一.編譯步驟：
source build/envsetup.sh
工模密碼：*#*#3646633#*#*
文檔密碼：2425575785
adb進工模：adb shell am start com.mediatek.engineermode/.EngineerMode
config配置，從kernel-3.10\tools\dct\DrvGen.ext打開kernel-3.10\drivers\misc\mediatek\mach\mt6735\newmobi6735_65u_v_l1\dct\dct\codegen.dws文件，修改配置後，替換lk pl下的codegen.dws，
Eservice: http://eservice.mediatek.com
DCC: http://dcc.mediatek.com
FES: https://fex.mediatek.com
Online: https://online.mediatek.com
lunch 11 :eng版本有uartlog，user版本沒有uartlog，具體區別如下：
| eng | user debug | user | |||
uart | log buff | uart | log buff | uart | log buff | |
pr_emerg | Yes | Yes | No | Yes | No | Yes |
pr_alert | Yes | Yes | No | Yes | No | Yes |
pr_crit | Yes | Yes | No | Yes | No | Yes |
pr_err | Yes | Yes | No | Yes | No | Yes |
pr_warning | Yes | Yes | No | Yes | No | Yes |
pr_notice | Yes | Yes | No | Yes | No | Yes |
pr_info | Yes | Yes | No | Yes | No | Yes |
pr_debug | No | Yes | No | No | No | No |
make MTK_BUILD_ROOT=yes -j33 \r(直接make會導致uart只打印部分log後停掉)
On eng load, you can enable pr_debug on UART by echo 8 > /proc/sys/kernel/printk.
echo 1 4 1 7 >/proc/sys/kernel/printk -r eng模式下disable串口uartlog修改內核後，重新編譯boot.img即可：make bootimage.img
重新生成lk:mmm vendor/mediatek/proprietary/bootable/bootloader/lk:lk -j33
重新生成preload:mmm vendor/mediatek/proprietary/bootable/bootloader/preload:pl -j33
修改out下內容後重新生成system.img:make snod
二.遇到的問題及解決過程
1.eeprom讀寫，系統崩潰問題；
寫了個eeprom的驅動，上層去調用的時候，沒write read，系統就重啓，後面發現是i2c_client沒有申請空間的原因
eeprom_client = kzalloc(sizeof(struct i2c_client), GFP_KERNEL);
if (!eeprom_client) {
return -ENOMEM;
}
/*
*
* Copyright (C) 2010 ROCKCHIP, Inc.
*
* This software is licensed under the terms of the GNU General Public
* License version 2, as published by the Free Software Foundation, and
* may be copied, distributed, and modified under those terms.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*[email protected]
*
*/
#include <linux/module.h>
#include <linux/i2c.h>
#include <linux/bcd.h>
#include <linux/delay.h>
#include <linux/slab.h>
#include<linux/gpio.h>
#include <linux/miscdevice.h>
#include<linux/fs.h>
//#include "eeprom_at24c16.h"
#define EEPROM_SPEED 100 * 1000
#if 1
#define DBG(x...) printk(KERN_INFO x)
#else
#define DBG(x...) do { } while (0)
#endif
#if 1
#define ERR(x...) printk(KERN_ERR x)
#else
#define ERR(x...) do { } while (0)
#endif
struct i2c_client *eeprom_client;
static int i2c_master_reg8_recv(const struct i2c_client *client, const char reg, char *buf, int count, int scl_rate)
{
struct i2c_adapter *adap=client->adapter;
struct i2c_msg msgs[2];
int ret;
char reg_buf = reg;
msgs[0].addr = client->addr;
msgs[0].flags = client->flags;
msgs[0].len = 1;
msgs[0].buf = ®_buf;
//msgs[0].scl_rate = scl_rate;
msgs[1].addr = 0x50;//client->addr;
msgs[1].flags = client->flags | I2C_M_RD;
msgs[1].len = count;
msgs[1].buf = (char *)buf;
//msgs[1].scl_rate = scl_rate;
ret = i2c_transfer(adap, msgs, 2);
return (ret == 2)? count : ret;
}
static int i2c_master_reg8_send(const struct i2c_client *client, const char reg, const char *buf, int count, int scl_rate)
{
struct i2c_adapter *adap=client->adapter;
struct i2c_msg msg;
int ret;
char *tx_buf = (char *)kmalloc(count + 1, GFP_KERNEL);
if(!tx_buf)
return -ENOMEM;
tx_buf[0] = reg;
memcpy(tx_buf+1, buf, count);
msg.addr = client->addr;
msg.flags = client->flags;
msg.len = count + 1;
msg.buf = (char *)tx_buf;
//msg.scl_rate = scl_rate;
ret = i2c_transfer(adap, &msg, 1);
kfree(tx_buf);
return (ret == 1) ? count : ret;
}
static int eeprom_i2c_read(struct i2c_client *client, u8 reg, u8 buf[], unsigned len)
{
int ret;
ret = i2c_master_reg8_recv(client, reg, buf, len, EEPROM_SPEED);
//ret = i2c_master_recv(client, buf, len);//(const struct i2c_client *client, char *buf, int count);
if (ret != len)
ERR("eeprom i2c read fail,ret=0x%x\n",ret);
// printk("buf=%s\n",buf);
return ret;
}
static int eeprom_i2c_write(struct i2c_client *client, u8 reg, u8 buf[], unsigned len)
{
int ret;
ret = i2c_master_reg8_send(client, reg, buf, len, EEPROM_SPEED);
//ret = i2c_master_send(client, buf_w, len);//(const struct i2c_client *client, const char *buf, int count)
if (ret != len)
ERR("eeprom i2c write fail,ret=0x%x\n",ret);
return ret;
}
int eeprom_read_data(u8 reg, u8 buf[], unsigned len)
{
int ret,page_num,rest_num,i;
DBG("eeprom read data,offset=0x%x,len=0x%x\n",reg,len);
if((len>0)&&(len<=16))
{
ret = eeprom_i2c_read(eeprom_client, reg, buf, len);
}
else
{
page_num = len/16;
rest_num = len%16;
for(i=0;i<page_num;i++)
{
ret=eeprom_i2c_read(eeprom_client, reg+i*16, buf+i*16, 16);
}
ret=eeprom_i2c_read(eeprom_client, reg+i*16, buf+i*16, rest_num);
}
return ret;
}
int eeprom_write_data(u8 reg, u8 buf[], unsigned len)
{
int ret,page_num,rest_num,i;
DBG("eeprom write data,offset=0x%x,len=0x%x \n",reg,len);
DBG("buf=%s \n",buf);
if((len>0)&&(len<=16))
{
ret = eeprom_i2c_write(eeprom_client, reg, buf, len);
}
else
{
page_num = len/16;
rest_num = len%16;
for(i=0;i<page_num;i++)
{
ret=eeprom_i2c_write(eeprom_client, reg+i*16, buf+i*16, 16);
}
ret=eeprom_i2c_write(eeprom_client, reg+i*16, buf+i*16, rest_num);
}
return ret;
}
static int at24c16_probe(struct i2c_client *client, const struct i2c_device_id *id)
{
//u8 buf_test[4]="abc",buf_read_buf[4];
//int i;
DBG("enter at24c16_probe\n");
if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C))
return -ENODEV;
eeprom_client = kzalloc(sizeof(struct i2c_client), GFP_KERNEL);
if (!eeprom_client) {
return -ENOMEM;
}
eeprom_client = client;
#if 0
eeprom_write_data(16,buf_test,4);
msleep(10);
eeprom_read_data(16,buf_read_buf,4);
for(i=0;i<4;i++)
{
printk("************simon read_buf:%x \n",buf_read_buf[i]);
}
printk("\n");
msleep(5000);
#endif
DBG("exit at24c16_probe!\n");
return 0;
}
static int at24c16_remove(struct i2c_client *client)
{
DBG("exit at24c16_remove!\n");
if (eeprom_client)
kfree(eeprom_client);
eeprom_client = NULL;
return 0;
}
static ssize_t eeprom_test_driver_read(
struct file *file, char *buf, size_t count, loff_t *ppos)
{
char buf_read_buf[37]="0";
DBG("*********simon in %s:%d\n",__FUNCTION__,__LINE__);
eeprom_read_data(16,buf_read_buf,37);
msleep(20);
DBG("*********simon in %s:%d,buf_read=%s\n",__FUNCTION__,__LINE__,buf_read_buf);
return 0;
}
static ssize_t eeprom_test_driver_write(
struct file *file, const char *buf, size_t count, loff_t *ppos)
{
char buf_test[37]="abcdefghijklmnopqrstuvwxyz0123456789";
DBG("*********simon in %s:%d,\n",__FUNCTION__,__LINE__);
eeprom_write_data(16,buf_test,37);
return 0;
}
static const struct file_operations eeprom_test_device_ops = {
.owner = THIS_MODULE,
.read = eeprom_test_driver_read,
.write = eeprom_test_driver_write,
};
static struct miscdevice eeprom_test_device = {
.minor = MISC_DYNAMIC_MINOR,
.name = "eeprom",
.fops = &eeprom_test_device_ops
};
static const struct of_device_id eeprom_of_match[] = {
{.compatible = "mediatek,eeprom",},
{},
};
MODULE_DEVICE_TABLE(of, eeprom_of_match);
static const struct i2c_device_id at24c16_id[] = {
{ "eeprom_at24c16", 0 },
{ }
};
static struct i2c_driver at24c16_driver = {
.driver = {
.name = "eeprom_at24c16",//0x50
.of_match_table = of_match_ptr(eeprom_of_match),
.owner = THIS_MODULE,
},
.probe = at24c16_probe,
.remove = at24c16_remove,
.id_table = at24c16_id,
};
static int __init at24c16_init(void)
{
misc_register(&eeprom_test_device);
return i2c_add_driver(&at24c16_driver);
}
static void __exit at24c16_exit(void)
{
misc_deregister(&eeprom_test_device);
i2c_del_driver(&at24c16_driver);
}
MODULE_AUTHOR("[email protected]");
MODULE_DESCRIPTION("atmel 24c16 eeprom driver");
MODULE_LICENSE("GPL");
//fs_initcall(at24c16_init);
subsys_initcall_sync(at24c16_init);
//subsys_initcall(at24c16_init);
module_exit(at24c16_exit);
2.i2c佔用的問題：cm4端發現他們發送的數據錯亂，後面發現是ap&cm4兩個主設置在操作i2c,後面把ap這邊i2c上掛的設備去掉就ok。
3.關閉wdt，echo 0 20 30 0 0 >/proc/wdk
4.main--Camra imx298調試
接在CSI-0，軟件上和CAMERA_MAIN相對應 i2c地址0x1a
alps/device/mediatek/common/kernel-headers/kd_imgsensor.h中增加
#define IMX298_SENSOR_ID 0x0298 //simon add 此ID從datasheet中出看默認
#define SENSOR_DRVNAME_IMX298_MIPI_RAW "imx298mipiraw" //simon add
kernel/driver/misc/mediatek/imgsensor/inc/kd_imgsensor.h中增加
#define IMX298_SENSOR_ID 0x0298 //simon add 此ID從datasheet中出看默認
#define SENSOR_DRVNAME_IMX298_MIPI_RAW "imx298mipiraw" //simon add
kernel/driver/misc/mediatek/imagsensor/src/mt6797/kd_sensorlist.h中增加
UINT32 IMX298_MIPI_RAW_SensorInit(PSENSOR_FUNCTION_STRUCT *pfFunc); //simon add
#if defined(IMX298_MIPI_RAW)
{IMX298_SENSOR_ID, SENSOR_DRVNAME_IMX298_MIPI_RAW, IMX298_MIPI_RAW_SensorInit}, //simon add
#endif
vendor/mediatek/proprietary/custom/mt6797/hal/imgsenosr_src/sensorlist.cpp中增加（注意順序一定要和kd_sensorlist.h中相對應）
#if defined(IMX298_MIPI_RAW)
RAW_INFO(IMX298_SENSOR_ID, SENSOR_DRVNAME_IMX298_MIPI_RAW,NULL), //simon add
#endif
kernel/driver/misc/mediatek/imgsensor/src/mt6797/camera_hw/kd_camera_hw.c中增加上電時序（嚴格根據Datasheet或直接使用廠家提供的時序）
{SENSOR_DRVNAME_IMX298_MIPI_RAW, //simon add
{
{SensorMCLK, Vol_High, 0},
{AVDD, Vol_2800, 10},
{DOVDD, Vol_1800, 10},
{DVDD, Vol_1200, 10},
{AFVDD, Vol_2800, 5},
{PDN, Vol_Low, 0},
{PDN, Vol_High, 0},
{RST, Vol_Low, 0},
{RST, Vol_High, 0}
},
},
ProjectConfig.mk和k97v1_64_op01_pre_debug_defconfig增加imx298_mipi_raw的相關配置
把kernel和hal的相關文件放到系統恰當目錄下
5.S5K5E8調試注意的地方
硬件接在CSI-2上，DWS中的I2C配置時需要設置爲CAMERA_MAIN_TWO，
由於供電上是直接用的PMU的電，沒有用GPIO控制，需要把kd_camera_hw.c中的GPIO_SUPPORTED該爲GPIO_UNSUPPORTED
PowerCust PowerCustList = {
{
{GPIO_SUPPORTED, GPIO_MODE_GPIO, Vol_High}, /* for AVDD; */
{GPIO_SUPPORTED, GPIO_MODE_GPIO, Vol_High}, /* for DVDD; */
{GPIO_UNSUPPORTED, GPIO_MODE_GPIO, Vol_Low}, /* for DOVDD; */
{GPIO_UNSUPPORTED, GPIO_MODE_GPIO, Vol_Low}, /* for AFVDD; */
{GPIO_UNSUPPORTED, GPIO_MODE_GPIO, Vol_Low}, /* for SUB_AVDD; */
{GPIO_UNSUPPORTED, GPIO_MODE_GPIO, Vol_Low}, /* for SUB_DVDD; */
{GPIO_UNSUPPORTED, GPIO_MODE_GPIO, Vol_High}, /* for SUB_DOVDD; */
{GPIO_UNSUPPORTED, GPIO_MODE_GPIO, Vol_High}, /* for MAIN2_AVDD; */ //simon add this is different with public board
{GPIO_UNSUPPORTED, GPIO_MODE_GPIO, Vol_High}, /* for MAIN2_DVDD; */ //simon add
{GPIO_UNSUPPORTED, GPIO_MODE_GPIO, Vol_High}, /* for MAIN2_DOVDD; */
/* {GPIO_SUPPORTED, GPIO_MODE_GPIO, Vol_Low}, */
}
};
由於MTK公版那邊CSI-2這一路camera沒有通，軟件上講起改爲sub，patch如下
敝司在evb板上覆現了您現在的問題，（1）只安裝main_two，在開機的時候會嘗試搜索多次；（2）安裝main + main_two，無法出圖，工模下也沒有main_2；且貴司的基線版本看起來較舊，p66?預計也無法看到main_2；
基於此，請按照以下建議，在軟件上將main_2識別成sub：
（1）文件：kd_camera_hw.c函數：kdCISModulePowerOn變量：pinSetIdx //影響DVDD、DOVDD、AVDD、AFVDD、PWDN、RESET
修改後的code爲：
if (DUAL_CAMERA_MAIN_SENSOR == SensorIdx) {
pinSetIdx = 0;
} else if (DUAL_CAMERA_SUB_SENSOR == SensorIdx) {
pinSetIdx = 2; // 1
} else if (DUAL_CAMERA_MAIN_2_SENSOR == SensorIdx) {
pinSetIdx = 1; // 2
}
（2）文件：cfg_setting_imgsensor.cpp函數：getSensorMclkConnection //影響MCLK
修改後的code爲：
MINT32 getSensorMclkConnection(EDevId const eDevId)
{
switch (eDevId)
{
case eDevId_ImgSensor0://main
return eMclk_1;
case eDevId_ImgSensor1://sub
return eMclk_3; //eMclk_2
case eDevId_ImgSensor2://3d
return eMclk_2; //eMclk_3
default:
break;
}
return -1;
}
（3）文件：cfg_setting_imgsensor.cpp函數：getMipiSensorPort //影響mipi接口
修改後的code爲：
MINT32 getMipiSensorPort(EDevId const eDevId)
{
switch (eDevId)
{
case eDevId_ImgSensor0://main
return ePort_1;
case eDevId_ImgSensor1://sub
return ePort_3; //ePort_2
case eDevId_ImgSensor2://3d
return ePort_2; //ePort_3
default:
break;
}
return -1;
}
6.kconfig的修改，
.cd kernel-3.18
mkdir out
ARCH=arm64 make O=out k97v1_64_op01_pre_debug_defconfig(目標targer——debug)
(get old config)
ARCH=arm64 make O=out menuconfig(config interface)
7.codegen.dws的i2c裏面沒有msp430設備，直接在dts裏面增加&i2c5 {
#address-cells = <1>;
#size-cells = <0>;
msp430@2d {
compatible = "msp430";
reg = <0x2d>;
};
};
8.flash不能掛載：解析音頻的一個xml文件失敗，原因是device中註釋不對。
9.selinux ：問題：,編譯的二進制文件放到system/bin下面，init中加運行後會導致系統不能起來。
分析：selinux會對系統下的目錄文件進程等進行加密處理，從Android5.0加入的安全機制（http://blog.csdn.net/innost/article/details/19641487）
解決：在system/core/rootdir/init.rc中：
service console /system/bin/sh
class core
console
disabled
# user shell
# seclabel u:r:shell:s0
10.GPS NDK，com_android_server_location_GpsLocationProvider.cpp，中init過程註冊了回調，要實現NDK，要把裏面的init直接返回
static jboolean android_location_GpsLocationProvider_init(JNIEnv* env, jobject obj)
{
ALOGE(" %s ",__FUNCTION__);
return JNI_FALSE;
11.CM4中的SPI和AP這邊的共用導致的問題：AP這邊接的是FPC1145，把該模塊從defconfig和projectConfig.mk中註釋掉即可。
12.GPS相關
(1 )GPS輸出的是NMEA格式的數據，頻率1HZ,芯片MT6176，initspeed 38400，link_speed 921600 26m時鐘 時鐘頻偏採用默認2000ppm
(NMEA解析http://blog.csdn.net/zhandoushi1982/article/details/7947682)
(GPS調試log分析總結http://blog.csdn.net/goodtalent/article/details/50157791)
（2）GPS頻率由1Hz改爲10HZ在vender/mediatek/proprietary/hardware/connectivity/gps/mnl/mnl_aosp/mnld/src/mnld/c
/*setting 1Hz/5Hz */
if (g_is_1Hz) {
init_cfg.fix_interval = 100; // 1000-->100 5Hz update rate
} else {
init_cfg.fix_interval = 200; // 5Hz update rate
}
再替換相應的庫：vendor/mediatek/propriety/hardware/connectivity/gps/mnl/mnl_aosp/mnld/libs/libmnl.so libRSDTimestamp.a libRSDTimestamp.a
(3)位GPS的hardware增加和native的socket通道
#define _MTK_GPS_C_
#include <sys/ioctl.h>
#include <sys/time.h>
// #include <linux/mtgpio.h>
// for EPO file
#include <sys/stat.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <cutils/properties.h>
// for read NVRAM
#include "libnvram.h"
#include "CFG_GPS_File.h"
#include "CFG_GPS_Default.h"
#include "CFG_file_lid.h"
#include "Custom_NvRam_LID.h"
#include "mnl_linux.h"
#include "SUPL_encryption.h"
#include <private/android_filesystem_config.h>
/******************************************************************************
* Macro & Definition
******************************************************************************/
//#define LIB_MQUEUE
#define MNL_MSG_RING_SIZE 128
#define MAX_RETRY_COUNT 20
/******************************************************************************
* Static variables
******************************************************************************/
#if defined(LIB_MQUEU)
// message queue file descriptor
static mqd_t mnl_agps_mq_fd = -1;
struct mq_attr mnl_agps_mq_attr;
#else
#endif
/******************************************************************************
* Extern Variables
******************************************************************************/
extern FILE *dbglog_fp;
extern MTK_GPS_BOOL enable_dbg_log;
extern int deltat_read_clear(long *diff_sec); // newT - oldT
// for read NVRAM
extern MNL_CONFIG_T mnl_config;
extern ap_nvram_gps_config_struct stGPSReadback;
extern int gps_nvram_valid;
char nvram_init_val[PROPERTY_VALUE_MAX];
/*=============================================================================
*
* Utility functions for NMEA
*
=============================================================================*/
#if defined(LIB_MQUEU)
#else
#endif
#define PMTK_FS_REQ_MEAS 736
#define PMTK_FRAME_TIME_ACK 737
#define PMTK_FS_SLEEPMODE 738
#define MTK_MNLDTOSUPERSENSOR "/data/supersensor/fmgps/mnld2fm"
int nativesock = 0;
/*=============================================================================
*
* Porting Layer functions
*
=============================================================================*/
/*****************************************************************************
* FUNCTION
* mtk_gps_sys_init
* DESCRIPTION
*
* PARAMETERS
*
* RETURNS
*
*****************************************************************************/
int mtk_gps_sys_init()
{
// int gps_nvram_fd = 0;
F_ID gps_nvram_fd;
int file_lid = AP_CFG_CUSTOM_FILE_GPS_LID;
int rec_size;
int rec_num;
int i;
int read_nvram_ready_retry = 0;
nativesock = socket(PF_LOCAL, SOCK_DGRAM, 0); // for native gps message
/* create message queue */
#if defined(LIB_MQUEUE)
mnl_agps_mq_attr.mq_maxmsg = 72;
mnl_agps_mq_attr.mq_msgsize = sizeof(MTK_GPS_AGPS_AGENT_MSG);
mnl_agps_mq_attr.mq_flags = 0;
mnl_agps_mq_fd = mq_open (MNL_AGPS_MQ_NAME, O_CREAT|O_RDWR|O_EXCL, PMODE, &mnl_agps_mq_attr);
if (mnl_agps_mq_fd == -1) {
MNL_MSG("Fail to create mnl_agps_msg_queue, errno=%s\n", strerror(errno));
if (errno == EEXIST) {
MNL_MSG("mnl_agps_msg_queue already exists, unlink it now ...\n");
mq_unlink(MNL_AGPS_MQ_NAME);
}
return MTK_GPS_ERROR;
}
#else
#endif
#ifdef MTK_GPS_NVRAM
MNL_MSG("Start to read nvram");
while (read_nvram_ready_retry < MAX_RETRY_COUNT) {
read_nvram_ready_retry++;
property_get("service.nvram_init",nvram_init_val,NULL);
if (strcmp(nvram_init_val, "Ready") == 0 || strcmp(nvram_init_val, "Pre_Ready") == 0) {
MNL_MSG("nvram_init_val Ready");
break;
} else {
MNL_MSG("nvram_init_val not Ready,sleep 500ms");
usleep(500*1000);
}
}
MNL_MSG("Get nvram restore ready retry cc=%d\n", read_nvram_ready_retry);
if (read_nvram_ready_retry >= MAX_RETRY_COUNT) {
MNL_MSG("Get nvram restore ready faild, return\n");
return MTK_GPS_ERROR;
}
memset(&stGPSReadback, 0, sizeof(stGPSReadback));
gps_nvram_fd = NVM_GetFileDesc(file_lid, &rec_size, &rec_num, ISREAD);
if (gps_nvram_fd.iFileDesc >= 0) {
read(gps_nvram_fd.iFileDesc, &stGPSReadback , rec_size*rec_num);
NVM_CloseFileDesc(gps_nvram_fd);
if (strlen(stGPSReadback.dsp_dev) != 0) {
gps_nvram_valid = 1;
// strncpy(mnl_config.dev_dsp, stGPSReadback.dsp_dev, sizeof(mnl_config.dev_dsp));
MNL_MSG("GPS NVRam (%d * %d) : \n", rec_size, rec_num);
MNL_MSG("dsp_dev(/dev/stpgps) : %s\n", stGPSReadback.dsp_dev);
// MNL_MSG("gps_if_type : %d\n", stGPSReadback.gps_if_type);
MNL_MSG("gps_tcxo_hz : %d\n", stGPSReadback.gps_tcxo_hz);
MNL_MSG("gps_tcxo_ppb : %d\n", stGPSReadback.gps_tcxo_ppb);
MNL_MSG("gps_tcxo_type : %d\n", stGPSReadback.gps_tcxo_type);
MNL_MSG("gps_lna_mode : %d\n", stGPSReadback.gps_lna_mode);
// MNL_MSG("gps_sbas_mode : %d\n", stGPSReadback.gps_sbas_mode);
} else {
MNL_MSG("GPS NVRam mnl_config.dev_dsp == NULL \n");
}
}
else {
MNL_MSG("GPS NVRam gps_nvram_fd == NULL \n");
}
#endif
return MTK_GPS_SUCCESS;
}
/*****************************************************************************
* FUNCTION
* mtk_gps_sys_uninit
* DESCRIPTION
*
* PARAMETERS
*
* RETURNS
*
*****************************************************************************/
int mtk_gps_sys_uninit() {
#if defined(LIB_MQUEUE)
mq_close(mnl_mq_fd); /* Close message queue in parent */
mq_unlink(MNL_MQ_NAME); /* Unlink message queue */
mq_close(mnl_agps_mq_fd); /* Close message queue in parent */
mq_unlink(MNL_AGPS_MQ_NAME); /* Unlink message queue */
#else
#endif
return MTK_GPS_SUCCESS;
}
// -1 means failed, 0 means success
int mtk_nativegps_send(int sockfd, void* dest, char* buf, int size) {
int ret = 0;
int len = 0;
struct sockaddr_un soc_addr;
socklen_t addr_len;
int retry = 10;
strcpy(soc_addr.sun_path, dest);
soc_addr.sun_family = AF_UNIX;
addr_len = (offsetof(struct sockaddr_un, sun_path) + strlen(soc_addr.sun_path) + 1);
MNL_MSG("mtk_daemon_send %d size %d ", sockfd, size);
while ((len = sendto(sockfd, buf, size, 0,
(const struct sockaddr *)&soc_addr, (socklen_t)addr_len)) == -1) {
if (errno == EINTR) continue;
if (errno == EAGAIN) {
if (retry-- > 0) {
usleep(100 * 1000);
continue;
}
}
MNL_MSG("[hal2mnld] ERR: sendto dest=[%s] len=%d reason =[%s]\n",
(char *)dest, size, strerror(errno));
ret = -1;
break;
}
// unlink(soc_addr.sun_path);
return ret;
}
/*****************************************************************************
* FUNCTION
* mtk_gps_sys_nmea_output_to_app
* DESCRIPTION
* Transmit driver debug message to APP
* (The function body needs to be implemented)
* PARAMETERS
* msg [IN]
* RETURNS
* success(MTK_GPS_SUCCESS)
*****************************************************************************/
INT32
mtk_gps_sys_nmea_output_to_app(const char* buffer, UINT32 length) {
if(0 == access(MTK_MNLDTOSUPERSENSOR,0)) {
int ret = -1;
MNL_MSG("start send nmea to %s", MTK_MNLDTOSUPERSENSOR);
ret = mtk_nativegps_send(nativesock, MTK_MNLDTOSUPERSENSOR, (char*)buffer, (int)length);
if(0 != ret )
MNL_MSG("send nmea to %s fail", MTK_MNLDTOSUPERSENSOR);
}
if (enable_dbg_log == MTK_GPS_TRUE) {
// Need to use prop to control debug on/of
MNL_MSG("%s %d", buffer, length);
}
return MTK_GPS_SUCCESS;
}
/*****************************************************************************
* FUNCTION
* mtk_gps_sys_epo_open
* DESCRIPTION
* Open EPO file
* RETURNS
* success(MTK_GPS_SUCCESS)
*****************************************************************************/
INT32
mtk_gps_sys_epo_open(void) {
return MTK_GPS_ERROR; // 0
}
/*****************************************************************************
* FUNCTION
* mtk_gps_sys_epo_close
* DESCRIPTION
* Close EPO file
* RETURNS
* void
*****************************************************************************/
void
mtk_gps_sys_epo_close(void) {
return;
}
/*****************************************************************************
* FUNCTION
* mtk_gps_sys_epo_read
* DESCRIPTION
* Read EPO file
* (blocking read until reaching 'length' or EOF)
* PARAMETERS
* buffer [OUT]
* offset [IN]
* length [IN]
* p_nRead [OUT]
* RETURNS
* success(MTK_GPS_SUCCESS)
*****************************************************************************/
INT32
mtk_gps_sys_epo_read (void* buffer, UINT32 offset, UINT32 length,
UINT32* p_nRead) {
return MTK_GPS_ERROR; // 0
}
/*****************************************************************************
* FUNCTION
* mtk_gps_sys_pmtk_cmd_cb
* DESCRIPTION
* Notify porting layer that MNL has received one PMTK command.
* PARAMETERS
* UINT16CmdNum [IN] The received PMTK command number.
* RETURNS
* void
*****************************************************************************/
void
mtk_gps_sys_pmtk_cmd_cb(UINT16 UINT16CmdNum) {
;
}
unsigned char
calc_nmea_checksum1(const char* sentence) {
unsigned char checksum = 0;
while (*sentence) {
checksum ^= (unsigned char)*sentence++;
}
return checksum;
}
INT32 mtk_gps_sys_frame_sync_meas_req(MTK_GPS_FS_WORK_MODE mode) {
char szBuf_cipher[64];
char sztmp[64];
char outbuf[64];
memset(outbuf,0,sizeof(outbuf));
memset(sztmp,0,sizeof(sztmp));
memset(szBuf_cipher,0,sizeof(szBuf_cipher));
sprintf(sztmp,"PMTK%d,1,%d",PMTK_FS_REQ_MEAS,mode);
sprintf(outbuf,"$%s*%02X\r\n",sztmp,calc_nmea_checksum1(sztmp));
// #ifdef ENABLE_SUPL_PMTK_ENCRYPTION
SUPL_encrypt((unsigned char *)outbuf, (unsigned char *)szBuf_cipher, strlen(outbuf));
// #else
// memcpy(szBuf_cipher, outbuf, strlen(outbuf));
// #endif
mtk_gps_sys_agps_disaptcher_callback(MTK_AGPS_CB_SUPL_PMTK, strlen(szBuf_cipher), szBuf_cipher);
return MTK_GPS_SUCCESS;
}
INT32 mtk_gps_sys_frame_sync_enable_sleep_mode(unsigned char mode) {
char szBuf_cipher[64];
char sztmp[64];
char outbuf[64];
memset(outbuf,0,sizeof(outbuf));
memset(sztmp,0,sizeof(sztmp));
memset(szBuf_cipher,0,sizeof(szBuf_cipher));
sprintf(sztmp,"PMTK%d,%d",PMTK_FS_SLEEPMODE,mode);
sprintf(outbuf,"$%s*%02X\r\n",sztmp,calc_nmea_checksum1(sztmp));
// #ifdef ENABLE_SUPL_PMTK_ENCRYPTION
SUPL_encrypt((unsigned char *)outbuf, (unsigned char *)szBuf_cipher, strlen(outbuf));
// #else
// memcpy(szBuf_cipher, outbuf, strlen(outbuf));
// #endif
mtk_gps_sys_agps_disaptcher_callback(MTK_AGPS_CB_SUPL_PMTK, strlen(szBuf_cipher), szBuf_cipher);
return MTK_GPS_SUCCESS;
}
INT32 mtk_gps_sys_frame_sync_meas_req_by_network(void) {
char szBuf_cipher[64];
char sztmp[64];
char outbuf[64];
memset(outbuf,0,sizeof(outbuf));
memset(sztmp,0,sizeof(sztmp));
memset(szBuf_cipher,0,sizeof(szBuf_cipher));
sprintf(sztmp,"PMTK%d,0,0",PMTK_FS_REQ_MEAS);
sprintf(outbuf,"$%s*%02X\r\n",sztmp,calc_nmea_checksum1(sztmp));
// #ifdef ENABLE_SUPL_PMTK_ENCRYPTION
SUPL_encrypt((unsigned char *)outbuf, (unsigned char *)szBuf_cipher, strlen(outbuf));
// #else
// memcpy(szBuf_cipher, outbuf, strlen(outbuf));
// #endif
mtk_gps_sys_agps_disaptcher_callback(MTK_AGPS_CB_SUPL_PMTK, strlen(szBuf_cipher), szBuf_cipher);
return MTK_GPS_SUCCESS;
}
(4)關閉AGPS，Drone Mode
MNL_CONFIG_T mnl_config =
{
.init_speed = 38400,
.link_speed = 921600,
.debug_nmea = 1,
.debug_mnl = MNL_NEMA_DEBUG_SENTENCE, /*MNL_NMEA_DEBUG_NORMAL,*/
.pmtk_conn = PMTK_CONNECTION_SOCKET,
.socket_port = 7000,
.dev_dbg = DBG_DEV,
.dev_dsp = DSP_DEV,
.dev_gps = GPS_DEV,
.bee_path = BEE_PATH,
.epo_file = EPO_FILE,
.epo_update_file = EPO_UPDATE_HAL,
.qepo_file = QEPO_FILE,
.qepo_update_file = QEPO_UPDATE_HAL,
.delay_reset_dsp = 500,
.nmea2file = 0,
.dbg2file = 0,
.nmea2socket = 1,
.dbg2socket = 0,
.timeout_init = 0,
.timeout_monitor = 0,
.timeout_wakeup = 0,
.timeout_sleep = 0,
.timeout_pwroff = 0,
.timeout_ttff = 0,
.EPO_enabled = 0,//1--->0 EPO是可以提供星曆輔助數據
.BEE_enabled = 0,//1--->0 BEE是可以提供星曆輔助數據
.SUPL_enabled = 0,//1--->0 關閉AGPS
（5） GPS搜不到星或搜星少，2G RF校準，校準後clock穩定些，不會出現漂移。
13 init.rc中運行bin可執行文件
service blackbox /system/bin/blackbox
class late_start
user root
14 dws修改:要修改kernel lk preload下的共三個codegen.dws
15 camera相關
(1)光流攝像頭100幀 60H在，CameraA，4K=3840x2160 4086x2304 YCBcr_420_888 2K=2304x1296
（2）API2.
vendor/mediatek/propertary/custom/mt6797/hal/imgsensor_metadata/common/config_static_metadata_common.h
CONFIG_METADATA_BEGIN(MTK_HAL_VERSION)
CONFIG_ENTRY_VALUE(MTK_HAL_VERSION_3_3, MINT32)//
CONFIG_METADATA_END()
16 user編譯模式下打開debug
on property:ro.debuggable=1
start console
build/core/main.mk : ADDITIONAL_DEFAULT_PROPERTIES += ro.debuggable=1
17 ap功率小，輸出聲音小：ap有四種模式，直接將GPIO拉高是D模式，要用脈衝控制使其工作在AB模式。D模式輸出的是方波，硬件需要加低通濾波電路，AB模式輸出的是模擬正玄波，可以直接加到喇叭。
18 AP概率性讀不到電池數據：msp430把i2c拉低了，原因可能是時鐘太快（400K），改爲100K 再測，發現還是不行，最後發現是AP和M3兩個主控都接在了這個i2c上，把M3上的i2c斷開後，初測沒問題。
19 source build/envsetup.sh ;lunch full_newmobi6735_65u_v_l1-userdebug
20 mmm -B bootable/bootloader/lk:lk -j64 mmm -B bootable/bootloader/preloader:pl -j64 ;
21 kernel改動後可直接make bootimage -j64 ，如果沒效果 先mmm kernel-3.10:kernel -j64在 make bootimage -j64，如果改動了config，需要mmm -B kernel-3.10:kernel -j64
22.
Data rate= (Height+VSA+VBP+VFP)*(Width+HSA+HBP+HFP)* total_bit_per_pixel*frame_per_second/total_lane_num
比如
(1280+10+14+16)*(720+10+50+50)*8*60/4
(1320*830*24*60/4)/1024*1024*2＝188
(1306*772*24*60/4)/1024*1024*2＝173
2、DSI cmd mode下的數據速率data_rate的大致計算公式爲：
Data rate= width*height*1.2* total_bit_per_pixel*frame_per_second/total_lane_num
參數註釋：
data_rate ： 表示的是數據速率
width，height ：屏幕分辨率
VSA VBP VFP ：DSI vdo mode的vertical porch配置參數
HSA HBP HFP ：DSI vdo mode的horizontal porch配置參數
total_bit_per_pixel ：表示的是一個pixel需要用幾個bit來表示，比如RGB565的話就是16個bit
frame_per_second ：就是我們通常看到的fps，叫做幀率，表示每秒發送多少個幀，一般是60幀每秒
total_lane_num ：表示的是data lane的對數。
3、DSI採用的是雙邊採樣，則clk等於數據速率的一半，因此： clk=data_rate/2