碰到權(quán)限問題

sudo chmod 777 -R /home/dar/riscv/milkv/duo-buildroot-sdk

加載配置及環(huán)境

cd build/

source milkvsetup.sh

defconfig CV1800b_milkv_duo_sd

編譯驅(qū)動，要求先編譯內(nèi)核

build_all

設(shè)備樹

build\boards\CV180x\CV1800b_milkv_duo_sd\dts_riscv\CV1800b_milkv_duo_sd.dts

&i2c3 {

? ? status = "okay";

? ? lsm6dsr:lsm6dsr@6b {

? ? ? ? compatible = "litchicheng,lsm6dsr";

? ? ? ? reg = <0x6b>;

? ? ? ? status = "okay";

? ? };??

};

驅(qū)動倉庫地址

https://github.com/LitchiCheng/riscv_milkv-duo

測試效果

[root@milkv]~# insmod i2c-lsm6dsr.ko

[root@milkv]~# lsmod

Module? ? ? ? ? ? ? ? ? Size? Used by? ? Tainted: GF

i2c_lsm6dsr? ? ? ? ? ? ?4450? 0

cvi_vc_driver? ? ? ? ?879138? 0 [permanent]

CV180x_jpeg? ? ? ? ? ? 25220? 1 cvi_vc_driver,[permanent]

CV180x_vcodec? ? ? ? ? 28451? 2 cvi_vc_driver,CV180x_jpeg,[permanent]

CV180x_tpu? ? ? ? ? ? ?32041? 0 [permanent]

CV180x_clock_cooling? ? ?5953? 0 [permanent]

CV180x_thermal? ? ? ? ? 3404? 0

CV180x_rgn? ? ? ? ? ? 100809? 0 [permanent]

CV180x_dwa? ? ? ? ? ? ?48669? 0 [permanent]

CV180x_vpss? ? ? ? ? ?280938? 0 [permanent]

CV180x_vi? ? ? ? ? ? ?338826? 0 [permanent]

snsr_i2c? ? ? ? ? ? ? ? 9341? 0 [permanent]

cvi_mipi_rx? ? ? ? ? ? 54306? 0 [permanent]

CV180x_fast_image? ? ? 32955? 0 [permanent]

CV180x_rtos_cmdqu? ? ? 25922? 1 CV180x_fast_image,[permanent]

CV180x_base? ? ? ? ? ? 96472? 8 cvi_vc_driver,CV180x_rgn,CV180x_dwa,CV180x_vpss,CV180x_vi,snsr_i2c,cvi_mipi_rx,CV180x_rtos_cmdqu,[permanent]

CV180x_sys? ? ? ? ? ? ?64161? 7 cvi_vc_driver,CV180x_rgn,CV180x_dwa,CV180x_vpss,CV180x_vi,CV180x_fast_image,CV180x_base,[permanent]

[root@milkv]~# ls /dev

bus? ? ? ? ? ? ?cvi_vc_dec3? ? ?cvitekaadc? ? ? ion? ? ? ? ? ? ?stderr

console? ? ? ? ?cvi_vc_dec4? ? ?cvitekadac? ? ? kmsg? ? ? ? ? ? stdin

cvi-base? ? ? ? cvi_vc_dec5? ? ?fd? ? ? ? ? ? ? log? ? ? ? ? ? ?stdout

cvi-dwa? ? ? ? ?cvi_vc_dec6? ? ?full? ? ? ? ? ? lsm6dsr? ? ? ? ?tty

cvi-fast-image? cvi_vc_dec7? ? ?gpiochip0? ? ? ?mem? ? ? ? ? ? ?ttyS0

cvi-mipi-rx? ? ?cvi_vc_dec8? ? ?gpiochip1? ? ? ?mmcblk0? ? ? ? ?ttyS1

cvi-rgn? ? ? ? ?cvi_vc_enc0? ? ?gpiochip2? ? ? ?mmcblk0p1? ? ? ?ttyS2

cvi-rtos-cmdqu? cvi_vc_enc1? ? ?gpiochip3? ? ? ?mmcblk0p2? ? ? ?ttyS3

cvi-sys? ? ? ? ?cvi_vc_enc2? ? ?gpiochip4? ? ? ?null? ? ? ? ? ? ttyS4

cvi-tpu0? ? ? ? cvi_vc_enc3? ? ?hwrng? ? ? ? ? ?ptmx? ? ? ? ? ? urandom

cvi-vi? ? ? ? ? cvi_vc_enc4? ? ?i2c-0? ? ? ? ? ?pts? ? ? ? ? ? ?zero

cvi-vpss? ? ? ? cvi_vc_enc5? ? ?i2c-1? ? ? ? ? ?random

cvi_vc_dec0? ? ?cvi_vc_enc6? ? ?i2c-2? ? ? ? ? ?rfkill

cvi_vc_dec1? ? ?cvi_vc_enc7? ? ?i2c-3? ? ? ? ? ?shm

cvi_vc_dec2? ? ?cvi_vc_enc8? ? ?i2c-4? ? ? ? ? ?snd

ADC value:

gx = 20, gy = -31, gz = -12

ax = 836, ay = -9022, az = -13048

temp = 0

TRUE value:act gx = 1.40°/S, act gy = -2.17°/S, act gz = -0.84°/S

act ax = 0.41g, act ay = -4.41g, act az = -6.37g

ADC value:

gx = 27, gy = -34, gz = -22

ax = 820, ay = -9004, az = -13021

temp = 0

TRUE value:act gx = 1.89°/S, act gy = -2.38°/S, act gz = -1.54°/S

act ax = 0.40g, act ay = -4.40g, act az = -6.36g