【Luckfox Pico Max评测】TMF8821驱动移植与测试

小麦克

【Luckfox Pico Max评测】TMF8821驱动移植与测试 [复制链接]

# dtof驱动移植

最近在玩一款dToF传感器TMF8821，接口是I2C，现在将这款传感器的驱动移植到RV1106G3下面。

内核模块

rv1106使用的是5.10.160内核版本。TMF8821提供linux官方驱动TMF882x_Driver_Linux_v3.56.zip 内核模块。

GitHub上面有其他公司修改后的版本：https://github.com/brainlab-vied/tmf8820_21_28_driver_linux

修改Makefile，设置好ARCH和交叉编译器路径

KDIR:=/home/bruce/Documents/luckfox-pico/sysdrv/source/kernel
PWD?=$(shell pwd)
MAKE := make
ARCH := arm
CROSS_COMPILE := /home/bruce/Documents/luckfox-pico/tools/linux/toolchain/arm-rockchip830-linux-uclibcgnueabihf/bin/arm-rockchip830-linux-uclibcgnueabihf-
KBUILD_OUTPUT := $(abspath $(dir $(lastword $(KDIR))))/objs_kernel

ifneq ($(KERNELRELEASE),)
#kbuild part of Makefile
include Kbuild
else
#normal Makefile
all:
    $(MAKE) ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) -C $(KDIR) M=$(PWD) modules

modules:
    $(MAKE) ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) -C $(KDIR) M=$(PWD) $@

sign:
    $(SIGN_SCRIPT) sha512 $(LINUX_SRC)/signing_key.priv $(LINUX_SRC)/signing_key.x509 $(DEVICE_NAME).ko

clean:
    $(MAKE) -C $(LINUX_SRC) M=$$PWD clean

endif

直接编译有错误

make CONFIG_SENSORS_TMF882X=m
make ARCH=arm CROSS_COMPILE=/home/bruce/Documents/luckfox-pico/tools/linux/toolchain/arm-rockchip830-linux-uclibcgnueabihf/bin/arm-rockchip830-linux-uclibcgnueabihf- -C /home/bruce/Documents/luckfox-pico/sysdrv/source/kernel M=/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56 modules
make[1]: Entering directory '/home/bruce/Documents/luckfox-pico/sysdrv/source/kernel'
CC [M]/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.o
In file included from /home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_host_interface.h:36,
     from /home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_mode_app.h:39,
     from /home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_interface.h:38,
     from /home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:57:
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_shim_linux_kernel.h: In function 'tof_get_timespec':
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_shim_linux_kernel.h:89:5: error: implicit declaration of function 'getnstimeofday'; did you mean 'getname_flags'? [-Werror=implicit-function-declaration]
 getnstimeofday(ts);
 ^~~~~~~~~~~~~~
 getname_flags
In file included from /home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_interface.h:38,
     from /home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:57:
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_mode_app.h: At top level:
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_mode_app.h:228:25: error: field 'timestamp' has incomplete type
   struct timespec timestamp;
         ^~~~~~~~~
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c: In function 'tof_ram_patch_callback':
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:12: error: variable 'start_ts' has initializer but incomplete type
 struct timespec start_ts = {0}, end_ts = {0};
    ^~~~~~~~
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:33: error: excess elements in struct initializer [-Werror]
 struct timespec start_ts = {0}, end_ts = {0};
           ^
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:33: note: (near initialization for 'start_ts')
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:21: error: storage size of 'start_ts' isn't known
 struct timespec start_ts = {0}, end_ts = {0};
       ^~~~~~~~
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:12: error: variable 'end_ts' has initializer but incomplete type
 struct timespec start_ts = {0}, end_ts = {0};
    ^~~~~~~~
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:47: error: excess elements in struct initializer [-Werror]
 struct timespec start_ts = {0}, end_ts = {0};
               ^
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:47: note: (near initialization for 'end_ts')
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:37: error: storage size of 'end_ts' isn't known
 struct timespec start_ts = {0}, end_ts = {0};
             ^~~~~~
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2276:17: error: implicit declaration of function 'timespec_sub'; did you mean 'timespec64_sub'? [-Werror=implicit-function-declaration]
 fwdl_time = timespec_sub(end_ts, start_ts).tv_nsec / 1000000;
     ^~~~~~~~~~~~
     timespec64_sub
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:37: error: unused variable 'end_ts' [-Werror=unused-variable]
 struct timespec start_ts = {0}, end_ts = {0};
             ^~~~~~
/home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.c:2250:21: error: unused variable 'start_ts' [-Werror=unused-variable]
 struct timespec start_ts = {0}, end_ts = {0};
       ^~~~~~~~
cc1: all warnings being treated as errors
make[2]: *** [scripts/Makefile.build:273: /home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56/tmf882x_driver.o] Error 1
make[1]: *** [Makefile:1935: /home/bruce/Documents/ams_tmf8820_linux_driver_src_v3.56] Error 2
make[1]: Leaving directory '/home/bruce/Documents/luckfox-pico/sysdrv/source/kernel'
make: *** [Makefile:16: all] Error 2

编译失败的主要原因是 Linux 内核 API 的兼容性问题。具体来说，驱动代码中使用了较旧的内核 API（如 getnstimeofday 和 timespec），而这些 API 在新版本的内核中已经被弃用或修改。

需要修改源代码

struct timespec ts;
getnstimeofday(&ts);// 旧代码

替换成

struct timespec64 ts;
ktime_get_real_ts64(&ts);// 新代码

代码中使用了 struct timespec，需要将其替换为 struct timespec64

修改 tmf882x_shim_linux_kernel.h：

#include <linux/time64.h>// 添加头文件

static inline void tof_get_timespec(struct timespec64 *ts) {
  ktime_get_real_ts64(ts);// 替换 getnstimeofday
}

相关变量都修改好，再次编译成功。可以看到在当前目录下成功生成了tmf882x.ko内核模块。

修改设备树

根据开发板接线图，准备使用i2c3。

修改sysdrv/source/kernel/arch/arm/boot/dts/rv1106g-luckfox-pico-max.dts，使能i2c3，添加节点tmf8821，添加gpio控制引脚。GPIO1_C6接ENABLE引脚，高电平有效。GPIO1_C7接irq引脚，下降沿有效。

/* I2C3_M1 */
&i2c3 {
    status = "okay";
    pinctrl-names = "default";
    pinctrl-0 = <&i2c3m1_xfer>;
    clock-frequency = <100000>;

    tmf8821: tmf8821@41 {
        compatible = "ams,tmf882x";
        status = "okay";
        reg = <0x41>;
        enable-gpios = <&gpio1 RK_PC6 GPIO_ACTIVE_HIGH>;    // GPIO1_C6 enable
        irq-gpios = <&gpio1 RK_PC7 GPIO_ACTIVE_HIGH>;        // GPIO1_C7 irq
        interrupt-parent = <&gpio1>;
        interrupts = <RK_PC7 IRQ_TYPE_EDGE_FALLING>;
    };
};

编译重新烧录开发板。

加载firmware

tmf8821传感器上电后需要加载固件才能进入app运行模式，将官方提供的hex文件放到开发板/lib/firmware/tmf882x_firmware.bin。注意：这里必须将官方提供的.hex文件重命名为tmf882x_firmware.bin，不要转换hex文件。我刚开始用工具将hex文件转换成bin文件加载一直无法启动。

加载运行

将上面编译好的tmf882x.ko，官方提供的设备固件tmf882x_firmware.bin下载到设备中

运行

insmod tmf882x.ko

成功启动设备

总结

通过在RV1106上集成tmf8821，了解了linux下i2c和gpio中断驱动开发的一些基本知识，并且对RV1106软件构架有了一些认识。

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小麦克

ams_tmf8820_linux_driver_src_v3.56.zip (1.72 MB, 下载次数: 2)

rv1106g-luckfox-pico-max.dts (2.47 KB, 下载次数: 1)

aramy

大佬！牛逼！

CoderX9527

大佬，牛逼

【Luckfox Pico Max评测】TMF8821驱动移植与测试 [复制链接]

内核模块

修改设备树

加载firmware

加载运行

总结

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