Qcom_Sensor（九）--- 之 aDSP端Sensor Driver流程
- MAIN
- SMGR INIT
- 1. HAL层数据处理
- 2. aDSP层数据处理
- Sensor Probe过程：
- push配置文件
- 获取init log
- 方法一
- 方法二
- 命令行获取sensor数据
- config 文件解析代码
- bug --- sleep 模式下capsensor无效
- bug --- SSI auto detect下允许初始化的sensor个数
- bug --- auto detect every boottime
- bug --- add product keyword to match different sensor configurations
Sensor在最初的时候都是直接挂在处理器上处理的， 其驱动都是和linux或android标准的驱动一样，都是生成对应的设备节点给上层提供数据。
但是，由于sensor可能需要一直处于工作状态，产生了功耗的问题，故而各个芯片厂商才推出了自己的解决方案。
而高通则将sensor的处理放到了application digital signal processor(aDSP)中，这样待机时主处理器休眠以降低功耗，
由这个aDSP在处理音频数据的间隙捎带着就能把sensor的数据处理了，
真是高明。
今天我们就开始窥探一下高通是怎样具体实现的，先看一下高通给出的架构图。
上面两张图完整的展示了高通SSC的架构，其中上半部分为AP，下半部分则是aDSP，
下半部分图我们在之前的dsps架构分析中已经列举了各个组成模块以及相应的功能特点。
我们之前的文章已经分析到SMR/QMI发送消息的流程，接下来我们就要进入Sensor Manager(SMGR)，深入驱动程序了。
MAIN
aDSP模块的启动从main函数开始执行，该函数定义在sns_pd.c中，路径为adsp_proc/Sensors/dsps/src/common/。
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13int main (void) { /* Core Init for user PD */ coremain_main(); printf("Core Init for sensors image donen"); /* Sensors Initialization */ sns_init(); return 0; /* never reaches, no user exit handling yet */ }
这里的coremain_main方法是定义在modem端的，在modem_proc/中,我们暂不关注，
而sns_init则是对sensor的初始化过程，其方法主体就是调用sns_init_once方法执行one-time的初始化过程，它会调用各个模块的初始化方法。
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41static void sns_init_once( void ) { int i; INT8U err; OS_FLAGS flags = 0; const sns_init_fcn init_ptrs[] = SNS_INIT_FUNCTIONS; if ( SNS_SUCCESS != sns_heap_init()) { MSG(MSG_SSID_SNS, DBG_ERROR_PRIO, "Sensors Heap Init failed, using Default heap ID"); sns_heap_id = QURT_ELITE_HEAP_DEFAULT; } sns_init_flag_grp = sns_os_sigs_create( SNS_INIT_FLAG_DONE, &err ); SNS_ASSERT(NULL != sns_init_flag_grp); for( i = 0; NULL != init_ptrs[i]; i++ ) { //MSG_1(MSG_SSID_QDSP6, DBG_HIGH_PRIO, "Sensors Init : %d", i); if( SNS_SUCCESS != init_ptrs[i]() ) { /* Handle error */ //MSG_1(MSG_SSID_QDSP6, DBG_HIGH_PRIO, "Sensors Init FAIL: %d", i); sns_init_done(); } while( !(SNS_INIT_FLAG_DONE & flags) ) { /* Continue polling for the flag until module init is done */ flags = sns_os_sigs_pend( sns_init_flag_grp, SNS_INIT_FLAG_DONE, OS_FLAG_WAIT_SET_ANY, 0, &err ); MSG_1(MSG_SSID_QDSP6, DBG_HIGH_PRIO, "Sensors Init : waiting(%x)", flags); } flags = 0; } MSG(MSG_SSID_QDSP6, DBG_HIGH_PRIO, "Sensors Init : ///init once completed///"); }
我们又看到了类似的场景了，通过定义的全局SNS_INIT_FUNCTIONS函数指针，依次进行调用。当所有init方法执行完成，发送init done的信号。
我们这里以MSM8960板子的初始化函数定义列表为例，来分析aDSP的初始化流程，如下：
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15#ifdef FEATURE_MSM8960 # define SNS_INIT_FUNCTIONS { sns_memmgr_init, // 内存管理器 sns_init_dsps, // 各种dsps服务的初始化 sns_em_init, // 事件管理器 sns_smr_init, // Message Router用于传递消息(resp/ind) sns_dl_init, // Dynamic Loading service sns_smgr_init, // Sensor Manager（核心部分） sns_scm_init, // 检验管理器 sns_sam_init, // 算法管理器 sns_pm_test_task_init, // dog_init, NULL }
其中最重要的当属SMGR的初始化了。
SMGR INIT
SMGR的init方法是直接启动了一个sns_smgr_task，所有的任务都放在task中完成的。
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16SNS_SMGR_UIMAGE_CODE sns_err_code_e sns_smgr_init(void) { sns_os_task_create_ext(sns_smgr_task, NULL, (OS_STK *)&sns_smgr_task_stack[SNS_MODULE_STK_SIZE_DSPS_SMGR-1], SNS_MODULE_PRI_DSPS_SMGR, SNS_MODULE_PRI_DSPS_SMGR, (OS_STK *)&sns_smgr_task_stack[0], SNS_MODULE_STK_SIZE_DSPS_SMGR, (void *)0, OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR | OS_TASK_OPT_ISLAND, (uint8_t *)"SNS_SMGR"); return SNS_SUCCESS; }
这里我直接给出大致的流程图：
上图中，Communication Library通过I2C以及GPIO，SPI等，直接和sensor device通信了，通过下面的图可以了解这个流程：
I2C挂载图：
图中，外围期间1,2等便可以是我们的sensor设备或其他可使用I2C通信的电子器件了。
ddf打开的过程如下：
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43sns_ddf_status_e sns_ddf_open_port( sns_ddf_handle_t* handle, const sns_ddf_port_config_s* cfg ) { sns_ddf_status_e status = SNS_DDF_SUCCESS; if ( cfg == NULL || handle == NULL ) { return SNS_DDF_EINVALID_PARAM; } *handle = NULL; status = sns_ddf_comm_malloc( (void **)handle, sizeof(sns_ddf_sensor_info_s) ); if ( SNS_DDF_SUCCESS != status ) { SNS_PRINTF_STRING_ERROR_1( SNS_DBG_MOD_DSPS_DDF, "Malloc fail, size = %d", sizeof(sns_ddf_sensor_info_s) ); return status; } switch( cfg->bus ) { // 根据设备配置的config bus，如果是I2C，则调用sns_ddf_comm_bus_i2c_open，如果是SPI，则调用sns_ddf_comm_bus_spi_open case SNS_DDF_BUS_I2C: status = sns_ddf_comm_bus_i2c_open( *handle, cfg ); break; case SNS_DDF_BUS_SPI: status = sns_ddf_comm_bus_spi_open( *handle, cfg ); break; default: status = SNS_DDF_EINVALID_PARAM; } if ( SNS_DDF_SUCCESS != status ) { SNS_PRINTF_STRING_ERROR_1(SNS_DBG_MOD_DSPS_DDF, "open_port, result = %d", status); sns_ddf_comm_mfree( *handle ); *handle = NULL; return SNS_DDF_EBUS; } return status; }
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65// initializes and configures SPI communication bus. static sns_ddf_status_e sns_ddf_comm_bus_spi_open ( sns_ddf_handle_t handle, const sns_ddf_port_config_s* cfg ) { #if SNS_DDF_COMM_BUS_SPI_ENABLE_DRIVER static const spi_device_id_t spi_bus_instances[] = { 0, SPI_DEVICE_1, SPI_DEVICE_2, SPI_DEVICE_3, SPI_DEVICE_4, SPI_DEVICE_5, SPI_DEVICE_6, SPI_DEVICE_7, SPI_DEVICE_8, SPI_DEVICE_9, SPI_DEVICE_10, SPI_DEVICE_11, SPI_DEVICE_12, }; SPI_RESULT result; //spi_errors.h sns_ddf_sensor_info_s* sns_info = (sns_ddf_sensor_info_s*)handle; if ( cfg->bus_instance >= ARR_SIZE(spi_bus_instances) ) { return SNS_DDF_EINVALID_PARAM; } /* Initialize member params */ sns_info->bus = SNS_DDF_BUS_SPI; sns_info->spi_s.dev_id = spi_bus_instances[cfg->bus_instance]; sns_info->spi_s.cfg = cfg->bus_config.spi; if ( EnableSPI == false ) { return SNS_DDF_SUCCESS; } /* Open SPI port*/ result = spi_open(sns_info->spi_s.dev_id); if ( result != SPI_SUCCESS ) { SNS_PRINTF_STRING_ERROR_1( SNS_DBG_MOD_DSPS_DDF, "spi_open fail result=%d", result ); return SNS_DDF_EBUS; } //TODO: fake write switching sensor to SPI mode? ------------------------ /* Close device - this only turns the clocks off */ result = spi_close(sns_info->spi_s.dev_id); if ( result != SPI_SUCCESS ) { SNS_PRINTF_STRING_ERROR_1( SNS_DBG_MOD_DSPS_DDF, "spi_close fail result=%d", result ); return SNS_DDF_EBUS; } #endif return SNS_DDF_SUCCESS; }
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59// Initializes and configures I2C communication bus. static sns_ddf_status_e sns_ddf_comm_bus_i2c_open ( sns_ddf_handle_t handle, const sns_ddf_port_config_s* cfg ) { //TODO: table declared twice! Check sns_smgr_hw.c I2cDrv_I2cBusId sns_i2c_bus_table[] static const I2cDrv_I2cBusId i2c_bus_instances[] = { 0, I2CDRV_I2C_1, I2CDRV_I2C_2, I2CDRV_I2C_3, I2CDRV_I2C_4, I2CDRV_I2C_5, I2CDRV_I2C_6, I2CDRV_I2C_7, I2CDRV_I2C_8, I2CDRV_I2C_9, I2CDRV_I2C_10, I2CDRV_I2C_11, I2CDRV_I2C_12 }; int32 result; sns_ddf_sensor_info_s* sns_info = (sns_ddf_sensor_info_s*)handle; if ( cfg->bus_instance >= ARR_SIZE(i2c_bus_instances) ) { return SNS_DDF_EINVALID_PARAM; } /* Initialize member params */ sns_info->bus = SNS_DDF_BUS_I2C; sns_info->i2c_s.reg_addr_type = cfg->bus_config.i2c->reg_addr_type; sns_info->i2c_s.i2c_bus.clntCfg.uSlaveAddr = cfg->bus_config.i2c->slave_addr; sns_info->i2c_s.i2c_bus.clntCfg.uBusFreqKhz = SNS_DDF_DEFAULT_I2C_BUS_FREQ; sns_info->i2c_s.i2c_bus.clntCfg.uByteTransferTimeoutUs = SNS_DDF_DEFAULT_BYTE_XFER_TMO; if ( EnableI2C == false ) { return SNS_DDF_SUCCESS; } if (i2c_bus_instances[cfg->bus_instance] == I2CDRV_I2C_5) sns_info->i2c_s.i2c_bus.clntCfg.uBusFreqKhz = 100; /* Obtain the handle for the port. */ result = I2cDrv_Open(i2c_bus_instances[cfg->bus_instance], &sns_info->i2c_s.i2c_bus, 0); if ( I2C_RES_SUCCESS != result ) { SNS_PRINTF_STRING_ERROR_1( SNS_DBG_MOD_DSPS_DDF, "I2cDrv_Open, result = %d", result ); return SNS_DDF_EBUS; } return SNS_DDF_SUCCESS; }
由此可见，挂载SPI上的设备终会调用spi_open打开设备，而I2C上的则用I2cDrv_Open来进行处理。
以上便是整个aDSP的流程了，结合代码，相信你会很快掌握这个过程，RTFSC，Go！
App processor 与aDSP端数据流图
AP侧从libsensor1开始的数据流走向如下图所示，其中上层到libsensor1的调用逻辑已经在之前的文章中理清了。无非是通过SensorContext的poll从Queue中读取数据，请自行查找回顾，这里只贴出HAL层的框架图及相关的API供参考。
1. HAL层数据处理
2. aDSP层数据处理
Sensor数据获取方式
Sensor上报数据的三种方式：
-
（Polling）0x00
调用一次get_data后启动timer，等到timer到时间后调用sns_ddf_driver_if_s中指定的handle_timer()函数上报一组传感器数据 -
（DRI）0x80
调用enable_sched_data()启用DRI（Data ReadyInterrupt，数据完成中断），按照set_cycle_time指定的ODR（Output Data Rate，数据输出速率）进行数据采集，采集完成后调用sns_ddf_driver_if_s中指定的handle_irq()函数上报传感器数据。 -
（FIFO）0xD0
调用trigger_fifo_data()函数启动FIFO模式，当数据量到达指定的阈值，触发sns_ddf_smgr_data_notify()函数上报一批数据。
Sensor Probe过程：
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22// sns_smgr_reg.c SMGR_STATIC void sns_smgr_parse_reg_devinfo_resp( uint16_t Id, const sns_reg_ssi_devinfo_group_s* devinfo) { ... SNS_SMGR_PRINTF2(HIGH, "ssi: probing devinfo_idx[i]: %u[%u]", devinfo_idx, i); SNS_SMGR_PRINTF3(HIGH, "ssi: bus_instance:%u gpio1:%u slave_addr:0x%x", devinfo->uuid_cfg[i].i2c_bus, devinfo->uuid_cfg[i].gpio1, devinfo->uuid_cfg[i].i2c_address ); // 调用dd sensor驱动的probe函数 status = drv_fn_ptr->probe( &dev_access, &memhandler,&num_sensors, &sensor_list ); if( status == SNS_DDF_SUCCESS && num_sensors != 0 ) { SNS_SMGR_PRINTF2(HIGH, "zch---ssi: devinfo_idx[i]: %u[%u] probe success", devinfo_idx, i); return; } else SNS_SMGR_PRINTF3(HIGH, "ssi: devinfo_idx[i]: %u[%u] probe failed error=%d", devinfo_idx, i, status); ... }
push配置文件
For MSM8974, MSM8x26, APQ8084 – /etc/sensor_def_.conf
For MSM8994/MSM8992, MSM8952, MSM8996 – /etc/sensors/sensor_def_.conf
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9adb root adb remount adb shell rm /system/etc/sensors/sensor_def_qcomdev.conf adb push sensor_def_qcomdev.conf /system/etc/sensors/sensor_def_qcomdev.conf adb shell chmod 644 /system/etc/sensors/sensor_def_qcomdev.conf adb shell rm /persist/sensor/sns.reg adb shell sync adb reboot
生成的 sns.reg 文件地址
For MSM8974, MSM8x26, APQ8084 – /data/misc/sensors/sns.reg
For MSM8994/92, MSM8952, MSM8996 – /persist/sensors/sns.reg
获取init log
方法一
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10adb root adb wait-for-device adb remount adb shell rm /persist/sensors/sns.reg adb shell sync adb shell stop sensors adb shell "echo 'related' > /sys/bus/msm_subsys/devices/subsys2/restart_level" adb shell "echo 'restart' > /sys/kernel/debug/msm_subsys/adsp"; adb shell start sensors'
方法二
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8adb root adb wait-for-device adb remount adb shell rm /persist/sensors/sns.reg adb shell sync adb shell stop sensors adb shell "echo 'related' > /sys/bus/msm_subsys/devices/subsys2/restart_level"
QXDM 中 send_data 75 37 03 48 00
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2send_data 75 37 03 48 00
3） adb shell start sensors
命令行获取sensor数据
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18-r : rate -d: duration in secound -s: Sensor ID -t data_type // 几个数据 sns_cm_test -r 20 -d 1 -s 40 -t 1 测试prox sns_cm_test -r 20 -d 1 -s 0 -t 0 测试G-sensor sns_cm_test -r 20 -d 1 -s 10 -t 0测试GYRO sns_cm_test -r 20 -d 1 -s 20 -t 0测试MAG #check sensor registry configure: sns_regedit_ssi -r #check which sensor init success: sns_dsps_tc0001
config 文件解析代码
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4vendor/qcom/proprietary/sensors/dsps/sensordaemon/reg/src/sns_reg_conf_la.c sns_reg_write_conf_item
bug — sleep 模式下capsensor无效
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24—— 将数据上传模式改为wakeup --- a/vendor/qcom/proprietary/sensors/dsps/libhalsensors/src/SAR.cpp +++ b/vendor/qcom/proprietary/sensors/dsps/libhalsensors/src/SAR.cpp @@ -18,6 +18,7 @@ SAR::SAR(int handle) :SMGRSensor(handle) { trigger_mode = SENSOR_MODE_EVENT; + bWakeUp = true; } /*============================================================================ @@ -38,7 +39,8 @@ void SAR::setSensorInfo(sns_smgr_sensor_datatype_info_s_v01* sensor_datatype) { HAL_LOG_DEBUG("%s: SAR DTy: %d", __FUNCTION__, sensor_datatype->DataType); setType(SENSOR_TYPE_SAR); - setFlags(SENSOR_FLAG_ON_CHANGE_MODE); + setFlags(SENSOR_FLAG_ON_CHANGE_MODE|SENSOR_FLAG_WAKE_UP); + strlcat(name," -Wakeup",SNS_MAX_SENSOR_NAME_SIZE); setResolution((float)((float)sensor_datatype->Resolution * UNIT_CONVERT_Q16)); setMaxRange((float)((float)sensor_datatype->MaxRange *
bug — SSI auto detect下允许初始化的sensor个数
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3#adsp_proc/Sensors/smgr/src/sns_smgr_sensor_config.h SNS_SMGR_NUM_SENSORS_DEFINED
bug — auto detect every boottime
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24diff --git a/Sensors/smgr/src/sns_smgr_reg.c b/Sensors/smgr/src/sns_smgr_reg.c index ed725ec..65aedf6 100755 --- a/Sensors/smgr/src/sns_smgr_reg.c +++ b/Sensors/smgr/src/sns_smgr_reg.c @@ -1733,7 +1733,7 @@ 0, sizeof(sns_reg_ssi_smgr_cfg_group_s)); - ssi_cfg_ptr->maj_ver_no = 1; + ssi_cfg_ptr->maj_ver_no = 0; ssi_cfg_ptr->min_ver_no = 1; ssi_cfg_ptr->reserved1 = 0; ssi_cfg_ptr->reserved2 = 0; @@ -1990,7 +1990,7 @@ sns_smgr.all_init_state = SENSOR_ALL_INIT_CONFIGURED; } } - else if ( (cfg_group_ptr->maj_ver_no != 1) && !valid_cfg ) + else if ( !valid_cfg ) { /* Only use the configuration if the major version is 1. Otherwise autodetect sensors */
bug — add product keyword to match different sensor configurations
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111add product keyword to match different sensor configurations Change-Id: I1afbb2b23e0758bc32378330ffba3dafe27e4130 --- diff --git a/dsps/sensordaemon/reg/src/sns_reg_conf_la.c b/dsps/sensordaemon/reg/src/sns_reg_conf_la.c old mode 100644 new mode 100755 index 831a2d9..71ac549 --- a/dsps/sensordaemon/reg/src/sns_reg_conf_la.c +++ b/dsps/sensordaemon/reg/src/sns_reg_conf_la.c @@ -295,6 +295,7 @@ @param item_id[i]: Item ID @param item_val[i]: Discovered item val, if any @param hw_conf[i]: Hardware string selected in the conf file + @param product_conf[i]: Product string selected in the conf file @param platform_conf[i]: Platform string selected in the conf file @param soc_id_conf[i]: SOC ID string selected in the conf file @param subtype_conf[i]: Platform subtype string selected in the conf file @@ -307,6 +308,7 @@ void sns_reg_write_conf_item( int32_t item_id, uint64_t item_val, char (*hw_conf)[META_VAL_LEN], + char (*product_conf)[META_VAL_LEN], char (*platform_conf)[META_VAL_LEN], char (*version_conf)[META_VAL_LEN], char (*soc_id_conf)[META_VAL_LEN], @@ -318,6 +320,7 @@ { int index; static char hw_string[PROPERTY_VALUE_MAX] = ""; + static char product_string[20] = ""; static char platform_string[20] = ""; static char platform_subtype_string[20] = ""; static char platform_subtype_id_string[20] = ""; @@ -333,6 +336,25 @@ /* get the hw string from property */ property_get("ro.board.platform", hw_string, ""); + + /* check the motorola product */ + fp = sns_fsa_open("/sys/devices/soc0/motorola_product", "r" ); + if( fp == NULL ) + { + SNS_PRINTF_STRING_ERROR_1( SNS_MODULE_APPS_REG, + "motorola_product fopen failed %i", errno ); + strlcpy(product_string, invalid_str, sizeof(product_string)); + } + else if( fgets(product_string, sizeof(product_string), fp) == NULL ) + { + SNS_PRINTF_STRING_ERROR_1( SNS_MODULE_APPS_REG, + "product_string fgets failed %i: %i", errno ); + strlcpy(product_string, invalid_str, sizeof(product_string)); + } + if( fp != NULL ) + { + sns_fsa_close( fp ); + } fp = sns_fsa_open("/sys/devices/soc0/hw_platform", "r" ); if( fp == NULL ) @@ -452,6 +474,12 @@ /* Configuration file set a hardware string, and it doesn't match this hardware. Abort */ return; + } + if( ( product_conf[0][0] != 0 ) && + sns_reg_match_conf_item( product_string, product_conf ) ) { + /* Configuration file set a product string, and it doesn't match + the product string. Abort */ + return; } if( ( platform_conf[0][0] != 0 ) && sns_reg_match_conf_item( platform_string, platform_conf ) ) { @@ -581,6 +609,7 @@ char *buf = malloc(sz); uint32_t file_version = 0; char hw_conf[META_MAX_KEY][META_VAL_LEN]; + char product_conf[META_MAX_KEY][META_VAL_LEN]; char platform_conf[META_MAX_KEY][META_VAL_LEN]; char soc_id_conf[META_MAX_KEY][META_VAL_LEN]; char subtype_conf[META_MAX_KEY][META_VAL_LEN]; @@ -592,6 +621,7 @@ for( key_var = 0; key_var < META_MAX_KEY; key_var++ ) { hw_conf[key_var][0] = 0x00; + product_conf[key_var][0] = 0x00; platform_conf[key_var][0] = 0x00; soc_id_conf[key_var][0] = 0x00; subtype_conf[key_var][0] = 0x00; @@ -629,7 +659,7 @@ /* Check for an item */ if( true == sns_reg_parse_conf_item( buf, &item_id, &item_val, &item_ver ) ) { if( item_ver > conf_info->version) { - sns_reg_write_conf_item( item_id, item_val, hw_conf, + sns_reg_write_conf_item( item_id, item_val, hw_conf, product_conf, platform_conf, version_conf, soc_id_conf, subtype_conf, subtype_id_conf, soc_rev_conf, &property_conf ); } @@ -642,6 +672,8 @@ if( sscanf_result > 0 ) { if( 0 == strncmp( key_meta, "hardware", META_KEY_LEN ) ) { sns_reg_get_conf_key(buf, hw_conf); + } else if( 0 == strncmp( key_meta, "product", META_KEY_LEN ) ) { + sns_reg_get_conf_key(buf, product_conf); } else if( 0 == strncmp( key_meta, "platform", META_KEY_LEN ) ) { sns_reg_get_conf_key(buf, platform_conf); } else if( 0 == strncmp( key_meta, "soc_id", META_KEY_LEN ) ) {
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