Android P can't get LSM6DSM HAL Accelerometer/Gyroscope data on iMX8MM board

[AurelienBOUIN]

I have follow the Integration of the LSM6DSM drivers from here : https://github.com/STMicroelectronics/STMems_Linux_IIO_drivers/blob/linux-4.4.y-gh/README.md & https://github.com/STMicroelectronics/STMems_Linux_IIO_drivers/tree/linux-4.14.y-gh/drivers/iio/imu/st_lsm6dsm

Now I am able to get data through sysfs devices :

grep "" /sys/bus/iio/devices/iio\:device*/name
/sys/bus/iio/devices/iio:device0/name:lsm6dsm_accel
/sys/bus/iio/devices/iio:device1/name:lsm6dsm_gyro
/sys/bus/iio/devices/iio:device2/name:lsm6dsm_sign_motion
/sys/bus/iio/devices/iio:device3/name:lsm6dsm_step_c
/sys/bus/iio/devices/iio:device4/name:lsm6dsm_step_d
/sys/bus/iio/devices/iio:device5/name:lsm6dsm_tilt
/sys/bus/iio/devices/iio:device6/name:lsm6dsm_wrist
/sys/bus/iio/devices/iio:device7/name:lsm6dsm_stap
/sys/bus/iio/devices/iio:device8/name:lsm6dsm_dtap

I have then follow the HAL integration into my AOSP folder : https://github.com/STMicroelectronics/STMems_Android_Sensor_HAL_IIO/blob/STMems_Android_Sensor_HAL_IIO/README.md & https://github.com/STMicroelectronics/STMems_Android_Sensor_HAL_IIO/blob/STMems_Android_Sensor_HAL_IIO/Documentation/README

I have not used the Factory Calibration since I am missing access to the library in lib folder

Nothing show up in my Android, no sensor :

adb shell dumpsys sensorservice
No Sensors on the device
devInitCheck : -19

I see the library on my imx8 board at /system/vendor/lib/hw/sensor.imx8.so

Do I need extra libraries ? (SENSOR_FUSION, GEOMAG_FUSION, GBIAS, MAGCALIB, ACC_CALIB)

I am fine with NDA signing :

The release of STM proprietary libraries is subject to signature of a License User Agreement (LUA); please contact an STMicroelectronics sales office and representatives for further information.

Do I need to initialize anything else ?

Any clue would be really appreciated !

Thank you very much

Aurelien BOUIN

[Eleon BORLINI]

Hi @AurelienBOUIN​ , since I'm not an expert on this topic, I add a couple of tags (Linux and Android) for more help. If you simply want to read LSM6DSM registers, I think you are using the right linux drivers... but did you already check (e.g. with an oscilloscope) if the communication between the application processor and the sensor on the MCIMX8M-EVK board is OK? And did you already ask for support on NXP forum, since it is a NXP board? Regards

[AurelienBOUIN]

Thanks @Eleon BORLINI​ for your fast answer and your tags

Yes I check that I2C communication is fine, easy to check with this command that retrieve the WHO_I_AM register :

# i2cget -f -y 2 0x6a 0x0f
0x6a

I have not ask on NXP community since I2C is working fine and the dialog between the LSM6DSM and iMX8 is fine :

while true; do cat /sys/bus/iio/devices/iio\:device0/in_accel_x_raw   ; sleep 0.3; done                                    
188
190
186
184
185
196
187
188
#Here i move the component
77
118
180
140
3656
3882
3606
-5
-5

Here the problem is in the HAL provided by ST

May I get access to the libraries I was referring to ?

Thanks again for any suggestions

Best regards,

[DevM]

Hi @AurelienBOUIN​ ​ 

I am in the same situation as you. It's not the lsm6dsm i'm using lsm9ds1.

grep "" /sys/bus/iio/devices/iio\:device*/name

/sys/bus/iio/devices/iio:device0/name:lsm9ds1_magn

/sys/bus/iio/devices/iio:device1/name:lsm9ds1_accel

/sys/bus/iio/devices/iio:device2/name:lsm9ds1_gyro

And i can read from the device

/sys/bus/iio/devices/iio:device1 $ cat in_accel_x_raw

-468

Using the dumpsys sensorservice

No Sensors on the device

devInitCheck : 0

I see the library on my board at /system/vendor/lib/hw/sensor.msm.so

Did you manage to solve it? Thank you in advance!

[AurelienBOUIN · Accepted solution]

Hey @DevM​,

Inside the android_*_defconfig, you need to have selected the lsm9ds1, as an example for the lsmd6dsm i had to add :

CONFIG_ST_HAL_LSM6DSM_ENABLED=y
CONFIG_ST_HAL_ACCEL_ENABLED=y
CONFIG_ST_HAL_MAGN_ENABLED=y
CONFIG_ST_HAL_GYRO_ENABLED=y
CONFIG_ST_HAL_MAGN_UNCALIB_DISABLED=y
CONFIG_ST_HAL_GYRO_UNCALIB_DISABLED=y
CONFIG_ST_HAL_ACCEL_UNCALIB_DISABLED=y
CONFIG_ST_HAL_SIGN_MOTION_ENABLED=y
CONFIG_ST_HAL_TAP_ENABLED=y
CONFIG_ST_HAL_TAP_TAP_ENABLED=y
CONFIG_ST_HAL_STEP_DETECTOR_ENABLED=y
CONFIG_ST_HAL_STEP_COUNTER_ENABLED=y
CONFIG_ST_HAL_TILT_ENABLED=y

To be sure to recompile the ST iio library you need to delete those files before launching the AOSP make :

rm wherever/libsensors_stmicro/android_data_config
rm wherever/libsensors_stmicro/configuration.h
rm wherever/libsensors_stmicro/hal_config

I hope it will help you,

Best regards,

Aurelien BOUIN

[AurelienBOUIN]

Hey again @DevM​ ,

As an example attached is my sepolicy for the lsm6dsm

Best regards,

Aurelien BOUIN

[DevM]

Hi @AurelienBOUIN​ ,

Thanks for your answers, in your board using the dumpsys sensorservice gives you some results right?

I'm double checking my sepolicy, looks good to me ( i'm using STMems_Android_Sensor_HAL_IIO/Documentation/ueventd.example.rc as example ). About the defconfig file, i added some entries. But the result is the same.

[AurelienBOUIN]

captina:/ #dumpsys sensorservice
Sensor Device:
Total 9 h/w sensors, 9 running:
0x00000007) active-count = 1; sampling_period(ms) = {83.3}, selected = 83.33 ms; batching_period(ms) = {0.0}, selected = 0.00 ms
0x00000009) active-count = 1; sampling_period(ms) = {1.0}, selected = 1.00 ms; batching_period(ms) = {0.0}, selected = 0.00 ms
Sensor List:
0x00000001) LSM6DSM Tilt Sensor       | STMicroelectronics | ver: 1 | type: android.sensor.tilt_detector(22) | perm: n/a | flags: 0x00000007
	special-trigger | maxDelay=0us | minDelay=0us | FIFO (max,reserved) = (1, 0) events | wakeUp | 
0x00000002) HTS221 Temperature Sensor | STMicroelectronics | ver: 1 | type: android.sensor.ambient_temperature(13) | perm: n/a | flags: 0x00000002
	on-change | minRate=1.00Hz | maxRate=13.00Hz | FIFO (max,reserved) = (1, 0) events | non-wakeUp | 
0x00000003) LSM6DSM Step Counter Sensor | STMicroelectronics | ver: 1 | type: android.sensor.step_counter(19) | perm: n/a | flags: 0x00000002
	on-change | maxDelay=0us | minDelay=0us | FIFO (max,reserved) = (1, 0) events | non-wakeUp | 
0x00000004) LSM6DSM Gyroscope Sensor  | STMicroelectronics | ver: 1 | type: android.sensor.gyroscope(4) | perm: n/a | flags: 0x00000000
	continuous | minRate=12.00Hz | maxRate=833.33Hz | FIFO (max,reserved) = (682, 0) events | non-wakeUp | 
0x00000005) LSM6DSM Step Detector Sensor | STMicroelectronics | ver: 1 | type: android.sensor.step_detector(18) | perm: n/a | flags: 0x00000006
	special-trigger | maxDelay=0us | minDelay=0us | FIFO (max,reserved) = (1, 0) events | non-wakeUp | 
0x00000006) LSM6DSM Significant Motion Sensor | STMicroelectronics | ver: 1 | type: android.sensor.significant_motion(17) | perm: n/a | flags: 0x00000005
	one-shot | maxDelay=0us | minDelay=-1us | no batching | wakeUp | 
0x00000007) LSM6DSM Accelerometer Sensor | STMicroelectronics | ver: 1 | type: android.sensor.accelerometer(1) | perm: n/a | flags: 0x00000000
	continuous | minRate=12.00Hz | maxRate=833.33Hz | FIFO (max,reserved) = (682, 0) events | non-wakeUp | 
0x00000008) HTS221 RHumidity Sensor   | STMicroelectronics | ver: 1 | type: android.sensor.relative_humidity(12) | perm: n/a | flags: 0x00000002
	on-change | minRate=1.00Hz | maxRate=13.00Hz | FIFO (max,reserved) = (1, 0) events | non-wakeUp | 
0x00000009) Dynamic Sensor Manager    | Google          | ver: 1 | type: android.sensor.dynamic_sensor_meta(32) | perm: n/a | flags: 0x00000007
	special-trigger | minRate=1000.00Hz | maxRate=1000.00Hz | no batching | wakeUp | 
0x5f676172) Game Rotation Vector Sensor | AOSP            | ver: 3 | type: android.sensor.game_rotation_vector(15) | perm: n/a | flags: 0x00000000
	continuous | maxDelay=0us | maxRate=833.33Hz | no batching | non-wakeUp | 
0x5f677276) Gravity Sensor            | AOSP            | ver: 3 | type: android.sensor.gravity(9) | perm: n/a | flags: 0x00000000
	continuous | maxDelay=0us | maxRate=833.33Hz | no batching | non-wakeUp | 
Fusion States:
9-axis fusion disabled (0 clients), gyro-rate= 200.00Hz, q=< 0, 0, 0, 0 > (0), b=< 0, 0, 0 >
game fusion(no mag) disabled (0 clients), gyro-rate= 200.00Hz, q=< 0, 0, 0, 0 > (0), b=< 0, 0, 0 >
geomag fusion (no gyro) disabled (0 clients), gyro-rate= 200.00Hz, q=< 0, 0, 0, 0 > (0), b=< 0, 0, 0 >
Recent Sensor events:
LSM6DSM Accelerometer Sensor: last 50 events
	 1 (ts=69865.678907170, wall=04:47:28.615) -0.17, 0.04, 9.83, 
	 2 (ts=69865.758653108, wall=04:47:28.697) -0.17, 0.04, 9.83, 
	 3 (ts=69865.838399045, wall=04:47:28.775) -0.17, 0.04, 9.82, 
	 4 (ts=69865.918144983, wall=04:47:28.854) -0.17, 0.04, 9.83, 
	 5 (ts=69865.997890918, wall=04:47:28.929) -0.16, 0.04, 9.83, 
	 6 (ts=69866.077636857, wall=04:47:29.014) -0.17, 0.04, 9.83, 
	 7 (ts=69866.157382796, wall=04:47:29.094) -0.17, 0.03, 9.83, 
	 8 (ts=69866.237128733, wall=04:47:29.172) -0.17, 0.04, 9.83, 
	 9 (ts=69866.316874669, wall=04:47:29.251) -0.16, 0.04, 9.83, 
	10 (ts=69866.396620606, wall=04:47:29.329) -0.16, 0.04, 9.82, 
	11 (ts=69866.476366545, wall=04:47:29.413) -0.17, 0.03, 9.82, 
	12 (ts=69866.556112482, wall=04:47:29.492) -0.17, 0.04, 9.82, 
	13 (ts=69866.635858419, wall=04:47:29.571) -0.17, 0.04, 9.83, 
	14 (ts=69866.715604358, wall=04:47:29.653) -0.17, 0.04, 9.82, 
	15 (ts=69866.795350296, wall=04:47:29.733) -0.17, 0.04, 9.83, 
	16 (ts=69866.875096235, wall=04:47:29.812) -0.17, 0.04, 9.83, 
	17 (ts=69866.954842173, wall=04:47:29.891) -0.17, 0.04, 9.82, 
	18 (ts=69867.034588111, wall=04:47:29.971) -0.17, 0.04, 9.82, 
	19 (ts=69867.114334049, wall=04:47:30.050) -0.17, 0.04, 9.83, 
	20 (ts=69867.194079988, wall=04:47:30.131) -0.17, 0.04, 9.83, 
	21 (ts=69867.273825926, wall=04:47:30.210) -0.17, 0.04, 9.83, 
	22 (ts=69867.353571865, wall=04:47:30.290) -0.17, 0.04, 9.83, 
	23 (ts=69867.433317804, wall=04:47:30.370) -0.17, 0.04, 9.83, 
	24 (ts=69867.513063743, wall=04:47:30.450) -0.17, 0.04, 9.82, 
	25 (ts=69867.592809682, wall=04:47:30.530) -0.17, 0.03, 9.83, 
	26 (ts=69867.672555621, wall=04:47:30.609) -0.17, 0.04, 9.83, 
	27 (ts=69867.752301560, wall=04:47:30.690) -0.17, 0.04, 9.82, 
	28 (ts=69867.832047497, wall=04:47:30.769) -0.17, 0.04, 9.83, 
	29 (ts=69867.911793436, wall=04:47:30.849) -0.17, 0.04, 9.83, 
	30 (ts=69867.991539375, wall=04:47:30.929) -0.17, 0.04, 9.82, 
	31 (ts=69868.071285313, wall=04:47:31.008) -0.17, 0.03, 9.83, 
	32 (ts=69868.151031252, wall=04:47:31.088) -0.17, 0.04, 9.83, 
	33 (ts=69868.230777191, wall=04:47:31.169) -0.17, 0.03, 9.83, 
	34 (ts=69868.310523130, wall=04:47:31.248) -0.17, 0.04, 9.83, 
	35 (ts=69868.390269069, wall=04:47:31.328) -0.17, 0.04, 9.82, 
	36 (ts=69868.470015008, wall=04:47:31.407) -0.17, 0.04, 9.83, 
	37 (ts=69868.549760947, wall=04:47:31.487) -0.17, 0.04, 9.83, 
	38 (ts=69868.629506885, wall=04:47:31.566) -0.17, 0.04, 9.83, 
	39 (ts=69868.709252825, wall=04:47:31.647) -0.17, 0.04, 9.83, 
	40 (ts=69868.788998764, wall=04:47:31.726) -0.17, 0.04, 9.83, 
	41 (ts=69868.868744704, wall=04:47:31.806) -0.17, 0.05, 9.83, 
	42 (ts=69868.948490643, wall=04:47:31.886) -0.17, 0.03, 9.83, 
	43 (ts=69869.028236582, wall=04:47:31.963) -0.17, 0.04, 9.83, 
	44 (ts=69869.107982522, wall=04:47:32.045) -0.17, 0.04, 9.82, 
	45 (ts=69869.187728462, wall=04:47:32.125) -0.17, 0.03, 9.82, 
	46 (ts=69869.267474402, wall=04:47:32.205) -0.17, 0.04, 9.83, 
	47 (ts=69869.347220341, wall=04:47:32.284) -0.17, 0.04, 9.84, 
	48 (ts=69869.426966280, wall=04:47:32.363) -0.17, 0.04, 9.83, 
	49 (ts=69869.506712220, wall=04:47:32.444) -0.17, 0.04, 9.83, 
	50 (ts=69869.586458160, wall=04:47:32.525) -0.17, 0.03, 9.83, 
Active sensors:
LSM6DSM Accelerometer Sensor (handle=0x00000007, connections=1)
Dynamic Sensor Manager (handle=0x00000009, connections=1)
Socket Buffer size = 984 events
WakeLock Status: not held 
Mode : NORMAL
2 active connections
Connection Number: 0 
	Operating Mode: NORMAL
	 android.view.OrientationEventListener | WakeLockRefCount 0 | uid 10025 | cache size 0 | max cache size 0
	 LSM6DSM Accelerometer Sensor 0x00000007 | status: active | pending flush events 0 
Connection Number: 1 
	Operating Mode: NORMAL
	 com.android.server.SensorNotificationService | WakeLockRefCount 0 | uid 1000 | cache size 0 | max cache size 0
	 Dynamic Sensor Manager 0x00000009 | status: active | pending flush events 0 
0 direct connections
Previous Registrations:
09:24:25 + 0x00000007 pid= 4255 uid=10025 package=android.view.OrientationEventListener samplingPeriod=83333us batchingPeriod=0us
09:23:28 - 0x00000007 pid= 3314 uid= 1000 package=com.android.server.policy.WindowOrientationListener
09:23:16 + 0x00000007 pid= 3314 uid= 1000 package=com.android.server.policy.WindowOrientationListener samplingPeriod=66667us batchingPeriod=0us
09:23:14 + 0x00000009 pid= 3314 uid= 1000 package=com.android.server.SensorNotificationService samplingPeriod=1000us batchingPeriod=0us

[pritamsrisahoo]

Thankyou @AurelienBOUIN​,

But after doing all the modification in my hal folder I am getting the error .
Steps I have followed till now :

- device/{vendor}/{product}/BoardConfig.mk (modification)
- device/{vendor}/{product}/init.{board}.rc (modification)
- device/{vendor}/{product}/sepolicy/file.te (modification)
- device/{vendor}/{product}/sepolicy/file_contexts (modification)
- device/{vendor}/{product}/sepolicy/STSensors.te (add)

i got this references from this :https://github.com/STMicroelectronics/STMems_Android_Sensor_HAL_IIO/blob/STMems_Android_Sensor_HAL_IIO/Documentation/README

As you have above mentioned for deleting the android_data_config , configuration.h and hal_config before compiling the ST iio hal folder and for compilation i gave "mm sensors-defconfig" in the root hal folder and i found the error log as:

FAILED: sensors-defconfig
/bin/bash -c "(\$(cp hardware/STMicroelectronics/STMems_Android_Sensor_HAL_IIO/src/android_R_defconfig hardware/STMicroelectronics/STMems_Android_Sensor_HAL_IIO/hal_con
fig) ) && (hal_config hardware/STMicroelectronics/STMems_Android_Sensor_HAL_IIO/tools/mkconfig hardware/STMicroelectronics/STMems_Android_Sensor_HAL_IIO/ > hardware/STM
icroelectronics/STMems_Android_Sensor_HAL_IIO/configuration.h )"
/bin/bash: hal_config: command not found
10:13:59 ninja failed with: exit status 1

#### failed to build some targets (47 seconds) ####

Please mark that i am using android version 11 and imx8mm board for my sensor integration.
Waiting for your support.Please help me out .
Thankyou in advance.