Fixed bug with printf and negative numbers. Added accelerometer support.

openiboot/Makefile

@@ -3,7 +3,7 @@ CC = $(CROSS)gcc
 OBJCOPY = $(CROSS)objcopy
 HFS_OBJS = hfs/btree.o hfs/catalog.o hfs/extents.o hfs/fastunicodecompare.o hfs/rawfile.o hfs/utility.o hfs/volume.o hfs/bdev.o hfs/fs.o
 MENU_OBJS = menu.o stb_image.o
-OPENIBOOT_OBJS=entry.o openiboot.o arm.o tasks.o openiboot-asmhelpers.o mmu.o miu.o clock.o power.o uart.o interrupt.o timer.o event.o usb.o gpio.o util.o printf.o malloc.o dma.o nor.o aes.o spi.o chipid.o lcd.o i2c.o images.o sha1.o commands.o pmu.o buttons.o framebuffer.o actions.o nvram.o nand.o ftl.o
+OPENIBOOT_OBJS=entry.o openiboot.o arm.o tasks.o openiboot-asmhelpers.o mmu.o miu.o clock.o power.o uart.o interrupt.o timer.o event.o usb.o gpio.o util.o printf.o malloc.o dma.o nor.o aes.o spi.o chipid.o lcd.o i2c.o images.o sha1.o commands.o pmu.o buttons.o framebuffer.o actions.o nvram.o nand.o ftl.o accel.o
 ARCHFLAGS += -mlittle-endian -mfpu=vfp -mthumb -mthumb-interwork
 LIBRARIES += -lgcc -nostdlib
 INC += -Iincludes

openiboot/accel.c

@@ -0,0 +1,67 @@
+#include "openiboot.h"
+#include "util.h"
+#include "accel.h"
+#include "i2c.h"
+#include "hardware/accel.h"
+
+int accel_get_reg(int reg) {
+	uint8_t registers[1];
+	uint8_t out[1];
+
+	registers[0] = reg;
+
+	i2c_rx(ACCEL_I2C_BUS, ACCEL_GETADDR, registers, 1, out, 1);
+	return out[0];
+}
+
+int accel_write_reg(int reg, int data, int verify) {
+	uint8_t command[2];
+
+	command[0] = reg;
+	command[1] = data;
+
+	i2c_tx(ACCEL_I2C_BUS, ACCEL_SETADDR, command, sizeof(command));
+
+	if(!verify)
+		return 0;
+
+	uint8_t accelReg = reg;
+	uint8_t buffer = 0;
+	i2c_rx(ACCEL_I2C_BUS, ACCEL_GETADDR, &accelReg, 1, &buffer, 1);
+
+	if(buffer == data)
+		return 0;
+	else
+		return -1;
+}
+
+int accel_setup()
+{
+	int whoami = accel_get_reg(ACCEL_WHOAMI);
+	if(whoami != ACCEL_WHOAMI_VALUE)
+	{
+		bufferPrintf("accel: incorrect whoami value\n");
+		return -1;
+	}
+
+	accel_write_reg(ACCEL_CTRL_REG2, ACCEL_CTRL_REG2_BOOT, FALSE);
+	accel_write_reg(ACCEL_CTRL_REG1, ACCEL_CTRL_REG1_PD | ACCEL_CTRL_REG1_XEN | ACCEL_CTRL_REG1_YEN | ACCEL_CTRL_REG1_ZEN, FALSE);
+	return 0;
+}
+
+int accel_get_x()
+{
+	return (signed char)(accel_get_reg(ACCEL_OUTX));
+}
+
+int accel_get_y()
+{
+	return (signed char)(accel_get_reg(ACCEL_OUTY));
+}
+
+int accel_get_z()
+{
+	return (signed char)(accel_get_reg(ACCEL_OUTZ));
+}
+
+

openiboot/commands.c

@@ -16,8 +16,10 @@
 #include "dma.h"
 #include "nand.h"
 #include "ftl.h"
+#include "i2c.h"
 #include "hfs/fs.h"
 #include "aes.h"
+#include "accel.h"
 
 void cmd_reboot(int argc, char** argv) {
 	Reboot();
@@ -666,6 +668,33 @@ void cmd_time(int argc, char** argv) {
 	bufferPrintf("Current time: %02d:%02d:%02d, %s %02d/%02d/20%02d\r\n", pmu_get_hours(), pmu_get_minutes(), pmu_get_seconds(), pmu_get_dayofweek_str(), pmu_get_month(), pmu_get_day(), pmu_get_year());
 }
 
+void cmd_iic_read(int argc, char** argv) {
+	if(argc < 4) {
+		bufferPrintf("Usage: %s <bus> <address> <register>\n", argv[0]);
+		return;
+	}
+
+
+	int bus = parseNumber(argv[1]);
+	int address = parseNumber(argv[2]);
+	uint8_t registers[1];
+	uint8_t out[1];
+
+	registers[0] = parseNumber(argv[3]);
+
+	i2c_rx(bus, address, registers, 1, out, 1);
+
+	bufferPrintf("Result: %d\n", (int) out[0]);
+}
+
+void cmd_accel(int argc, char** argv) {
+	int x = accel_get_x();
+	int y = accel_get_y();
+	int z = accel_get_z();
+
+	bufferPrintf("x: %d, y: %d, z: %d\n", x, y, z);
+}
+
 void cmd_help(int argc, char** argv) {
 	OPIBCommand* curCommand = CommandList;
 	while(curCommand->name != NULL) {
@@ -709,6 +738,8 @@ OPIBCommand CommandList[] =
 		{"nor_read", "read a block of NOR into RAM", cmd_nor_read},
 		{"nor_write", "write RAM into NOR", cmd_nor_write},
 		{"nor_erase", "erase a block of NOR", cmd_nor_erase},
+		{"iic_read", "read a IIC register", cmd_iic_read},
+		{"accel", "display accelerometer data", cmd_accel},
 		{"images_list", "list the images available on NOR", cmd_images_list},
 		{"images_read", "read an image on NOR", cmd_images_read},
 		{"pmu_voltage", "get the battery voltage", cmd_pmu_voltage},

openiboot/includes/accel.h

@@ -0,0 +1,12 @@
+#ifndef ACCEL_H
+#define ACCEL_H
+
+#include "openiboot.h"
+
+int accel_setup();
+
+int accel_get_x();
+int accel_get_y();
+int accel_get_z();
+
+#endif

openiboot/includes/hardware/accel.h

@@ -0,0 +1,41 @@
+#ifndef HW_ACCEL_H
+#define HW_ACCEL_H
+
+#include "hardware/s5l8900.h"
+
+// See http://www.st.com/stonline/products/literature/ds/12726.pdf
+
+#define ACCEL_I2C_BUS 0
+
+// could be 0x72 and 0x73 as well
+#define ACCEL_SETADDR	0x3A
+#define ACCEL_GETADDR	0x3B
+
+#define ACCEL_WHOAMI	0x0F
+#define ACCEL_CTRL_REG1	0x20
+#define ACCEL_CTRL_REG2	0x21
+#define ACCEL_STATUS	0x27
+#define ACCEL_OUTX	0x29
+#define ACCEL_OUTY	0x2B
+#define ACCEL_OUTZ	0x2D
+
+#define ACCEL_WHOAMI_VALUE	0x3B
+
+#define ACCEL_CTRL_REG1_DR	(1 << 7)
+#define ACCEL_CTRL_REG1_PD	(1 << 6)
+#define ACCEL_CTRL_REG1_FS	(1 << 5)
+#define ACCEL_CTRL_REG1_STP	(1 << 4)
+#define ACCEL_CTRL_REG1_STM	(1 << 3)
+#define ACCEL_CTRL_REG1_ZEN	(1 << 2)
+#define ACCEL_CTRL_REG1_YEN	(1 << 1)
+#define ACCEL_CTRL_REG1_XEN	(1 << 0)
+
+#define ACCEL_CTRL_REG2_SIM	(1 << 7)
+#define ACCEL_CTRL_REG2_BOOT	(1 << 6)
+#define ACCEL_CTRL_REG2_FDS	(1 << 4)
+#define ACCEL_CTRL_REG2_HPEN2	(1 << 3)
+#define ACCEL_CTRL_REG2_HPEN1	(1 << 2)
+#define ACCEL_CTRL_REG2_HP2	(1 << 1)
+#define ACCEL_CTRL_REG2_HP1	(1 << 0)
+
+#endif

openiboot/openiboot.c

@@ -21,6 +21,7 @@
 #include "tasks.h"
 #include "images.h"
 #include "nvram.h"
+#include "accel.h"
 
 #include "util.h"
 #include "commands.h"
@@ -76,18 +77,10 @@ void OpenIBootStart() {
 #endif
 #endif
 
-	clock_gate_switch(6, 1);
-	clock_gate_switch(0, 1);
-	SET_REG(0x38800050, 0x09000000);
-	SET_REG(0x38800054, 0x09000000);
-	SET_REG(0x38800084, 0x0a000000);
-	SET_REG(0x38800090, 1);
-	SET_REG(0x38800094, 0);
-	SET_REG(0x3880009C, 1);
-	//*(0x38800000) = 1;
-
 	startUSB();
 
+	accel_setup();
+
 	nand_setup();
 #ifndef NO_HFS
 	fs_setup();

openiboot/printf.c

@@ -74,7 +74,7 @@ int do_printf(const char *fmt, va_list args, fnptr_t fn, void *ptr)
 	unsigned flags, actual_wd, count, given_wd;
 	char *where, buf[PR_BUFLEN];
 	unsigned char state, radix;
-	uint64_t num;
+	int64_t num;
 
 	state = flags = count = given_wd = 0;
 /* begin scanning format specifier list */