter = <0>;
+ mpu-orientation = <1 0 0 0 1 0 0 0 1>;
+ orientation-x = <0>;
+ orientation-y = <1>;
+ orientation-z = <1>;
+ support-hw-poweroff = <0>;
+ mpu-debug = <0>;
+ };
+
+ bmp280@76 {
+ compatible = "bmp280";
+ status = "okay";
+ reg = <0x76>;
+ };
+
};
--- a/kernel/arch/arm/configs/firefly-rk3288_defconfig
+++ b/kernel/arch/arm/configs/firefly-rk3288_defconfig
@@ -3868,6 +3868,7 @@ CONFIG_IIO=y
CONFIG_IIO_BUFFER=y
CONFIG_IIO_BUFFER_CB=y
CONFIG_IIO_KFIFO_BUF=y
+CONFIG_IIO_TRIGGERED_BUFFER=y
CONFIG_IIO_TRIGGER=y
CONFIG_IIO_CONSUMERS_PER_TRIGGER=2
@@ -3992,7 +3993,7 @@ CONFIG_ROCKCHIP_SARADC=y
# CONFIG_ADIS16400 is not set
# CONFIG_ADIS16480 is not set
# CONFIG_KMX61 is not set
-# CONFIG_INV_MPU6050_IIO is not set
+CONFIG_INV_MPU6050_IIO=y
#
# Light sensors
@@ -4049,7 +4050,7 @@ CONFIG_ROCKCHIP_SARADC=y
#
# Pressure sensors
#
-# CONFIG_BMP280 is not set
+CONFIG_BMP280=y
# CONFIG_MPL115 is not set
# CONFIG_MPL3115 is not set
# CONFIG_MS5611 is not set