目录

一、BP 层移植说明

（1）、添加一个虚拟陀螺仪驱动

（2）、虚拟陀螺仪编译配置

（3）、虚拟陀螺仪info添加

二、HAL层移植说明

（1）、虚拟陀螺仪算法库移植

（2）、虚拟陀螺仪算法库编译配置

（3）、平台端获取虚拟陀螺仪数据调用

三、Device 目录移植

（1）、虚拟陀螺相关宏定义

一、BP 层移植说明

（1）、添加一个虚拟陀螺仪驱动

bsp/sensorhub/public/sensor_hub_sprd/public/system/sensor_driver/gyro_drivers 路径增加一个虚拟陀螺仪驱动文件夹virtual_gyro/

（2）、虚拟陀螺仪编译配置

bsp/sensorhub/public/sensor_hub_sprd/public/system/sensor_driver/gyro_drivers 路径中gyro_drivers.cmake

if(CONFIG_VIRTUAL_GYRO_LSM6DSL_AKM99018_SUPPORT) list(APPEND SRCS "system/sensor_driver/gyro_drivers/virtual_gyro/sensor_driver_virtual_gyro_akm99018_lsm6dsl_common.c" "system/sensor_driver/gyro_drivers/virtual_gyro/sensor_driver_gyroscope_virtual_gyro.c" ) endif()

Kconfig中添加宏定义

config VIRTUAL_GYRO_LSM6DSL_AKM99018_SUPPORT bool "VIRTUAL_GYRO_LSM6DSL_AKM99018_SUPPORT" depends on SPRD_SENSOR_HUB_SUPPORT help gyro virtual_gyro_lsm6dsl_akm99018 support status

bsp/sensorhub/public/project/QogirN6Pro_CH/ums9620_2h10 设置宏打开

CONFIG_VIRTUAL_GYRO_LSM6DSL_AKM99018_SUPPORT=y

（3）、虚拟陀螺仪info添加

bsp/sensorhub/public/project/QogirN6Pro_CH/ums9620_2h10/sensor_config.h

struct sensor_hw_info gyro_virtual_hw_info = { .position = 2, .i2c_info = { .interface_freq = 400, .interface_num = 0, .slave_addr = 0x00, .reg_addr_len = 1, }, }; struct sensor_property_info { char *sensor_name; struct sensor_hw_info *info; } sensor_property_list[]={ {"acc_lsm6dsl", &acc_qmi8658_hw_info}, {"virtual_gyro", &gyro_virtual_hw_info},

二、HAL层移植说明

（1）、虚拟陀螺仪算法库移植

vendor/sprd/modules/sensors/libsensorhub/Virtual_gyro_lib/添加虚拟陀螺仪算法库

（2）、虚拟陀螺仪算法库编译配置

vendor/sprd/modules/sensors/libsensorhub/Android.bp 中定义CPP 中用到的宏

sonng_config_module_type { name: "libsensorhub_cc_defaults", module_type: "cc_defaults", config_namespace: "sensorhubcfg", bool_variables: [ "virtual_gyro", "akm_virtual_gyro", ], properties: [ "cflags", "shared_libs", "srcs", "local_include_dirs", ], } libsensorhub_cc_defaults { name: "libsensorhub_defaults", soong_config_variables: { virtual_gyro: { srcs: ["Virtual_gyro_lib/virtual_gyro_interface.cpp"], local_include_dirs: ["Virtual_gyro_lib"], cflags: ["-DSENSORHUB_WITH_VIRTUAL_GYROSCOPE"], }, akm_virtual_gyro: { shared_libs: ["libcompasshub"], srcs: ["Virtual_gyro_lib/AKMAlgo/akm_vgyro_algo.cpp"], cflags: ["-DSENSORHUB_SUPPORT_akm_virtual_gyro"], }, } }

（3）、平台端获取虚拟陀螺仪数据调用

vendor/sprd/modules/sensors/libsensorhub/Virtual_gyro_lib/virtual_gyro_interface.cpp 调用获取虚拟陀螺仪数据接口

void initVirtualGyroLib(void) { struct magChipInfo magChipInfo = {0x00, 0x0c, 0x00}; float offset_value[3] = {0}; float fMagSP[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; float fmagCaPara[4] = {0.0, 0.0, 0.0, 0.5}; float pa[8] = {18.0, 25.0, 35.0, 0.025, 0.08, 0.85, 1.15, 1.4}; float pb[4] = {0.1, 0.00002, 0.0002, 0.0001}; int pc[4] = {20, 15, 10, 2}; char mag_sensor_str[MAX_MAG_STRING_SIZE]; int ret; SH_ERR("initVirtualGyroLib ::parse mag name paramagname"); ret = parseMagSensorinfo(mag_sensor_str); if(ret < 0) { SH_ERR("parse mag name failed"); return; } #ifdef SENSORHUB_SUPPORT_akm_virtual_gyro #if 1 if(!strcmp(mag_sensor_str, "mag_akm09918")) { mag_type = AKM; akm_wrapper_lib_init(&magChipInfo); akm_wrapper_set_offset(offset_value); return; } #endif }

三、Device 目录移植

（1）、虚拟陀螺相关宏定义

device/sprd/mpool/module/vendor/sensor/main.mk

ifeq (akm_virtual_gyro, $(findstring akm_virtual_gyro, $(SENSOR_HUB_VIRTUAL_GYROSCOPE))) SOONG_CONFIG_sensorhubcfg += akm_virtual_gyro SOONG_CONFIG_sensorhubcfg_akm_virtual_gyro := true endif

device/sprd/qogirn6pro/ums9620_2h10/module/sensor/md.mk

SENSOR_HUB_VIRTUAL_GYROSCOPE := akm_virtual_gyro