Re: [Hdaps-devel] Re: [ltp] IBM HDAPS Someone interested?(Accelerometer)
From: Dave Hansen
Date: Sun Jul 03 2005 - 14:25:28 EST
On Sun, 2005-07-03 at 20:17 +0200, Jesper Juhl wrote:
> Ok, just to show you people what I've done so far.
> This doesn't work yet, but it should be resonably close (at least it
> builds ;)
On top of what you sent at first this morning (not the most recent one)
I did some stuff (in the attached patch). It implements the last bit of
initialization that your earlier one didn't do, but I see you've done in
the most recent one.
Anyway, I get 10 reads out of it, 1 second apart, and it appears to be
getting real data:
10 seconds while tilting my thinkpad around:
x_accel: 372
y_accel: 339
x_accel: 475
y_accel: 396
x_accel: 429
y_accel: 414
x_accel: 441
y_accel: 519
x_accel: 431
y_accel: 525
x_accel: 387
y_accel: 311
x_accel: 389
y_accel: 246
x_accel: 385
y_accel: 266
10 seconds of stationary reads:
x_accel: 368
y_accel: 390
x_accel: 368
y_accel: 391
x_accel: 368
y_accel: 390
x_accel: 369
y_accel: 390
x_accel: 369
y_accel: 391
x_accel: 369
y_accel: 390
x_accel: 370
y_accel: 390
x_accel: 369
y_accel: 392
x_accel: 369
y_accel: 392
x_accel: 368
y_accel: 390
x_accel: 368
y_accel: 391
-- Dave
--- accelerometer.c.orig 2005-07-03 11:37:07.000000000 -0700
+++ accelerometer.c 2005-07-03 12:16:50.000000000 -0700
@@ -53,17 +53,17 @@
static inline int latch_wait(unsigned char value, unsigned short port)
{
- printk(KERN_DEBUG DRV_NAME ": latch_wait(0x%x, 0x%x)\n", value, port);
-
int status = 0;
int i;
- for (i = 0; i < 10; i++) {
+ printk(KERN_DEBUG DRV_NAME ": latch_wait(0x%x, 0x%x)\n", value, port);
+
+ for (i = 0; i < 100; i++) {
if (latch_check(value, port)) {
status = 1;
break;
}
- udelay(5);
+ udelay(10);
}
return status;
@@ -78,9 +78,9 @@
static inline int refresh(int synchronous)
{
- printk(KERN_DEBUG DRV_NAME ": refresh(%d)\n", synchronous);
-
int status = 0;
+
+ printk(KERN_DEBUG DRV_NAME ": refresh(%d)\n", synchronous);
if (refresh_check()) {
status = 1;
@@ -103,29 +103,54 @@
inb(0x1604);
}
-static int read(void)
-{
- printk(KERN_DEBUG DRV_NAME ": read()\n");
+struct accelerometer_data {
+ unsigned char state;
+ unsigned short x_accel;
+ unsigned short y_accel;
+ unsigned char temperature_a;
+ unsigned short x_variation;
+ unsigned short y_variation;
+ unsigned char temperature_b;
+ unsigned char unknown;
+ unsigned char mk_use;
+} __attribute__ ((packed));
+static int read(int print)
+{
+ int i;
int status = 0;
+ struct accelerometer_data d;
+
+ printk(KERN_DEBUG DRV_NAME ": read()\n");
if (refresh(ACCELEROMETER_SYNC)) {
+ for (i=0; i< sizeof(struct accelerometer_data); i++) {
+ ((unsigned char *)(&d))[i] = inb(0x1611 + i);
+ }
+
/* FIXME: read data from 0x1611 through 0x161E */
read_done();
refresh(ACCELEROMETER_ASYNC);
status = 1;
}
+ if (print) {
+ //for (i=0; i< sizeof(struct accelerometer_data); i++)
+ // printk("data[%2d]: %02x\n", i, ((unsigned char *)(&d))[i]);
+ printk("x_accel: %d\n", d.x_accel);
+ printk("y_accel: %d\n", d.y_accel);
+ }
return status;
}
static int initialize(void)
{
+ int ret = -EIO;
outb(0x13, 0x1610);
outb(0x01, 0x161f);
if (! latch_wait(0x0, 0x161f))
- return -EIO;
+ return ret;
if (! latch_wait(0x3, 0x1611))
return -EIO;
@@ -140,6 +165,7 @@
return -EIO;
if (! latch_wait(0x0, 0x1613))
return -EIO;
+ printk("%s() 5\n", __func__);
outb(0x14, 0x1610);
outb(0x01, 0x1611);
@@ -159,9 +185,57 @@
if (! latch_wait(0x0, 0x1611))
return -EIO;
- /* FIXME: finish init sequence */
+/*
+ * I issue an outb at port 0x1610 of value 0x13,
+ * followed by an outb at port 0x161f of value 0x01.
+ * I then waits for latch 0x161f for value 0x0,
+ * and then wait for latch 0x1611 for value 0x3.
+ *
+ * Three more outbs at ports 0x1610, 0x1611, and 0x161f of values 0x17, 0x81, and 0x01, respectively follow.
+ *
+ * Four more waits for latches 0x161f, 0x1611, 0x1612, and 0x1613 for values 0x0, 0x0, 0x60, and 0x0 respectively.
+ * Then three more outbs at ports 0x1610, 0x1611, and 0x161f of values 0x14, 0x01, and 0x01.
+ *
+ * Then I wait for latch 0x161f for value 0x0.
+ * Then five outbs at ports 0x1610, 0x1611, 0x1612, 0x1613, and 0x161f of values 0x10, 0xc8, 0x00, 0x02, and 0x01
+ *
+ * I then wait for latch 0x161f for value 0x0 again.
+ *
+ * I then issues a synchronous refresh of the accelerometer data, and wait for latch 0x1611 to become 0x0.
+ */
+
+ /*----------------------------------------------
+ * The next part is a little bit tricky because it can take a long time for the accelerometer to complete.
+ * I loop forever until latch 0x1611 becomes 0x02.
+ * Inside this loop, I check the timeout value against the "time waited so far" variable.
+ * If the function has taken too long,
+ * return failure.
+ * else, I call the function which reads the accelerometer data
+ * and I throw away the (probably garbage) data
+ * (this read somehow seems to kick the accelerometer into being initialized).
+ * I set_current_state to TASK_INTERRUPTIBLE, and schedule_timeout for HZ.
+ * I then increment our "seconds waited so far" variable and continue the loop.
+ * If the loop ever exits successfully, the function returns success.
+ * A good value to pass for the initialize timeout value is 10 seconds.
+ *
+ */
+ /* I loop forever until latch 0x1611 becomes 0x02. */ {
+ unsigned long msecs_to_sleep = 10000;
+ unsigned long msecs_per_sleep = 100;
+ unsigned long msecs_slept = 0;
+ while (msecs_slept <= msecs_to_sleep) {
+ if (latch_check(0x2, 0x1611)) {
+ printk("good latch check\n");
+ ret = 0;
+ break;
+ }
+
+ read(0);
+ msleep_interruptible(msecs_per_sleep);
+ msecs_slept += msecs_per_sleep;
+ }}
- return 0;
+ return ret;
}
static int __init accelerometer_init(void)
@@ -180,6 +254,17 @@
}
ret = initialize();
+ printk("initialize() ret: %d\n", ret);
+ if (ret)
+ return ret;
+ read(1);
+ {
+ int i;
+ for (i=0; i<10;i++) {
+ msleep_interruptible(1000);
+ read(1);
+ }
+ }
if (ret != 0) {
printk(KERN_ERR DRV_NAME ": initialization failed\n");