Add final raspberry pi 5 support

examples/led-custom-builder.rs

@@ -0,0 +1,29 @@
+use navigator_rs::{Navigator, UserLed};
+use std::thread::sleep;
+use std::time::Duration;
+
+use rand::seq::SliceRandom;
+
+fn main() {
+    let mut nav = Navigator::create().build_navigator_v2_pi5();
+
+    let colors = [
+        [40u8, 0, 0],
+        [0, 40, 0],
+        [0, 0, 40],
+        [40, 40, 0],
+        [0, 40, 40],
+        [40, 0, 40],
+    ];
+
+    println!("LED show started!");
+    loop {
+        nav.set_neopixel(&[*colors.choose(&mut rand::thread_rng()).unwrap()]);
+        for led in [UserLed::Led1, UserLed::Led2, UserLed::Led3] {
+            nav.set_led_toggle(led);
+            sleep(Duration::from_millis(300));
+        }
+
+        println!("{:?}", nav.read_all());
+    }
+}

src/leak.rs

@@ -1,4 +1,4 @@
-use std::{error::Error, thread::sleep, time::Duration};
+use std::{error::Error, path::PathBuf, thread::sleep, time::Duration};
 
 use linux_embedded_hal::gpio_cdev::{Chip, LineHandle, LineRequestFlags};
 
@@ -28,6 +28,7 @@ impl AnyHardware for LeakDetector {
 pub struct LeakBuilder {
     pin_number: u32,
     info: PeripheralInfo,
+    gpiochip: PathBuf,
 }
 
 impl LeakBuilder {
@@ -38,6 +39,7 @@ impl LeakBuilder {
                 peripheral: Peripherals::Leak,
                 class: vec![PeripheralClass::DigitalInput],
             },
+            gpiochip: "/dev/gpiochip0".into(),
         }
     }
 
@@ -56,9 +58,14 @@ impl LeakBuilder {
         self
     }
 
+    pub fn with_gpiochip(mut self, gpiochip: &str) -> Self {
+        self.gpiochip = gpiochip.into();
+        self
+    }
+
     pub fn build(self) -> Result<LeakDetector, Box<dyn Error>> {
         let pin = {
-            let mut chip = Chip::new("/dev/gpiochip0")?;
+            let mut chip = Chip::new(self.gpiochip)?;
             let pin = chip
                 .get_line(self.pin_number)
                 .unwrap()

src/led.rs

@@ -1,4 +1,4 @@
-use std::{thread::sleep, time::Duration};
+use std::{path::PathBuf, thread::sleep, time::Duration};
 
 use linux_embedded_hal::gpio_cdev::{Chip, LineHandle, LineRequestFlags};
 
@@ -28,6 +28,7 @@ impl AnyHardware for LedController {
 pub struct LedControllerBuilder {
     pub pins: Vec<u32>,
     pub info: PeripheralInfo,
+    pub gpiochip: PathBuf,
 }
 
 impl LedControllerBuilder {
@@ -38,6 +39,7 @@ impl LedControllerBuilder {
                 peripheral: Peripherals::Gpio,
                 class: vec![PeripheralClass::Led],
             },
+            gpiochip: "/dev/gpiochip0".into(),
         }
     }
 
@@ -52,6 +54,11 @@ impl LedControllerBuilder {
         self
     }
 
+    pub fn with_gpiochip(mut self, gpiochip: &str) -> Self {
+        self.gpiochip = gpiochip.into();
+        self
+    }
+
     /// Configures the GPIO pins for the default Navigator board.
     pub fn configure_navigator(self) -> Self {
         self.add_led_pin(11).add_led_pin(24).add_led_pin(25)
@@ -65,7 +72,7 @@ impl LedControllerBuilder {
             self = self.configure_navigator();
         }
 
-        let mut chip = Chip::new("/dev/gpiochip0").unwrap();
+        let mut chip = Chip::new(self.gpiochip).expect("Failed to open GPIO chip");
         for &pin_number in &self.pins {
             let pin = chip
                 .get_line(pin_number)

src/lib.rs

@@ -20,6 +20,7 @@ use peripherals::*;
 use ads1115::Ads1115Device;
 use ak09915::Ak09915Device;
 use bmp280::Bmp280Device;
+use bmp390::Bmp390Device;
 use icm20689::Icm20689Device;
 use leak::LeakDetector;
 use led::LedController;
@@ -399,4 +400,52 @@ impl NavigatorBuilder {
 
         Navigator { devices }
     }
+
+    pub fn build_navigator_v2_pi5(self) -> Navigator {
+        let gpiochip = "/dev/gpiochip4";
+        let devices: Vec<Box<dyn AnyHardware>> = vec![
+            Box::new(
+                Ads1115Device::builder()
+                    .build()
+                    .expect("Failed to create Ads1115"),
+            ),
+            Box::new(
+                Ak09915Device::builder()
+                    .build()
+                    .expect("Failed to create Ak09915"),
+            ),
+            Box::new(
+                Bmp390Device::builder()
+                    .build()
+                    .expect("Failed to create Bmp390"),
+            ),
+            Box::new(
+                Icm20689Device::builder()
+                    .build()
+                    .expect("Failed to create Icm20689"),
+            ),
+            Box::new(
+                LeakDetector::builder()
+                    .with_gpiochip(gpiochip)
+                    .build()
+                    .expect("Failed to create LedDetector"),
+            ),
+            Box::new(LedController::builder().with_gpiochip(gpiochip).build()),
+            Box::new(
+                Pca9685Device::builder()
+                    .with_gpiochip(gpiochip)
+                    .with_i2c_bus("/dev/i2c-3")
+                    .build()
+                    .expect("Failed to create Pca9685"),
+            ),
+            Box::new(
+                RgbController::builder()
+                    .with_led_count(self.rgb_led_strip_size)
+                    .build()
+                    .expect("Failed to create RgbController"),
+            ),
+        ];
+
+        Navigator { devices }
+    }
 }

src/pca9685.rs

@@ -1,4 +1,4 @@
-use std::{error::Error, thread::sleep, time::Duration};
+use std::{error::Error, path::PathBuf, thread::sleep, time::Duration};
 
 use linux_embedded_hal::{
     gpio_cdev::{Chip, LineHandle, LineRequestFlags},
@@ -35,6 +35,7 @@ pub struct Pca9685DeviceBuilder {
     address: PwmAddress,
     oe_pin_number: u32,
     info: PeripheralInfo,
+    gpiochip: PathBuf,
 }
 
 impl Pca9685DeviceBuilder {
@@ -47,6 +48,7 @@ impl Pca9685DeviceBuilder {
                 peripheral: Peripherals::Pca9685,
                 class: vec![PeripheralClass::Pwm],
             },
+            gpiochip: "/dev/gpiochip0".into(),
         }
     }
 
@@ -86,13 +88,18 @@ impl Pca9685DeviceBuilder {
         self
     }
 
+    pub fn with_gpiochip(mut self, gpiochip: &str) -> Self {
+        self.gpiochip = gpiochip.into();
+        self
+    }
+
     /// Builds the `Pca9685Device`.
     pub fn build(self) -> Result<Pca9685Device, Box<dyn Error>> {
         let device = I2cdev::new(self.i2c_bus)?;
         let mut pwm = Pca9685::new(device, self.address).expect("Failed to open PWM controller");
 
         let oe_pin = {
-            let mut chip = Chip::new("/dev/gpiochip0")?;
+            let mut chip = Chip::new(self.gpiochip).expect("Failed to open GPIO chip");
             let pin = chip
                 .get_line(self.oe_pin_number)
                 .unwrap()
@@ -104,8 +111,9 @@ impl Pca9685DeviceBuilder {
         };
 
         pwm.reset_internal_driver_state();
-        pwm.use_external_clock().unwrap();
-        pwm.enable().unwrap();
+        pwm.use_external_clock()
+            .expect("Failed to use external clock");
+        pwm.enable().expect("Failed to enable PWM controller");
 
         Ok(Pca9685Device {
             pwm,