update all the things
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|
||||
[[package]]
|
||||
name = "toml_datetime"
|
||||
version = "1.1.2+spec-1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2b86d767906c6c42421dcba507eb9d203e779497710a47782a224bb871653053"
|
||||
dependencies = [
|
||||
"serde_core",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "toml_parser"
|
||||
version = "1.1.5+spec-1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "baa693a8032d7e1cada7d0041e96126df243179ff061456783ac7f12bda4744c"
|
||||
dependencies = [
|
||||
"winnow",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "toml_writer"
|
||||
version = "1.1.3+spec-1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "06bdbd8cfc056b8d2e2e85f29b56a3bdbecb527cef81eb39e3e7b98af4652770"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.1"
|
||||
version = "1.0.27"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5bd2fe26506023ed7b5e1e315add59d6f584c621d037f9368fea9cfb988f368c"
|
||||
checksum = "a2c754d6c33795a1c324727428e5a7dedb5b06195f9890bdbcba760d3e246563"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.4"
|
||||
version = "0.9.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||
checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
|
||||
|
||||
[[package]]
|
||||
name = "winapi"
|
||||
@@ -265,11 +432,11 @@ checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
|
||||
|
||||
[[package]]
|
||||
name = "winapi-util"
|
||||
version = "0.1.5"
|
||||
version = "0.1.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "70ec6ce85bb158151cae5e5c87f95a8e97d2c0c4b001223f33a334e3ce5de178"
|
||||
checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
|
||||
dependencies = [
|
||||
"winapi",
|
||||
"windows-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -279,12 +446,22 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||
|
||||
[[package]]
|
||||
name = "wiringpi"
|
||||
version = "0.2.4"
|
||||
name = "windows-link"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e3e065de8885b0ae1e1928eb3bf905c7d0a0a28ceab823852e9ffe123a126f3d"
|
||||
checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
|
||||
|
||||
[[package]]
|
||||
name = "windows-sys"
|
||||
version = "0.61.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
|
||||
dependencies = [
|
||||
"cc",
|
||||
"glob",
|
||||
"libc",
|
||||
"windows-link",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "winnow"
|
||||
version = "1.0.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "23b97319f7b8343df12cc98938e5c3eb436064524c8d2b4e30a1d3a36eecdf81"
|
||||
+5
-2
@@ -2,9 +2,12 @@
|
||||
name = "motor"
|
||||
version = "0.1.0"
|
||||
description = "raspberry pi stepper motor controller"
|
||||
edition = "2021"
|
||||
edition = "2024"
|
||||
|
||||
[dependencies]
|
||||
anyhow = "1.0.104"
|
||||
clap = { version = "3.2.10", features = ["derive"] }
|
||||
ctrlc = "3.2.2"
|
||||
wiringpi = "0.2.4"
|
||||
rppal = "0.22.1"
|
||||
serde = { version = "1.0.229", features = ["derive"] }
|
||||
toml = { version = "1.1.8", features = ["serde"] }
|
||||
@@ -0,0 +1,2 @@
|
||||
pin_mappings = [0, 2, 3, 4]
|
||||
sleep_time = { secs = 0, nanos = 7_000_000 }
|
||||
+1
-2
@@ -4,8 +4,7 @@ NAME="$(pwd | rg "/[^/]*\$" -o | replace "/" "")"
|
||||
|
||||
echo "Running $NAME"
|
||||
|
||||
set -x
|
||||
set -r
|
||||
set -xer
|
||||
|
||||
cargo build -vvv --target arm-unknown-linux-gnueabihf $@
|
||||
|
||||
|
||||
+29
-28
@@ -1,12 +1,18 @@
|
||||
mod motor;
|
||||
|
||||
use crate::motor::{Motor, MotorConfig, MotorPinMappings, MotorPins};
|
||||
use crate::motor::{Motor, MotorConfig, MotorPins};
|
||||
use anyhow::{Context, anyhow};
|
||||
use clap::{Parser, Subcommand};
|
||||
use rppal::gpio::Gpio;
|
||||
use std::fs;
|
||||
use std::path::{Path, PathBuf};
|
||||
use std::sync::atomic::{AtomicBool, Ordering};
|
||||
use std::time::Duration;
|
||||
|
||||
#[derive(Parser)]
|
||||
struct Opt {
|
||||
#[clap(short, long, default_value = "/etc/motor.toml")]
|
||||
config: PathBuf,
|
||||
|
||||
#[clap(subcommand)]
|
||||
command: Command,
|
||||
}
|
||||
@@ -26,10 +32,6 @@ enum Command {
|
||||
/// forever
|
||||
#[clap(long, short)]
|
||||
steps: Option<usize>,
|
||||
|
||||
/// The time in milliseconds between each tick of the stepper motor
|
||||
#[clap(long, short, default_value = "7")]
|
||||
motor_sleep_time: u64,
|
||||
},
|
||||
}
|
||||
|
||||
@@ -39,34 +41,31 @@ pub enum Direction {
|
||||
Right,
|
||||
}
|
||||
|
||||
fn main() {
|
||||
let opt = Opt::parse();
|
||||
let exit = Box::leak(Box::new(AtomicBool::new(false)));
|
||||
fn load_config(path: &Path) -> anyhow::Result<MotorConfig> {
|
||||
fs::read_to_string(path)
|
||||
.context("Failed to open/read file")
|
||||
.and_then(|file| toml::from_str(&file).context("Failed to deserialize config"))
|
||||
.context(anyhow!("Error opening reading file at {path:?}"))
|
||||
}
|
||||
|
||||
fn main() -> anyhow::Result<()> {
|
||||
let opt = Opt::parse();
|
||||
let config = load_config(&opt.config)?;
|
||||
|
||||
let exit = Box::leak(Box::new(AtomicBool::new(false)));
|
||||
ctrlc::set_handler(|| {
|
||||
exit.store(true, Ordering::Release);
|
||||
})
|
||||
.expect("Error setting Ctrl-C handler");
|
||||
|
||||
let pi = wiringpi::setup();
|
||||
|
||||
const PIN_MAPPINGS: MotorPinMappings = [0, 2, 3, 4];
|
||||
let gpio = Gpio::new().context("Failed to access GPIOs")?;
|
||||
|
||||
match &opt.command {
|
||||
Command::Reset => {
|
||||
let _ = MotorPins::new(&pi, PIN_MAPPINGS);
|
||||
let _ = MotorPins::new(&gpio, config.pin_mappings);
|
||||
}
|
||||
Command::Turn {
|
||||
direction,
|
||||
steps,
|
||||
motor_sleep_time,
|
||||
} => {
|
||||
let motor_config = MotorConfig {
|
||||
pin_mappings: PIN_MAPPINGS,
|
||||
sleep_time: Duration::from_millis(*motor_sleep_time),
|
||||
};
|
||||
|
||||
let mut motor = Motor::new(&pi, &motor_config);
|
||||
Command::Turn { direction, steps } => {
|
||||
let mut motor = Motor::new(&gpio, &config)?;
|
||||
for i in 0.. {
|
||||
if exit.load(Ordering::Acquire) {
|
||||
break;
|
||||
@@ -77,12 +76,14 @@ fn main() {
|
||||
println!("{i}");
|
||||
}
|
||||
|
||||
if let Some(steps) = steps {
|
||||
if i >= *steps {
|
||||
break;
|
||||
}
|
||||
if let Some(steps) = steps
|
||||
&& i >= *steps
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
+27
-15
@@ -1,46 +1,58 @@
|
||||
use crate::Direction;
|
||||
use anyhow::bail;
|
||||
use rppal::gpio::Level::{High, Low};
|
||||
use rppal::gpio::{Gpio, Level, OutputPin};
|
||||
use serde::{Deserialize, Serialize};
|
||||
use std::thread::sleep;
|
||||
use std::time::Duration;
|
||||
use wiringpi::pin::{self, OutputPin, Value::*};
|
||||
use wiringpi::WiringPi;
|
||||
|
||||
pub struct Motor {
|
||||
pins: MotorPins,
|
||||
sleep_time: Duration,
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct MotorConfig {
|
||||
pub pin_mappings: [u16; 4],
|
||||
pub pin_mappings: MotorPinMappings,
|
||||
|
||||
/// The time in milliseconds between each tick of the stepper motor
|
||||
pub sleep_time: Duration,
|
||||
}
|
||||
|
||||
pub struct MotorPins {
|
||||
pins: [OutputPin<pin::WiringPi>; 4],
|
||||
pins: [OutputPin; 4],
|
||||
}
|
||||
|
||||
pub type MotorPinMappings = [u16; 4];
|
||||
pub type MotorPinMappings = [u8; 4];
|
||||
|
||||
impl MotorPins {
|
||||
pub fn new(wiringpi: &WiringPi<pin::WiringPi>, pin_mappings: MotorPinMappings) -> Self {
|
||||
MotorPins {
|
||||
pins: pin_mappings.map(|id| wiringpi.output_pin(id)),
|
||||
pub fn new(gpio: &Gpio, pin_mappings: MotorPinMappings) -> anyhow::Result<Self> {
|
||||
let pins = pin_mappings.map(|id| gpio.get(id).map(|pin| pin.into_output_low()));
|
||||
for pin in &pins {
|
||||
if let Err(e) = pin {
|
||||
bail!("Failed to configure pin: {e:?}");
|
||||
}
|
||||
}
|
||||
|
||||
Ok(MotorPins {
|
||||
pins: pins.map(|r| r.unwrap()),
|
||||
})
|
||||
}
|
||||
|
||||
pub fn set(&mut self, values: [pin::Value; 4]) {
|
||||
for (pin, &value) in self.pins.iter_mut().zip(values.iter()) {
|
||||
pin.digital_write(value);
|
||||
pub fn set(&mut self, levels: [Level; 4]) {
|
||||
for (pin, &value) in self.pins.iter_mut().zip(levels.iter()) {
|
||||
pin.write(value);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Motor {
|
||||
pub fn new(wiringpi: &WiringPi<pin::WiringPi>, config: &MotorConfig) -> Self {
|
||||
let pins = MotorPins::new(wiringpi, config.pin_mappings);
|
||||
Motor {
|
||||
pub fn new(gpio: &Gpio, config: &MotorConfig) -> anyhow::Result<Self> {
|
||||
let pins = MotorPins::new(gpio, config.pin_mappings)?;
|
||||
Ok(Motor {
|
||||
sleep_time: config.sleep_time,
|
||||
pins,
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
pub fn spin_step(&mut self, direction: Direction) {
|
||||
|
||||
Reference in new issue
Block a user