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update BRC pulse handling

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legop3
2025-11-11 19:48:50 -05:00
parent c89e9cdfd3
commit 3bc2921f25
10 changed files with 49 additions and 41 deletions
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pi/roverd/config.go
+6 -1
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@@ -37,6 +37,7 @@ func (d Duration) MarshalYAML() (interface{}, error) {
type BRCConfig struct {
GPIOPin int `yaml:"gpioPin"`
GPIOChip string `yaml:"gpioChip"`
PulseEvery Duration `yaml:"pulseEvery"`
PulseWidth Duration `yaml:"pulseWidth"`
}
@@ -78,7 +79,8 @@ func LoadConfig(path string) (*Config, error) {
cfg := Config{
MaxWheelMMs: 500,
BRC: BRCConfig{
GPIOPin: -1,
GPIOPin: -1,
GPIOChip: "gpiochip0",
PulseEvery: Duration{
Duration: time.Minute,
},
@@ -108,6 +110,9 @@ func LoadConfig(path string) (*Config, error) {
if cfg.MaxWheelMMs <= 0 || cfg.MaxWheelMMs > 500 {
return nil, fmt.Errorf("maxWheelSpeed must be 1-500, got %d", cfg.MaxWheelMMs)
}
if cfg.BRC.GPIOChip == "" {
cfg.BRC.GPIOChip = "gpiochip0"
}
if cfg.Media.Manage && cfg.Media.Service == "" {
return nil, errors.New("media.manage requires media.service")
}