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Merged
merged 5 commits into from
Mar 10, 2025
Merged

Add accelerometer support #86

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b276fdd
Add accelerometer support
JohnAZoidberg Sep 30, 2024
d46e741
power: AccelData values are i16
JohnAZoidberg Oct 21, 2024
42c5803
power: Add function to get accel data
JohnAZoidberg Oct 21, 2024
f298354
power: Properly encode AccelData/LidAngle
JohnAZoidberg Oct 21, 2024
742f2c8
framework_lib: Print accelerometer data in G
JohnAZoidberg Feb 5, 2025
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111 changes: 105 additions & 6 deletions framework_lib/src/power.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -54,12 +54,13 @@ const EC_MEMMAP_BATT_SERIAL: u16 = 0x70; // Battery Serial Number String
const EC_MEMMAP_BATT_TYPE: u16 = 0x78; // Battery Type String
const EC_MEMMAP_ALS: u16 = 0x80; // ALS readings in lux (2 X 16 bits)
// Unused 0x84 - 0x8f
const _EC_MEMMAP_ACC_STATUS: u16 = 0x90; // Accelerometer status (8 bits )
// Unused 0x91
const _EC_MEMMAP_ACC_DATA: u16 = 0x92; // Accelerometers data 0x92 - 0x9f
// 0x92: u16Lid Angle if available, LID_ANGLE_UNRELIABLE otherwise
// 0x94 - 0x99: u161st Accelerometer
// 0x9a - 0x9f: u162nd Accelerometer
const EC_MEMMAP_ACC_STATUS: u16 = 0x90; // Accelerometer status (8 bits )
// Unused 0x91
const EC_MEMMAP_ACC_DATA: u16 = 0x92; // Accelerometers data 0x92 - 0x9f
// 0x92: u16Lid Angle if available, LID_ANGLE_UNRELIABLE otherwise
// 0x94 - 0x99: u161st Accelerometer
// 0x9a - 0x9f: u162nd Accelerometer
const LID_ANGLE_UNRELIABLE: u16 = 500;
const _EC_MEMMAP_GYRO_DATA: u16 = 0xa0; // Gyroscope data 0xa0 - 0xa5
// Unused 0xa6 - 0xdf

Expand Down Expand Up @@ -163,6 +164,53 @@ impl From<PowerInfo> for ReducedPowerInfo {
}
}

#[derive(Debug, Clone, PartialEq, Eq)]
pub struct AccelData {
pub x: i16,
pub y: i16,
pub z: i16,
}
impl From<Vec<u8>> for AccelData {
fn from(t: Vec<u8>) -> Self {
Self {
x: i16::from_le_bytes([t[0], t[1]]),
y: i16::from_le_bytes([t[2], t[3]]),
z: i16::from_le_bytes([t[4], t[5]]),
}
}
}
impl fmt::Display for AccelData {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
let quarter: f32 = 0xFFFF as f32 / 4.0;
let x = (self.x as f32) / quarter;
let y = (self.y as f32) / quarter;
let z = (self.z as f32) / quarter;
write!(f, "X: {:.2}G Y: {:.2}G, Z: {:.2}G", x, y, z)
}
}

#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum LidAngle {
Angle(u16),
Unreliable,
}
impl From<u16> for LidAngle {
fn from(a: u16) -> Self {
match a {
LID_ANGLE_UNRELIABLE => Self::Unreliable,
_ => Self::Angle(a),
}
}
}
impl fmt::Display for LidAngle {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
match self {
Self::Angle(deg) => write!(f, "{}", deg),
Self::Unreliable => write!(f, "Unreliable"),
}
}
}

fn read_string(ec: &CrosEc, address: u16) -> String {
let bytes = ec.read_memory(address, EC_MEMMAP_TEXT_MAX).unwrap();
String::from_utf8_lossy(bytes.as_slice()).replace(['\0'], "")
Expand Down Expand Up @@ -197,9 +245,60 @@ pub fn get_als_reading(ec: &CrosEc) -> Option<u32> {
Some(u32::from_le_bytes([als[0], als[1], als[2], als[3]]))
}

pub fn get_accel_data(ec: &CrosEc) -> (AccelData, AccelData, LidAngle) {
// bit 4 = busy
// bit 7 = present
// #define EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK 0x0f
let _acc_status = ec.read_memory(EC_MEMMAP_ACC_STATUS, 0x01).unwrap()[0];
// While busy, keep reading

let lid_angle = ec.read_memory(EC_MEMMAP_ACC_DATA, 0x02).unwrap();
let lid_angle = u16::from_le_bytes([lid_angle[0], lid_angle[1]]);
let accel_1 = ec.read_memory(EC_MEMMAP_ACC_DATA + 2, 0x06).unwrap();
let accel_2 = ec.read_memory(EC_MEMMAP_ACC_DATA + 8, 0x06).unwrap();

// TODO: Make sure we got a new sample
// println!(" Status Bit: {} 0x{:X}", acc_status, acc_status);
// println!(" Present: {}", (acc_status & 0x80) > 0);
// println!(" Busy: {}", (acc_status & 0x8) > 0);
(
AccelData::from(accel_1),
AccelData::from(accel_2),
LidAngle::from(lid_angle),
)
}

pub fn print_sensors(ec: &CrosEc) {
let als_int = get_als_reading(ec).unwrap();
println!("ALS: {:>4} Lux", als_int);

// bit 4 = busy
// bit 7 = present
// #define EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK 0x0f
let acc_status = ec.read_memory(EC_MEMMAP_ACC_STATUS, 0x01).unwrap()[0];
// While busy, keep reading

let lid_angle = ec.read_memory(EC_MEMMAP_ACC_DATA, 0x02).unwrap();
let lid_angle = u16::from_le_bytes([lid_angle[0], lid_angle[1]]);
let accel_1 = ec.read_memory(EC_MEMMAP_ACC_DATA + 2, 0x06).unwrap();
let accel_2 = ec.read_memory(EC_MEMMAP_ACC_DATA + 8, 0x06).unwrap();

println!("Accelerometers:");
println!(" Status Bit: {} 0x{:X}", acc_status, acc_status);
println!(" Present: {}", (acc_status & 0x80) > 0);
println!(" Busy: {}", (acc_status & 0x8) > 0);
print!(" Lid Angle: ");
if lid_angle == LID_ANGLE_UNRELIABLE {
println!("Unreliable");
} else {
println!("{} Deg", lid_angle);
}
println!(" Sensor 1: {}", AccelData::from(accel_1));
println!(" Sensor 2: {}", AccelData::from(accel_2));
// Accelerometers
// Lid Angle: 26 Deg
// Sensor 1: 00.00 X 00.00 Y 00.00 Z
// Sensor 2: 00.00 X 00.00 Y 00.00 Z
}

pub fn print_thermal(ec: &CrosEc) {
Expand Down