Author: wmb Date: Mon Jun 13 21:12:02 2011 New Revision: 2269 URL: http://tracker.coreboot.org/trac/openfirmware/changeset/2269
Log: OLPC XO-1.75 trac #10919 - Implemented automatic accelerometer selftest and integrated it into the menu system.
Modified: cpu/arm/mmp2/twsi.fth cpu/arm/olpc/1.75/accelerometer.fth cpu/arm/olpc/1.75/mfgtest.fth
Modified: cpu/arm/mmp2/twsi.fth ============================================================================== --- cpu/arm/mmp2/twsi.fth Mon Jun 13 19:20:35 2011 (r2268) +++ cpu/arm/mmp2/twsi.fth Mon Jun 13 21:12:02 2011 (r2269) @@ -153,6 +153,11 @@ child-address set-twsi-target 0 swap twsi-get ; +: smbus-out-in ( out ... #outs #ins -- in ... ) + child-address set-twsi-target + twsi-get +; + : decode-unit ( adr len -- low high ) parse-2int ; : encode-unit ( low high -- adr len ) >r <# u#s drop [char] , hold r> u#s u#> ; end-package
Modified: cpu/arm/olpc/1.75/accelerometer.fth ============================================================================== --- cpu/arm/olpc/1.75/accelerometer.fth Mon Jun 13 19:20:35 2011 (r2268) +++ cpu/arm/olpc/1.75/accelerometer.fth Mon Jun 13 21:12:02 2011 (r2269) @@ -1,30 +1,97 @@ -0 0 " " " /" begin-package + +hex +0 0 " 6,3a" " /twsi" begin-package " accelerometer" name
+my-address my-space encode-phys " reg" property + \ This is for the stand-alone accelerometer chip LIS33DETR
\ We could call this just once in open if we had a TWSI parent node : set-address ( -- ) h# 3a 6 set-twsi-target ; -: accelerometer-on ( -- ) - set-address - h# 47 h# 20 twsi-b! \ Power up, X,Y,Z -; -: accelerometer-off ( -- ) - set-address - h# 07 h# 20 twsi-b! \ Power up, X,Y,Z -; +: acc-reg@ ( reg# -- b ) 1 1 " smbus-out-in" $call-parent ; +: acc-reg! ( b reg# -- ) 2 0 " smbus-out-in" $call-parent ; +: ctl1! ( b -- ) h# 20 acc-reg! ; +: accelerometer-on ( -- ) h# 47 ctl1! ; +: accelerometer-off ( -- ) h# 07 ctl1! ;
: bext ( b -- n ) dup h# 80 and if h# ffffff00 or then ; : acceleration@ ( -- x y z ) - set-address - h# 29 twsi-b@ bext - h# 2b twsi-b@ bext - h# 2d twsi-b@ bext + h# 29 acc-reg@ bext + h# 2b acc-reg@ bext + h# 2d acc-reg@ bext +; +: t+ ( x1 y1 z1 x2 y2 z2 -- x3 y3 z3 ) + >r >r >r ( x1 y1 z1 r: z2 y2 x2 ) + rot r> + ( y1 z1 x3 r: z2 y2 ) + rot r> + ( z1 x3 y3 r: z2 ) + rot r> + ( x3 y3 z3 ) ; +: t- ( x1 y1 z1 x2 y2 z2 -- x3 y3 z3 ) + >r >r >r ( x1 y1 z1 r: z2 y2 x2 ) + rot r> - ( y1 z1 x3 r: z2 y2 ) + rot r> - ( z1 x3 y3 r: z2 ) + rot r> - ( x3 y3 z3 ) +; +\ Averaging a lot of samples reduces the effect of vibration +: average-acceleration@ ( -- x y z ) + acceleration@ ( x y z ) + d# 127 0 do + acceleration@ t+ ( x' y' z' ) + loop + rot 7 >>a + rot 7 >>a + rot 7 >>a +; + +: delay ( -- ) d# 30 ms ; : open ( -- flag ) + my-address my-space " set-address" $call-parent ['] accelerometer-on catch 0= ; : close ( -- ) accelerometer-off ; + +\ The datasheet says the selftest change range is 3 to 32, but we +\ give a little headroom on the high end to allow for external +\ vibration. Empirically, on the unit I tested, the measurement +\ was maxed out at 32. Typical is supposed to be 19. +: out-of-range? ( delta -- error? ) 3 d# 40 between 0= ; + +: error? ( dx dy dz -- error? ) + out-of-range? if ." X axis error" cr 2drop true exit then ( dx dy ) + out-of-range? if ." Y axis error" cr drop true exit then ( dx ) + out-of-range? if ." X axis error" cr true exit then ( ) + false +; + +: selftest ( -- error? ) + open 0= if true exit then + + \ Use the device's selftest function to force a change in one direction + delay ( ) + average-acceleration@ ( x y z ) + h# 4f ctl1! delay ( x y z ) \ Set the STM bit + average-acceleration@ t- ( dx dy dz ) + \ STM applies negative bias to Y, but our deltas are inverted + \ because we subtract the new measurement from the old. + rot negate -rot ( dx' dy dz ) + negate ( dx dy dz' ) + error? if accelerometer-off true exit then + + \ Use the device's selftest function to force a change in the opposite direction + accelerometer-on delay ( ) \ Back to normal - STM and STP both off + average-acceleration@ ( x y z ) + h# 57 ctl1! delay ( x y z ) \ Set the STP bit + average-acceleration@ t- ( dx dy dz ) + \ STP applies negative bias to X and Z, but our deltas are inverted + \ because we subtract the new measurement from the old. + swap negate swap ( dx dy' dz ) + error? if accelerometer-off true exit then + + accelerometer-off + false +; + end-package
Modified: cpu/arm/olpc/1.75/mfgtest.fth ============================================================================== --- cpu/arm/olpc/1.75/mfgtest.fth Mon Jun 13 19:20:35 2011 (r2268) +++ cpu/arm/olpc/1.75/mfgtest.fth Mon Jun 13 21:12:02 2011 (r2269) @@ -138,8 +138,8 @@ : timer-item ( -- ) " /timer" mfg-test-dev ; : touchpad-item ( -- ) " /ec-spi/mouse" mfg-test-dev ; : keyboard-item ( -- ) " /ec-spi/keyboard" mfg-test-dev ; -: switch-item ( -- ) " /switches" mfg-test-dev ; -: leds-item ( -- ) " /leds" mfg-test-dev ; +: switch-item ( -- ) " /switches" mfg-test-dev " /accelerometer" mfg-test-dev ; +: leds-item ( -- ) " /leds" mfg-test-dev ; \ XXX need to test sensors like accelerometer and compass
: olpc-menu-items ( -- ) @@ -193,7 +193,7 @@ " LEDs" ['] leds-item leds.icon 3 3 install-icon
- " Switches" + " Switches and Accelerometer" ['] switch-item ebook.icon 3 4 install-icon ;