Skip to content

Commit

Permalink
icm20689: Move to use new gpio_cdev over sysfs_gpio
Browse files Browse the repository at this point in the history
Signed-off-by: Patrick José Pereira <[email protected]>
  • Loading branch information
patrickelectric committed Dec 9, 2024
1 parent abf2ea7 commit 0ff7924
Showing 1 changed file with 21 additions and 11 deletions.
32 changes: 21 additions & 11 deletions src/icm20689.rs
Original file line number Diff line number Diff line change
@@ -1,16 +1,19 @@
use std::error::Error;
use std::{error::Error, thread::sleep, time::Duration};

use icm20689::{self, Builder as ImuBuilder, SpiInterface, ICM20689};
use linux_embedded_hal::spidev::{SpiModeFlags, SpidevOptions};
use linux_embedded_hal::sysfs_gpio::Direction;
use linux_embedded_hal::{Delay, Pin, Spidev};
use linux_embedded_hal::{
gpio_cdev::{Chip, LineRequestFlags},
CdevPin,
};
use linux_embedded_hal::{Delay, Spidev};

use crate::peripherals::{
AccelerometerSensor, AnyHardware, GyroscopeSensor, PeripheralClass, PeripheralInfo, Peripherals,
};

pub struct Icm20689Device {
imu: ICM20689<SpiInterface<Spidev, Pin>>,
imu: ICM20689<SpiInterface<Spidev, CdevPin>>,
info: PeripheralInfo,
}

Expand All @@ -36,7 +39,7 @@ impl AnyHardware for Icm20689Device {

pub struct Icm20689Builder {
spi_device: String,
cs_pin_number: u64,
cs_pin_number: u32,
info: PeripheralInfo,
}

Expand Down Expand Up @@ -67,7 +70,7 @@ impl Icm20689Builder {
/// # Arguments
///
/// * `pin_number` - The SPI pin number (e.g., 16).
pub fn with_cs_pin(mut self, pin_number: u64) -> Self {
pub fn with_cs_pin(mut self, pin_number: u32) -> Self {
self.cs_pin_number = pin_number;
self
}
Expand All @@ -86,11 +89,18 @@ impl Icm20689Builder {
.build();
spi.configure(&options)?;

let cs_pin = Pin::new(self.cs_pin_number);
cs_pin.export()?;
std::thread::sleep(std::time::Duration::from_millis(60));
cs_pin.set_direction(Direction::Out)?;
cs_pin.set_value(1)?;
let cs_pin = {
let mut chip = Chip::new("/dev/gpiochip4").unwrap();
let line = chip
.get_line(self.cs_pin_number)
.unwrap()
.request(LineRequestFlags::OUTPUT, 1, "cs-icm20689")
.expect("Failed to request CS pin");
let pin = CdevPin::new(line)?;
sleep(Duration::from_millis(30));
pin.set_value(1)?;
pin
};

let mut imu = ImuBuilder::new_spi(spi, cs_pin);

Expand Down

0 comments on commit 0ff7924

Please sign in to comment.