Improve support to raspberry pi 5

src/icm20689.rs

@@ -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,
 }
 
@@ -36,7 +39,7 @@ impl AnyHardware for Icm20689Device {
 
 pub struct Icm20689Builder {
     spi_device: String,
-    cs_pin_number: u64,
+    cs_pin_number: u32,
     info: PeripheralInfo,
 }
 
@@ -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
     }
@@ -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/gpiochip0").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);
 

src/leak.rs

@@ -1,11 +1,11 @@
 use std::{error::Error, thread::sleep, time::Duration};
 
-use linux_embedded_hal::sysfs_gpio::{Direction, Pin};
+use linux_embedded_hal::gpio_cdev::{Chip, LineHandle, LineRequestFlags};
 
 use crate::peripherals::{AnyHardware, LeakSensor, PeripheralClass, PeripheralInfo, Peripherals};
 
 pub struct LeakDetector {
-    pin: Pin,
+    pin: LineHandle,
     info: PeripheralInfo,
 }
 
@@ -26,7 +26,7 @@ impl AnyHardware for LeakDetector {
 }
 
 pub struct LeakBuilder {
-    pin_number: u64,
+    pin_number: u32,
     info: PeripheralInfo,
 }
 
@@ -46,7 +46,7 @@ impl LeakBuilder {
     /// # Arguments
     ///
     /// * `pin_number` - The GPIO pin number.
-    pub fn with_pin(mut self, pin_number: u64) -> Self {
+    pub fn with_pin(mut self, pin_number: u32) -> Self {
         self.pin_number = pin_number;
         self
     }
@@ -57,10 +57,17 @@ impl LeakBuilder {
     }
 
     pub fn build(self) -> Result<LeakDetector, Box<dyn Error>> {
-        let pin = Pin::new(self.pin_number);
-        pin.export()?;
-        sleep(Duration::from_millis(60));
-        pin.set_direction(Direction::In)?;
+        let pin = {
+            let mut chip = Chip::new("/dev/gpiochip0")?;
+            let pin = chip
+                .get_line(self.pin_number)
+                .unwrap()
+                .request(LineRequestFlags::INPUT, 1, "pin-leak")
+                .expect("Failed to configure LEAK pin");
+            sleep(Duration::from_millis(30));
+            pin
+        };
+
         Ok(LeakDetector {
             pin,
             info: self.info,

src/led.rs

@@ -1,11 +1,11 @@
 use std::{thread::sleep, time::Duration};
 
-use linux_embedded_hal::{sysfs_gpio::Direction, Pin};
+use linux_embedded_hal::gpio_cdev::{Chip, LineHandle, LineRequestFlags};
 
 use crate::peripherals::{AnyHardware, LedBehaviour, PeripheralClass, PeripheralInfo, Peripherals};
 
 pub struct LedController {
-    pub leds: Vec<Pin>,
+    pub leds: Vec<LineHandle>,
     pub info: PeripheralInfo,
 }
 
@@ -26,7 +26,7 @@ impl AnyHardware for LedController {
 }
 
 pub struct LedControllerBuilder {
-    pub pins: Vec<u64>,
+    pub pins: Vec<u32>,
     pub info: PeripheralInfo,
 }
 
@@ -42,7 +42,7 @@ impl LedControllerBuilder {
     }
 
     /// Adds a GPIO pin to control an LED.
-    pub fn add_led_pin(mut self, pin_number: u64) -> Self {
+    pub fn add_led_pin(mut self, pin_number: u32) -> Self {
         self.pins.push(pin_number);
         self
     }
@@ -65,12 +65,18 @@ impl LedControllerBuilder {
             self = self.configure_navigator();
         }
 
+        let mut chip = Chip::new("/dev/gpiochip0").unwrap();
         for &pin_number in &self.pins {
-            let pin = Pin::new(pin_number);
-            pin.export().expect("Failed to export LED pin");
-            sleep(Duration::from_millis(60));
-            pin.set_direction(Direction::Out)
-                .expect("Failed to set direction");
+            let pin = chip
+                .get_line(pin_number)
+                .unwrap()
+                .request(
+                    LineRequestFlags::OUTPUT,
+                    1,
+                    &format!("user-led-{pin_number}"),
+                )
+                .expect("Failed to request LED pin");
+            sleep(Duration::from_millis(30));
             pin.set_value(1).expect("Failed to set initial LED value");
             leds.push(pin);
         }

src/pca9685.rs

@@ -1,13 +1,16 @@
 use std::{error::Error, thread::sleep, time::Duration};
 
-use linux_embedded_hal::{sysfs_gpio::Direction, I2cdev, Pin};
+use linux_embedded_hal::{
+    gpio_cdev::{Chip, LineHandle, LineRequestFlags},
+    I2cdev,
+};
 use pwm_pca9685::{Address as PwmAddress, Channel, Pca9685};
 
 use crate::peripherals::{AnyHardware, PeripheralClass, PeripheralInfo, Peripherals, PwmBehaviour};
 
 pub struct Pca9685Device {
     pwm: Pca9685<I2cdev>,
-    oe_pin: Pin,
+    oe_pin: LineHandle,
     info: PeripheralInfo,
 }
 
@@ -30,7 +33,7 @@ impl AnyHardware for Pca9685Device {
 pub struct Pca9685DeviceBuilder {
     i2c_bus: String,
     address: PwmAddress,
-    oe_pin_number: u64,
+    oe_pin_number: u32,
     info: PeripheralInfo,
 }
 
@@ -72,7 +75,7 @@ impl Pca9685DeviceBuilder {
     /// # Arguments
     ///
     /// * `pin_number` - The GPIO pin number for OE.
-    pub fn with_oe_pin(mut self, pin_number: u64) -> Self {
+    pub fn with_oe_pin(mut self, pin_number: u32) -> Self {
         self.oe_pin_number = pin_number;
         self
     }
@@ -89,10 +92,14 @@ impl Pca9685DeviceBuilder {
         let mut pwm = Pca9685::new(device, self.address).expect("Failed to open PWM controller");
 
         let oe_pin = {
-            let pin = Pin::new(self.oe_pin_number);
-            pin.export()?;
-            sleep(Duration::from_millis(60));
-            pin.set_direction(Direction::High)?;
+            let mut chip = Chip::new("/dev/gpiochip0")?;
+            let pin = chip
+                .get_line(self.oe_pin_number)
+                .unwrap()
+                .request(LineRequestFlags::OUTPUT, 1, "oe-pin-pca9685")
+                .expect("Failed to request OE pin");
+            sleep(Duration::from_millis(30));
+            pin.set_value(1)?;
             pin
         };
 
@@ -110,12 +117,9 @@ impl Pca9685DeviceBuilder {
 
 impl PwmBehaviour for Pca9685Device {
     fn enable_output(&mut self, enable: bool) -> Result<(), Box<dyn Error>> {
-        let value = if enable {
-            Direction::Low
-        } else {
-            Direction::High
-        }; // Active low OE pin
-        self.oe_pin.set_direction(value).unwrap();
+        // Active low OE pin
+        let value = if enable { 0 } else { 1 };
+        self.oe_pin.set_value(value).unwrap();
         Ok(())
     }