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ts_calibrate is a graphical tool to calibrate the touch sensor. The app asks the user to tap a sequence of 5 cross-hairs with a stylus. It recalibrates the touchscreen, then exits.
As of August 2007, it is typically included in the Openmoko root filesystem, but does not appear in the graphical menus. You can run it from an ssh or GTKTerm2 command line.
It is a C program, ts_calibrate.c, and appears to be part of the xcalibrate package.
You probably won't get good results with a finger or fingernail - so try to have a stylus handy.