正点原子I.MX6ULL mini适配xueliu dw1000驱动

May 11, 2024

相较于网上的其他驱动而言,这个驱动结构较为简单,并且需要的内核版本也较低,可以在略微修改之后兼容linux4.1版本,因而选择该驱动

首先,为这个驱动配套一版设备树

我们需要根据

	rstn = devm_gpiod_get(&spi->dev, "rstn", GPIOD_OUT_LOW);

static const struct of_device_id dw1000_of_match[] = {
	{ .compatible = "decaWave,dw1000", },
	{ },
};
MODULE_DEVICE_TABLE(of, dw1000_of_match);

static const struct spi_device_id dw1000_device_id[] = {
	{ .name = "dw1000", },
	{ },
};
MODULE_DEVICE_TABLE(spi, dw1000_device_id);

static struct spi_driver dw1000_driver = {
	.id_table = dw1000_device_id,
	.driver = {
		.of_match_table = dw1000_of_match,
		.name	= "dw1000",
	},
	.probe      = dw1000_probe,
	.remove     = dw1000_remove,
};

编写一版驱动根据教程我们可以对应修改即可

解决缺少IEEE802154模块问题

移植完设备树,并将驱动编译成功发到开发板上,调试时发现报错

dw1000: Unknown symbol ieee802154_alloc_hw (err 0)
dw1000: Unknown symbol ieee802154_xmit_complete (err 0)
dw1000: Unknown symbol ieee802154_rx_irqsafe (err 0)
dw1000: Unknown symbol ieee802154_unregister_hw (err 0)
dw1000: Unknown symbol ieee802154_free_hw (err 0)
dw1000: Unknown symbol ieee802154_register_hw (err 0)
dw1000: Unknown symbol ieee802154_alloc_hw (err 0)
dw1000: Unknown symbol ieee802154_xmit_complete (err 0)
dw1000: Unknown symbol ieee802154_rx_irqsafe (err 0)
dw1000: Unknown symbol ieee802154_unregister_hw (err 0)

为了加载该模块,需要在相应的defconfig(正点原子为imx_alientek_emmc_defconfig)中加入

CONFIG_IEEE802154=y
CONFIG_MAC802154=y

然后重新

make imx_alientek_emmc_defconfig
make all -j12

然后发现报错变为了

dw1000: no symbol version for ieee802154_free_hw
dw1000: Unknown symbol ieee802154_free_hw (err -22)
dw1000: no symbol version for ieee802154_register_hw
dw1000: Unknown symbol ieee802154_register_hw (err -22)
dw1000: no symbol version for ieee802154_alloc_hw
dw1000: Unknown symbol ieee802154_alloc_hw (err -22)
dw1000: no symbol version for ieee802154_xmit_complete
dw1000: Unknown symbol ieee802154_xmit_complete (err -22)
dw1000: no symbol version for ieee802154_rx_irqsafe
dw1000: Unknown symbol ieee802154_rx_irqsafe (err -22)
dw1000: no symbol version for ieee802154_unregister_hw
dw1000: Unknown symbol ieee802154_unregister_hw (err -22)
dw1000: no symbol version for ieee802154_free_hw
dw1000: Unknown symbol ieee802154_free_hw (err -22)
dw1000: no symbol version for ieee802154_register_hw
dw1000: Unknown symbol ieee802154_register_hw (err -22)
dw1000: no symbol version for ieee802154_alloc_hw
dw1000: Unknown symbol ieee802154_alloc_hw (err -22)
dw1000: no symbol version for ieee802154_xmit_complete
dw1000: Unknown symbol ieee802154_xmit_complete (err -22)
dw1000: no symbol version for ieee802154_rx_irqsafe
dw1000: Unknown symbol ieee802154_rx_irqsafe (err -22)
dw1000: no symbol version for ieee802154_unregister_hw
dw1000: Unknown symbol ieee802154_unregister_hw (err -22)
modprobe: can't load module dw1000.ko (dw1000.ko): Invalid argument

这就是因为虽然我们的内核更新了,但是驱动没能成功重新链接相应符号所以我们要重新编译驱动这是相应的Makefile

obj-m += dw1000.o
KERNELDIR := /home/alientek/linux/IMX6ULL/linux/linux-imx-rel_imx_4.1.15_2.1.0_ga
ENV:=ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf-
CURRENT_PATH := $(shell pwd)

build: kernel_modules

kernel_modules:
	$(MAKE) $(ENV) -C $(KERNELDIR) M=$(CURRENT_PATH) modules

clean:
	$(MAKE) $(ENV) -C $(KERNELDIR) M=$(CURRENT_PATH) clean

make之后传到板子的根文件系统中

发现并解决设备树冲突/问题

驱动能够运行了,但是发现读不到东西

dw1000 spi2.0: Detected DW1000 chip id: 0x00000000

这是因为当前的设备树有冲突,可以运行命令

dmesg | grep spi

发现报错

imx6ul-pinctrl 20e0000.iomuxc: pin MX6UL_PAD_UART2_TX_DATA already requested by 21e8000.serial; cannot claim for 2010000.ecspi
imx6ul-pinctrl 20e0000.iomuxc: pin-37 (2010000.ecspi) status -22

查看设备树可以发现,是因为uart2和我们使用了相同的引脚,将uart2设置为disable即可结果发现,还是没成功,chip id应该是0xDECA0130,结果是

dw1000 spi2.0: Detected DW1000 chip id: 0x80808000

为了能够及时发现自己的设备树编写和驱动probe的过程中是否有问题,我们可以加上下面两句:

	printk("dw1000: rstn gpio is %d\n", gpiod_to_irq(rstn));
	printk("dw1000: spi pins are %d\n", spi->cs_gpio);

同时,可以把dev_dbg重新定义为

#define dev_dbg(dev, fmt, args...) \
	printk(KERN_DEBUG "%s: " fmt, dev_name(dev), ##args)

然后发现

dw1000: rstn gpio is 36
dw1000: spi pins are -2

这就说明我们spi的cs_gpio有问题,回看设备树发现

	cs-gpio = <&gpio1 20 GPIO_ACTIVE_LOW>;

改为

	cs-gpios = <&gpio1 20 GPIO_ACTIVE_LOW>;

终于,发现能够成功打印出

dw1000 spi2.0: Detected DW1000 chip id: 0xdeca0130
dw1000 spi2.0: OTP Rev: 0x60
dw1000 spi2.0: OTP LDO Turn: 0xfe
dw1000 spi2.0: OTP XTAL Trim: 0xfe
dw1000 spi2.0: Microcode is loaded

但是由于当前版本的linux中没有ieee802154_is_valid_extended_unicast_addr函数,所以暂时

OTP EUI not found

参考: xueliu/dw1000-linux驱动源码关于内核模块挂载出现“no symbol version for”问题的研究