added documentation, updated realzeitnachweis

added rust documentation comments
added rust doc output
2017-07-10 16:44:39 +02:00 · 2017-07-10 15:20:14 +02:00 · 2017-07-10 14:55:44 +02:00 · 2017-06-28 20:40:01 +02:00 · 2017-05-02 22:30:24 +02:00 · 2017-05-02 22:30:24 +02:00
175 changed files with 15864 additions and 141 deletions
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,4 +1,4 @@
-image: scorpil/rust:stable
+image: scorpil/rust:nightly

 stages:
  - test
@@ -10,6 +10,9 @@ cargo:test:

 rustfmt:
  stage: test
+  before_script:
+    - cargo install rustfmt
+    - export PATH="/root/.cargo/bin:$PATH"
  script:
    - ci/run-rustfmt.sh

--- a/.travis.yml
+++ b/.travis.yml
@@ -0,0 +1,7 @@
+language: rust
+rust:
+  - nightly
+script:
+  - cargo install rustfmt
+  - ci/run-rustfmt.sh
+  - ci/run-cargo-test.sh
--- a/V1/led5/src/main.rs
+++ b/V1/led5/src/main.rs
@@ -24,8 +24,8 @@ static GPIO_LED_ON: &'static str = "0";
 static GPIO_LED_OFF: &'static str = "1";

 fn write(path: &str, value: &str) {
-    let mut file = File::create(Path::new(path))
-        .expect(format!("Open file '{}' failed", path).as_str());
+    let mut file = File::create(Path::new(path)).expect(format!("Open file '{}' failed", path)
+                                                            .as_str());

    file.write_all(value.as_bytes())
        .expect(format!("Write value '{}' to '{}' file failed", value, path).as_str());
@@ -34,8 +34,8 @@ fn write(path: &str, value: &str) {
    println!("Wrote value '{}' to '{}'.", value, path);
 }
 fn read(path: &str) -> String {
-    let mut file = File::open(Path::new(path))
-        .expect(format!("Open file '{}' failed", path).as_str());
+    let mut file = File::open(Path::new(path)).expect(format!("Open file '{}' failed", path)
+                                                          .as_str());
    let mut contents = String::new();

    file.read_to_string(&mut contents)
@@ -55,11 +55,13 @@ fn unexport(port: &str) {
 }

 fn set_direction(port: &str, direction: &str) {
-    write(format!("/sys/class/gpio/gpio{}/direction", port).as_str(), direction);
+    write(format!("/sys/class/gpio/gpio{}/direction", port).as_str(),
+          direction);
 }

 fn set_value(port: &str, value: &str) {
-    write(format!("/sys/class/gpio/gpio{}/value", port).as_str(), value);
+    write(format!("/sys/class/gpio/gpio{}/value", port).as_str(),
+          value);
 }
 fn get_value(port: &str) -> String {
    String::from(read(format!("/sys/class/gpio/gpio{}/value", port).as_str()).trim())
@@ -81,9 +83,7 @@ fn main() {
    chan_select! {
        rpanic.recv() => { },
        signal.recv() -> signal => {
-            #[cfg(debug_assertions)]
            println!("received signal: {:?}", signal);
-
            sdone.send(());
        }
    }
--- a/V1/switch.c
+++ b/V1/switch.c
@@ -1,120 +1,102 @@
-/*
- * switch.c
- * How to register an button and count this
- * author: Simon Wörner, Manuel Vögele,
- * 	   Siegfried Kienzle
- * 24-March-2017
- *  
- *  */
-
-#define BUTTON "17"
-#define IN "in\n"
-#define OUT "out\n"
-#define HIGH "1\n"
-#define LOW "0\n"
-#define MAXBYTES 1
-
 #include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
 #include <fcntl.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>

-int writeIntoFile(char* value, char* path)
+#define BASEPATH "/sys/class/gpio/"
+#define GPIO_FOLDER "gpio%s/"
+
+#define PIN_BUTTON "17"
+#define PIN_LED "18"
+
+#define LED_ON 0
+#define LED_OFF 1
+
+#define BUTTON_PRESSED 0
+#define BUTTON_RELEASED 1
+
+void writeFile(char *filename, char *buffer, size_t count)
 {
-	int fd;
-	char buffer[3];
-	strcpy(buffer, value);
-	if((fd=open(path, O_RDWR | O_CREAT | O_TRUNC)) == -1) {
-		perror(NULL);
-		return EXIT_FAILURE;
-	}
-
-	if((write(fd, &buffer, sizeof(buffer))) == -1) {
-		perror("Cannot write into file");
-		return EXIT_FAILURE;			
-	} 	
-	printf("Success");
-	close(fd);
-	return EXIT_SUCCESS;	
+    int fd = open(filename, O_WRONLY);
+    write(fd, buffer, count);
+    close(fd);
 }

-int reserve(char* gpioPort)
+void registerPin(char *pin)
 {
-	char str[3];
-	strcpy(str, gpioPort);
-	strcat(str, "\n");
-	return writeIntoFile(str,"/sys/class/gpio/export");
+    writeFile(BASEPATH "export", pin, strlen(pin));
 }

-int setDirection(char* gpioPort, char* inOut)
+void freePin(char *pin)
 {
-	char *direc = "/direction";
-	char *gpioPath = "/sys/class/gpio/gpio";	
-	char path[32];
-	strcpy(path, gpioPath);
-    strcat(path, gpioPort);
-	strcat(path, direc);
-	return writeIntoFile(inOut, path);
+    writeFile(BASEPATH "unexport", pin, strlen(pin));
 }

-int setOutput(char* gpioPort, char* volt)
+void setDirection(char *pin, char *direction, int dirlen)
 {
-	char *val = "/value";
-	char *gpioPath = "/sys/class/gpio/gpio";
-	char path[28];
-	strcpy(path, gpioPath);
-	strcat(path, gpioPort);
-	strcat(path, val);
-	return writeIntoFile(volt, path);
+    char path[50];
+    sprintf(path, BASEPATH GPIO_FOLDER "direction", pin);
+    writeFile(path, direction, dirlen);
 }

-int mainLoop(char* gpioPort)
+void registerInput(char *pin)
 {
-	int fid, portValue, count, countButton;
-	char *val = "/value";
-	char *gpioPath = "/sys/class/gpio/gpio";
-	char path[28];
-	strcpy(path, gpioPath);
-	strcat(path, gpioPort);
-	strcat(path, val);
-	
-	while(true)
-	{
-		if( (fid=open(path, O_RDONLY)) == -1)
-			perror("Fehler ");
-		if(readInput(fid) == 1)
-		{
-			countButton++;
-			printf("%d", countButton);
-		}
-		
-	
-		close(fid);
-	}
+    registerPin(pin);
+    setDirection(pin, "in", 2);
 }

-char[] readInput(int fid)
+void registerOutput(char *pin)
 {
-	char buffer[MAXBYTES];
-	read(fid, &buffer, MAXBYTES);
-	return buffer;
+    registerPin(pin);
+    setDirection(pin, "out", 3);
 }

-int unexport(char* gpioport)
+int readInput(char *pin)
 {
-	char str[3];
-	strcpy(str, gpioPort);
-	strcat(str, "\n");
-	return writeIntoFile(str,"/sys/class/gpio/unexport");
+    char path[50];
+    int state;
+    sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
+    FILE *fd = fopen(path, "r");
+    fscanf(fd, "%i", &state);
+    fclose(fd);
+    return state;
 }

+void writeOutput(char *pin, int state)
+{
+    char path[50];
+    sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
+    FILE *fd = fopen(path, "w");
+    fprintf(fd, "%i", state);
+    fclose(fd);
+}

 int main()
-{  
-	reserve(BUTTON);
-	setDirection(BUTTON, IN);
-	mainLoop(BUTTON);
-	unexport(BUTTON);
-	return 0;
+{
+    struct timespec sleeptime, sleepremain;
+    int oldstate = BUTTON_PRESSED;
+    int state;
+    int count = 0;
+    registerInput(PIN_BUTTON);
+    registerOutput(PIN_LED);
+    sleeptime.tv_sec = 0;
+    sleeptime.tv_nsec = 1000000;
+    while (1)
+    {
+        nanosleep(&sleeptime, &sleepremain);
+        state = readInput(PIN_BUTTON);
+        if (state == BUTTON_PRESSED && oldstate == BUTTON_RELEASED)
+        {
+            count++;
+            printf("Number of button pushes: %i\n", count);
+        }
+
+        if (state == BUTTON_PRESSED)
+            writeOutput(PIN_LED, LED_ON);
+        else
+            writeOutput(PIN_LED, LED_OFF);
+
+        oldstate = state;
+    }
 }
--- a/V2/delay/.gitignore
+++ b/V2/delay/.gitignore
@@ -0,0 +1 @@
+*.eps
--- a/V2/delay/Auswerung.md
+++ b/V2/delay/Auswerung.md
@@ -0,0 +1,41 @@
+# Auswertung
+
+
+
+## No Load
+
+
+
+### No Realtime
+
+Läuft der Prozess ohne Load und Realtime so liegt das Delay im Mean bei etwa **100µs**.
+Der Ausreiser bei *11.000µs* Sleep Periode lässt sich durch eine kurze zeitigte Last durch einen Hintergrundprozess erklären, da bei jeder Messung (100 Durchläufe) immer der Worst Case betrachtet wird.
+
+![delay_idle](delay_idle.png)
+
+### Realtime
+
+Im Vergleich dazu sinkt bei aktiver Realtime Priorität das Mean Delay auf etwa **25µs**.
+
+Hier gibt es dafür mehr Ausreiser welche aber nicht über **190µs** hinaus gehen, auch hier lassen sich diese durch eine kurze zeitigte Last von einen Hintergrundprozess erklären.
+
+![delay_idle_rt](delay_idle_rt.png)
+
+
+
+## Load
+
+### No Realtime
+
+Bei Load ohne Realtime gibt es zu Begin einen großen Ausreiser mit über **10.000 µs**.
+
+![delay_load](delay_load.png)
+
+### Realtime
+
+Durch die Realtime Priorität können solche Ausreiser vermieden werden, hier liegt der Mean etwas über dem ohne Last (etwa **27,5µs**) und die Ausreiser gehen bis knapp **55µs**.
+
+Dies liegt immer weit unter den Werten ohne Load ohne Realtime Priorität.
+
+![delay_load_rt](delay_load_rt.png)
+
--- a/V2/delay/delay_idle.png
+++ b/V2/delay/delay_idle.png
--- a/V2/delay/delay_idle.txt
+++ b/V2/delay/delay_idle.txt
@@ -0,0 +1,100 @@
+  1000000 74885
+  2000000 70188
+  3000000 100960
+  4000000 96993
+  5000000 97920
+  6000000 95671
+  7000000 95193
+  8000000 96590
+  9000000 93091
+ 10000000 99800
+ 11000000 97447
+ 12000000 604203
+ 13000000 104094
+ 14000000 95803
+ 15000000 95638
+ 16000000 102138
+ 17000000 102025
+ 18000000 91546
+ 19000000 96641
+ 20000000 99028
+ 21000000 120893
+ 22000000 100362
+ 23000000 96186
+ 24000000 97427
+ 25000000 136011
+ 26000000 97303
+ 27000000 106304
+ 28000000 101138
+ 29000000 107326
+ 30000000 98307
+ 31000000 102672
+ 32000000 126308
+ 33000000 96300
+ 34000000 98373
+ 35000000 95499
+ 36000000 96948
+ 37000000 100012
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+ 40000000 99775
+ 41000000 97942
+ 42000000 100953
+ 43000000 145006
+ 44000000 100518
+ 45000000 97123
+ 46000000 97738
+ 47000000 163093
+ 48000000 96574
+ 49000000 99272
+ 50000000 102283
+ 51000000 141284
+ 52000000 110285
+ 53000000 98504
+ 54000000 99068
+ 55000000 105413
+ 56000000 116444
+ 57000000 94664
+ 58000000 106010
+ 59000000 96990
+ 60000000 116771
+ 61000000 105616
+ 62000000 101075
+ 63000000 108201
+ 64000000 100692
+ 65000000 97401
+ 66000000 96037
+ 67000000 156027
+ 68000000 101695
+ 69000000 100123
+ 70000000 96780
+ 71000000 97292
+ 72000000 98376
+ 73000000 101387
+ 74000000 95961
+ 75000000 98504
+ 76000000 100942
+ 77000000 97391
+ 78000000 100610
+ 79000000 95913
+ 80000000 96685
+ 81000000 96468
+ 82000000 162291
+ 83000000 138063
+ 84000000 97220
+ 85000000 96690
+ 86000000 103070
+ 87000000 96431
+ 88000000 102827
+ 89000000 132035
+ 90000000 97650
+ 91000000 101599
+ 92000000 96850
+ 93000000 105641
+ 94000000 100006
+ 95000000 96558
+ 96000000 96290
+ 97000000 99299
+ 98000000 97207
+ 99000000 96728
+100000000 99478
--- a/V2/delay/delay_idle_rt.png
+++ b/V2/delay/delay_idle_rt.png
--- a/V2/delay/delay_idle_rt.txt
+++ b/V2/delay/delay_idle_rt.txt
@@ -0,0 +1,100 @@
+  1000000 16656
+  2000000 25916
+  3000000 21532
+  4000000 21365
+  5000000 28073
+  6000000 61812
+  7000000 25969
+  8000000 22677
+  9000000 28709
+ 10000000 44480
+ 11000000 47542
+ 12000000 44199
+ 13000000 26011
+ 14000000 50844
+ 15000000 24220
+ 16000000 47490
+ 17000000 30084
+ 18000000 22418
+ 19000000 24543
+ 20000000 130157
+ 21000000 87386
+ 22000000 28783
+ 23000000 41480
+ 24000000 34803
+ 25000000 51356
+ 26000000 115667
+ 27000000 57116
+ 28000000 25699
+ 29000000 27147
+ 30000000 25419
+ 31000000 25408
+ 32000000 25971
+ 33000000 25752
+ 34000000 27513
+ 35000000 22138
+ 36000000 25356
+ 37000000 24461
+ 38000000 24919
+ 39000000 26107
+ 40000000 27034
+ 41000000 27025
+ 42000000 48784
+ 43000000 188304
+ 44000000 65535
+ 45000000 72815
+ 46000000 81399
+ 47000000 89305
+ 48000000 72733
+ 49000000 27411
+ 50000000 27557
+ 51000000 101504
+ 52000000 26026
+ 53000000 25078
+ 54000000 25693
+ 55000000 22349
+ 56000000 26401
+ 57000000 27381
+ 58000000 27996
+ 59000000 23610
+ 60000000 28079
+ 61000000 22913
+ 62000000 23371
+ 63000000 28777
+ 64000000 26476
+ 65000000 27091
+ 66000000 24528
+ 67000000 23684
+ 68000000 23675
+ 69000000 22883
+ 70000000 24904
+ 71000000 26925
+ 72000000 22332
+ 73000000 24405
+ 74000000 26530
+ 75000000 23811
+ 76000000 26094
+ 77000000 22854
+ 78000000 24511
+ 79000000 22833
+ 80000000 31417
+ 81000000 21719
+ 82000000 23324
+ 83000000 26803
+ 84000000 26585
+ 85000000 26437
+ 86000000 29864
+ 87000000 26000
+ 88000000 28438
+ 89000000 28689
+ 90000000 22794
+ 91000000 23148
+ 92000000 22096
+ 93000000 26096
+ 94000000 27233
+ 95000000 25661
+ 96000000 24244
+ 97000000 25797
+ 98000000 22609
+ 99000000 25673
+100000000 26861
--- a/V2/delay/delay_load.png
+++ b/V2/delay/delay_load.png
--- a/V2/delay/delay_load.txt
+++ b/V2/delay/delay_load.txt
@@ -0,0 +1,100 @@
+  1000000 10251030
+  2000000 81073
+  3000000 75124
+  4000000 74646
+  5000000 63594
+  6000000 74833
+  7000000 72323
+  8000000 75230
+  9000000 75063
+ 10000000 73386
+ 11000000 78688
+ 12000000 76335
+ 13000000 74814
+ 14000000 76106
+ 15000000 79221
+ 16000000 72074
+ 17000000 77377
+ 18000000 113772
+ 19000000 86679
+ 20000000 81460
+ 21000000 78170
+ 22000000 85867
+ 23000000 78670
+ 24000000 78711
+ 25000000 73493
+ 26000000 73848
+ 27000000 85347
+ 28000000 77889
+ 29000000 83868
+ 30000000 71202
+ 31000000 79993
+ 32000000 72849
+ 33000000 84765
+ 34000000 95432
+ 35000000 86151
+ 36000000 82703
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+ 40000000 76569
+ 41000000 137860
+ 42000000 74517
+ 43000000 75653
+ 44000000 77154
+ 45000000 80841
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+ 47000000 85665
+ 48000000 297163
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+ 50000000 86051
+ 51000000 68436
+ 52000000 75406
+ 53000000 387268
+ 54000000 84187
+ 55000000 83396
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+ 59000000 283875
+ 60000000 73294
+ 61000000 76200
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+ 65000000 79389
+ 66000000 115212
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+ 68000000 79776
+ 69000000 83620
+ 70000000 91839
+ 71000000 84277
+ 72000000 74006
+ 73000000 78058
+ 74000000 81886
+ 75000000 85627
+ 76000000 79419
+ 77000000 87691
+ 78000000 85806
+ 79000000 78192
+ 80000000 74693
+ 81000000 79631
+ 82000000 94621
+ 83000000 76486
+ 84000000 72257
+ 85000000 78811
+ 86000000 88280
+ 87000000 78009
+ 88000000 104926
+ 89000000 78459
+ 90000000 83397
+ 91000000 78648
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+ 93000000 79722
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+ 95000000 79025
+ 96000000 67974
+ 97000000 78225
+ 98000000 78944
+ 99000000 78830
+100000000 67622
--- a/V2/delay/delay_load_rt.png
+++ b/V2/delay/delay_load_rt.png
--- a/V2/delay/delay_load_rt.txt
+++ b/V2/delay/delay_load_rt.txt
@@ -0,0 +1,100 @@
+  1000000 22281
+  2000000 15345
+  3000000 14709
+  4000000 13867
+  5000000 14377
+  6000000 28221
+  7000000 37482
+  8000000 12732
+  9000000 21993
+ 10000000 15681
+ 11000000 27859
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+ 13000000 23828
+ 14000000 23871
+ 15000000 22037
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+ 17000000 23163
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+ 30000000 19023
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--- a/V2/delay/render.sh
+++ b/V2/delay/render.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+set -o xtrace
+
+SCRIPT_DIR=$(cd "$(dirname "$0")" && pwd)
+
+cd "${SCRIPT_DIR}" && gnuplot -c sleep_delay.gp
+
+while IFS= read -r -d '' f; do
+  output=$(echo "$f" | sed -E 's/\.eps$/.png/')
+  convert -density 300 "eps2:${f}" "$output"
+done < <(find "${SCRIPT_DIR}" -name '*.eps' -print0)
--- a/V2/delay/sleep_delay.gp
+++ b/V2/delay/sleep_delay.gp
@@ -0,0 +1,20 @@
+set title "{/=20 nanosleep delays}"
+set terminal postscript eps enhanced
+set xlabel "{/=20Period to sleep [nanoseconds]}"
+set ylabel "{/=20Measured delay [nanoseconds]}"
+set grid
+set autoscale
+set style data lines
+show style data
+
+set output 'delay_idle.eps'
+plot 'delay_idle.txt' using ($1):($2) title "{/=17 Load: no, RT: no}" lw 6
+
+set output 'delay_load.eps'
+plot 'delay_load.txt' using ($1):($2) title "{/=17 Load: yes, RT: no}" lw 6
+
+set output 'delay_idle_rt.eps'
+plot 'delay_idle_rt.txt' using ($1):($2) title "{/=17 Load: no, RT: yes}" lw 6
+
+set output 'delay_load_rt.eps'
+plot 'delay_load_rt.txt' using ($1):($2) title "{/=17 Load: yes, RT: yes}" lw 6
--- a/V2/diff.c
+++ b/V2/diff.c
@@ -1,31 +0,0 @@
-#include<stdio.h>
-#include<time.h>
-#include<pthread.h>
-
-int main(int argc, char *argv[])
-{
-	struct timespec time1, start, ende;
-	time1.tv_sec = 5;
-	time1.tv_nsec = 0;
-	clock_gettime(CLOCK_MONOTONIC, &start);
-	clock_nanosleep(CLOCK_MONOTONIC, 0, &time1, NULL);
-	clock_gettime(CLOCK_MONOTONIC, &ende);	
-
-	int nsec_difference = (int) ((ende.tv_nsec - start.tv_nsec)/1000);
-
-
-	//microseconds
-
-	int sec_difference = (int) (ende.tv_sec - start.tv_sec)*1000*1000;
-	int real_time_slept =  sec_difference + nsec_difference;
-	
-	int difference_real_set = real_time_slept - time1.tv_sec * 1000 * 1000;
-
-
-
-	printf("Real time slept: %d\n", real_time_slept);
-	printf("Difference Real time slept and actually sleep time: %d usec\n", difference_real_set);
-
-
-	return 0;
-}
--- a/V2/sleep/Cargo.lock
+++ b/V2/sleep/Cargo.lock
@@ -0,0 +1,62 @@
+[root]
+name = "sleep"
+version = "0.1.0"
+dependencies = [
+ "argparse 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+ "time 0.1.36 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "argparse"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "kernel32-sys"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "libc"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "redox_syscall"
+version = "0.1.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "time"
+version = "0.1.36"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+ "redox_syscall 0.1.17 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "winapi"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "winapi-build"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[metadata]
+"checksum argparse 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "37bb99f5e39ee8b23b6e227f5b8f024207e8616f44aa4b8c76ecd828011667ef"
+"checksum kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "7507624b29483431c0ba2d82aece8ca6cdba9382bff4ddd0f7490560c056098d"
+"checksum libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)" = "88ee81885f9f04bff991e306fea7c1c60a5f0f9e409e99f6b40e3311a3363135"
+"checksum redox_syscall 0.1.17 (registry+https://github.com/rust-lang/crates.io-index)" = "29dbdfd4b9df8ab31dec47c6087b7b13cbf4a776f335e4de8efba8288dda075b"
+"checksum time 0.1.36 (registry+https://github.com/rust-lang/crates.io-index)" = "211b63c112206356ef1ff9b19355f43740fc3f85960c598a93d3a3d3ba7beade"
+"checksum winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "167dc9d6949a9b857f3451275e911c3f44255842c1f7a76f33c55103a909087a"
+"checksum winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "2d315eee3b34aca4797b2da6b13ed88266e6d612562a0c46390af8299fc699bc"
--- a/V2/sleep/Cargo.toml
+++ b/V2/sleep/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "sleep"
+version = "0.1.0"
+authors = ["Simon Wörner <git@simon-woerner.de>"]
+
+[dependencies]
+argparse = ">=0.2.1"
+libc = ">=0.2"
+time = ">=0.1.36"
--- a/V2/sleep/src/lib.rs
+++ b/V2/sleep/src/lib.rs
@@ -0,0 +1,95 @@
+extern crate libc;
+
+use std::time::Duration;
+
+#[cfg(target_os = "linux")]
+fn clock_nanosleep(clk_id: libc::clockid_t,
+                   flags: libc::c_int,
+                   rqtp: *const libc::timespec,
+                   rmtp: *mut libc::timespec)
+                   -> libc::c_int {
+    unsafe { libc::clock_nanosleep(clk_id, flags, rqtp as *const _, rmtp as *mut _) }
+}
+
+#[cfg(target_os = "macos")]
+fn nanosleep(rqtp: *const libc::timespec, rmtp: *mut libc::timespec) -> libc::c_int {
+    unsafe { libc::nanosleep(rqtp as *const _, rmtp as *mut _) }
+}
+
+/// Sleeps for the given duration.
+///
+/// Examples:
+///
+/// ```rust
+/// extern crate sleep;
+/// use std::time::Duration;
+///
+/// // sleep 10 ms
+/// sleep::sleep(Duration::from_millis(10));
+/// ```
+///
+/// Uses `clock_nanosleep` on linux and `nanosleep` on darwin.
+pub fn sleep(duration: Duration) -> Result<Duration, libc::c_int> {
+    let ts = duration_to_timespec(duration);
+    let mut remain = libc::timespec {
+        tv_sec: 0,
+        tv_nsec: 0,
+    };
+
+    #[cfg(target_os = "linux")]
+    let ret = clock_nanosleep(libc::CLOCK_MONOTONIC, 0, &ts, &mut remain);
+
+    #[cfg(target_os = "macos")]
+    let ret = nanosleep(&ts, &mut remain);
+
+    if ret == 0 {
+        Ok(timespec_to_duration(remain))
+    } else {
+        Err(ret)
+    }
+}
+
+fn duration_to_timespec(duration: Duration) -> libc::timespec {
+    libc::timespec {
+        tv_sec: duration.as_secs() as libc::time_t,
+        tv_nsec: duration.subsec_nanos() as libc::c_long,
+    }
+}
+
+fn timespec_to_duration(timespec: libc::timespec) -> Duration {
+    Duration::new(timespec.tv_sec as u64, timespec.tv_nsec as u32)
+}
+
+/// Set scheduler policy and priority for process with given pid.
+///
+/// If `pid` equals zero, the policy of the calling process will be set.
+///
+/// # Examples
+///
+/// ```rust
+/// extern crate libc;
+/// extern crate sleep;
+///
+/// // set *round-robin* policy (default) and priority 99 (realtime) for own process
+/// sleep::set_scheduler(0, libc::SCHED_RR, 99);
+/// ```
+#[cfg(target_os = "linux")]
+pub fn set_scheduler(pid: libc::pid_t, policy: libc::c_int, priority: libc::c_int) -> libc::c_int {
+    let param = libc::sched_param { sched_priority: priority };
+    unsafe { libc::sched_setscheduler(pid, policy, &param) }
+}
+
+/// Set scheduler *round-robin* policy (default) and priority for own process.
+///
+/// # Examples
+///
+/// ```rust
+/// extern crate sleep;
+///
+/// // set *round-robin* policy (default) and priority 99 (realtime)
+/// sleep::set_priority(99);
+/// ```
+#[cfg(target_os = "linux")]
+pub fn set_priority(priority: i32) -> libc::c_int {
+    set_scheduler(0, libc::SCHED_RR, priority)
+}
--- a/V2/sleep/src/main.rs
+++ b/V2/sleep/src/main.rs
@@ -0,0 +1,157 @@
+#![feature(step_by)]
+extern crate argparse;
+extern crate sleep;
+extern crate time;
+
+use std::io::prelude::*;
+use std::fs::File;
+use std::path::Path;
+use std::time::Duration;
+
+use argparse::{ArgumentParser, Print, Store};
+use sleep::sleep;
+use time::precise_time_ns;
+
+#[cfg(target_os = "linux")]
+use argparse::StoreTrue;
+
+#[cfg(target_os = "linux")]
+use sleep::set_priority;
+
+fn duration_from_ns(duration_ns: u64) -> Duration {
+    Duration::new(duration_ns / 1_000_000_000,
+                  (duration_ns % 1_000_000_000) as u32)
+}
+fn duration_to_ns(duration: Duration) -> u64 {
+    duration.as_secs() * 1_000_000_000u64 + duration.subsec_nanos() as u64
+}
+
+fn measure_duration(sleep_duration: Duration) -> Duration {
+    let start = precise_time_ns();
+    let _remain = sleep(sleep_duration);
+    let end = precise_time_ns();
+
+    #[cfg(debug_assertions)]
+    println!("remain = {:?}", _remain);
+
+    let duration = end - start;
+    let duration = duration_from_ns(duration);
+
+    #[cfg(debug_assertions)]
+    println!("duration = {:?}", duration);
+
+    duration
+}
+
+fn measure_delay(sleep_duration: Duration) -> (Duration, Duration) {
+    let duration = measure_duration(sleep_duration);
+    let delay = duration - sleep_duration;
+
+    #[cfg(debug_assertions)]
+    println!("delay = {:?}", delay);
+
+    (duration, delay)
+}
+
+fn measure_delay_loop(sleep_duration: Duration, count: u64) -> Vec<(Duration, Duration)> {
+    println!("Starting measurment with period {}s {}ns for {} loops",
+             sleep_duration.as_secs(),
+             sleep_duration.subsec_nanos(),
+             count);
+    let mut data: Vec<(Duration, Duration)> = Vec::with_capacity(count as usize);
+
+    for _ in 0..count {
+        let (duration, delay) = measure_delay(sleep_duration);
+        data.push((duration, delay));
+
+        #[cfg(debug_assertions)]
+        print_delay(duration, delay);
+    }
+
+    data
+}
+
+fn print_delay(duration: Duration, delay: Duration) {
+    println!("value: {} s {} ns\tdelay: {} s {} ns\trelativ delay = {:.2}%\traw_data: {:?}",
+             duration.as_secs(),
+             duration.subsec_nanos(),
+             delay.as_secs(),
+             delay.subsec_nanos(),
+             (duration_to_ns(delay) * 100) as f64 / duration_to_ns(duration) as f64,
+             delay);
+}
+
+fn main() {
+    let mut min: u64 = 1_000_000;
+    let mut max: u64 = 100_000_000;
+    let mut step: u64 = 1_000_000;
+    let mut count: u64 = 100;
+    let mut output: String = "".to_string();
+    let mut file: Option<File> = None;
+
+    #[cfg(target_os = "linux")]
+    let mut realtime: bool = false;
+
+    #[cfg(target_os = "macos")]
+    let realtime: bool = false;
+
+    {
+        let mut ap = ArgumentParser::new();
+        ap.set_description(env!("CARGO_PKG_DESCRIPTION"));
+        ap.refer(&mut min)
+            .add_option(&["--min"], Store, "Sleep period start");
+        ap.refer(&mut max)
+            .add_option(&["--max"], Store, "Sleep period end");
+        ap.refer(&mut step)
+            .add_option(&["--step"], Store, "Sleep period step size");
+        ap.refer(&mut count)
+            .add_option(&["--loop"], Store, "Count of measurements per period");
+        #[cfg(target_os = "linux")]
+        ap.refer(&mut realtime)
+            .add_option(&["--rt"], StoreTrue, "Set realtime priority");
+        ap.refer(&mut output)
+            .add_option(&["-o", "--out"], Store, "Output file");
+        ap.add_option(&["-V", "--version"],
+                      Print(env!("CARGO_PKG_VERSION").to_string()),
+                      "Show version");
+        ap.parse_args_or_exit();
+    }
+
+    if realtime {
+        #[cfg(target_os = "linux")]
+        let ret = set_priority(99);
+
+        #[cfg(target_os = "macos")]
+        let ret = 0;
+
+        if ret != 0 {
+            panic!("Set realtime priority failed.");
+        }
+    }
+
+    if output != "" {
+        file = Some(File::create(Path::new(output.as_str())).expect(format!("Open file '{}' failed",
+                                                                            output)
+                                                                            .as_str()));
+    }
+
+    for duration in (min..max + 1).step_by(step) {
+        let data = measure_delay_loop(duration_from_ns(duration), count);
+        let max_delay = data.iter().max().expect("Max delay not found");
+
+        #[cfg(debug_assertions)]
+        println!("max_delay = {:?}", max_delay);
+
+        print_delay(max_delay.0, max_delay.1);
+
+        match file.as_ref() {
+            Some(mut f) => {
+                let value = format!("{: >9} {}\n", duration, duration_to_ns(max_delay.1));
+                f.write_all(value.as_bytes())
+                    .expect(format!("Write value '{}' to '{}' file failed", value, output)
+                                .as_str());
+            }
+            None => {}
+        }
+    }
+}
--- a/ci/run-cargo-test.sh
+++ b/ci/run-cargo-test.sh
@@ -3,10 +3,8 @@
 ERROR=0

 while IFS= read -r -d '' f; do
-  dir="$(dirname "${f}")"
-
-  echo "run 'cargo test' in ${dir}"
-  cd "${dir}" && cargo test
+  echo "run 'cargo test' with ${f}"
+  cargo test --manifest-path="${f}"

  if [[ $? -ne 0 ]]; then
    ERROR=1
--- a/ci/run-rustfmt.sh
+++ b/ci/run-rustfmt.sh
@@ -4,10 +4,7 @@ ERROR=0

 while IFS= read -r -d '' f; do
  echo "${f}"
-
-  if  [ "$(rustfmt --write-mode=diff "$f")" != $'' ]  ; then
-      ERROR=1
-  fi
+  rustfmt --write-mode=diff "$f" || ERROR=1
 done < <(find . -type f -name '*.rs' -print0)

 exit ${ERROR}
--- a/kawaii/CMakeLists.txt
+++ b/kawaii/CMakeLists.txt
@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.7)
+project(kawaii-engine)
+
+add_subdirectory(kawaii-rs)
+
+set(CMAKE_CXX_STANDARD 14)
+
+set(SOURCE_FILES gpio.cpp engine.cpp measure.cpp)
+
+if (MEASURE)
+	add_definitions("-DMEASURE")
+endif (MEASURE)
+
+#add_executable(engine ${SOURCE_FILES} test.cpp ultrasound_sensor.cpp)
+#add_executable(remote ${SOURCE_FILES} remote.cpp)
+add_executable(kawaii ${SOURCE_FILES} main.cpp ultrasound_sensor.cpp rfid_reader.cpp MFRC522.cpp rfid_reader.cpp emergency_stop.cpp)
+
+#add_dependencies(engine kawaii-rs)
+#add_dependencies(remote kawaii-rs)
+add_dependencies(kawaii kawaii-rs)
+
+#target_link_libraries(engine
+#        debug "${CMAKE_SOURCE_DIR}/kawaii-rs/target/debug/libkawaii.a"
+#        optimized "${CMAKE_SOURCE_DIR}/kawaii-rs/target/release/libkawaii.a"
+#        util dl rt pthread gcc_s c m rt pthread util
+#        pthread)
+#target_link_libraries(remote
+#        debug "${CMAKE_SOURCE_DIR}/kawaii-rs/target/debug/libkawaii.a"
+#        optimized "${CMAKE_SOURCE_DIR}/kawaii-rs/target/release/libkawaii.a"
+#        util dl rt pthread gcc_s c m rt pthread util
+#        boost_system pthread)
+target_link_libraries(kawaii
+		debug "${CMAKE_SOURCE_DIR}/kawaii-rs/target/debug/libkawaii.a"
+		optimized "${CMAKE_SOURCE_DIR}/kawaii-rs/target/release/libkawaii.a"
+        util dl rt pthread gcc_s c m rt pthread util
+        pthread bcm2835)
--- a/kawaii/MFRC522.cpp
+++ b/kawaii/MFRC522.cpp
--- a/kawaii/MFRC522.h
+++ b/kawaii/MFRC522.h
@@ -0,0 +1,323 @@
+/**
+ * MFRC522.h - Library to use ARDUINO RFID MODULE KIT 13.56 MHZ WITH TAGS SPI W AND R BY COOQROBOT.
+ * Based on code Dr.Leong   ( WWW.B2CQSHOP.COM )
+ * Created by Miguel Balboa (circuitito.com), Jan, 2012.
+ * Rewritten by Søren Thing Andersen (access.thing.dk), fall of 2013 (Translation to English, refactored, comments, anti collision, cascade levels.)
+ * Extended by Tom Clement with functionality to write to sector 0 of UID changeable Mifare cards.
+ * Released into the public domain.
+ * 
+
+
+-- Repurposed to fit Raspberry Pi --- 
+
+ */
+#ifndef MFRC522_h
+#define MFRC522_h
+
+#include <stdint.h>
+#include <stdio.h>
+#include <string>
+using namespace std;
+
+typedef uint8_t byte;
+typedef uint16_t word;
+
+// Firmware data for self-test
+// Reference values based on firmware version; taken from 16.1.1 in spec.
+// Version 1.0
+
+const byte MFRC522_firmware_referenceV1_0[]  = {
+	0x00, 0xC6, 0x37, 0xD5, 0x32, 0xB7, 0x57, 0x5C,
+	0xC2, 0xD8, 0x7C, 0x4D, 0xD9, 0x70, 0xC7, 0x73,
+	0x10, 0xE6, 0xD2, 0xAA, 0x5E, 0xA1, 0x3E, 0x5A,
+	0x14, 0xAF, 0x30, 0x61, 0xC9, 0x70, 0xDB, 0x2E,
+	0x64, 0x22, 0x72, 0xB5, 0xBD, 0x65, 0xF4, 0xEC,
+	0x22, 0xBC, 0xD3, 0x72, 0x35, 0xCD, 0xAA, 0x41,
+	0x1F, 0xA7, 0xF3, 0x53, 0x14, 0xDE, 0x7E, 0x02,
+	0xD9, 0x0F, 0xB5, 0x5E, 0x25, 0x1D, 0x29, 0x79
+};
+
+// Version 2.0
+const byte MFRC522_firmware_referenceV2_0[] = {
+	0x00, 0xEB, 0x66, 0xBA, 0x57, 0xBF, 0x23, 0x95,
+	0xD0, 0xE3, 0x0D, 0x3D, 0x27, 0x89, 0x5C, 0xDE,
+	0x9D, 0x3B, 0xA7, 0x00, 0x21, 0x5B, 0x89, 0x82,
+	0x51, 0x3A, 0xEB, 0x02, 0x0C, 0xA5, 0x00, 0x49,
+	0x7C, 0x84, 0x4D, 0xB3, 0xCC, 0xD2, 0x1B, 0x81,
+	0x5D, 0x48, 0x76, 0xD5, 0x71, 0x61, 0x21, 0xA9,
+	0x86, 0x96, 0x83, 0x38, 0xCF, 0x9D, 0x5B, 0x6D,
+	0xDC, 0x15, 0xBA, 0x3E, 0x7D, 0x95, 0x3B, 0x2F
+};
+
+
+
+class MFRC522 {
+public:
+	// MFRC522 registers. Described in chapter 9 of the datasheet.
+	// When using SPI all addresses are shifted one bit left in the "SPI address byte" (section 8.1.2.3)
+	enum PCD_Register {
+		// Page 0: Command and status
+		//						  0x00			// reserved for future use
+		CommandReg				= 0x01 << 1,	// starts and stops command execution
+		ComIEnReg				= 0x02 << 1,	// enable and disable interrupt request control bits
+		DivIEnReg				= 0x03 << 1,	// enable and disable interrupt request control bits
+		ComIrqReg				= 0x04 << 1,	// interrupt request bits
+		DivIrqReg				= 0x05 << 1,	// interrupt request bits
+		ErrorReg				= 0x06 << 1,	// error bits showing the error status of the last command executed 
+		Status1Reg				= 0x07 << 1,	// communication status bits
+		Status2Reg				= 0x08 << 1,	// receiver and transmitter status bits
+		FIFODataReg				= 0x09 << 1,	// input and output of 64 byte FIFO buffer
+		FIFOLevelReg			= 0x0A << 1,	// number of bytes stored in the FIFO buffer
+		WaterLevelReg			= 0x0B << 1,	// level for FIFO underflow and overflow warning
+		ControlReg				= 0x0C << 1,	// miscellaneous control registers
+		BitFramingReg			= 0x0D << 1,	// adjustments for bit-oriented frames
+		CollReg					= 0x0E << 1,	// bit position of the first bit-collision detected on the RF interface
+		//						  0x0F			// reserved for future use
+		
+		// Page 1: Command
+		// 						  0x10			// reserved for future use
+		ModeReg					= 0x11 << 1,	// defines general modes for transmitting and receiving 
+		TxModeReg				= 0x12 << 1,	// defines transmission data rate and framing
+		RxModeReg				= 0x13 << 1,	// defines reception data rate and framing
+		TxControlReg			= 0x14 << 1,	// controls the logical behavior of the antenna driver pins TX1 and TX2
+		TxASKReg				= 0x15 << 1,	// controls the setting of the transmission modulation
+		TxSelReg				= 0x16 << 1,	// selects the internal sources for the antenna driver
+		RxSelReg				= 0x17 << 1,	// selects internal receiver settings
+		RxThresholdReg			= 0x18 << 1,	// selects thresholds for the bit decoder
+		DemodReg				= 0x19 << 1,	// defines demodulator settings
+		// 						  0x1A			// reserved for future use
+		// 						  0x1B			// reserved for future use
+		MfTxReg					= 0x1C << 1,	// controls some MIFARE communication transmit parameters
+		MfRxReg					= 0x1D << 1,	// controls some MIFARE communication receive parameters
+		// 						  0x1E			// reserved for future use
+		SerialSpeedReg			= 0x1F << 1,	// selects the speed of the serial UART interface
+		
+		// Page 2: Configuration
+		// 						  0x20			// reserved for future use
+		CRCResultRegH			= 0x21 << 1,	// shows the MSB and LSB values of the CRC calculation
+		CRCResultRegL			= 0x22 << 1,
+		// 						  0x23			// reserved for future use
+		ModWidthReg				= 0x24 << 1,	// controls the ModWidth setting?
+		// 						  0x25			// reserved for future use
+		RFCfgReg				= 0x26 << 1,	// configures the receiver gain
+		GsNReg					= 0x27 << 1,	// selects the conductance of the antenna driver pins TX1 and TX2 for modulation 
+		CWGsPReg				= 0x28 << 1,	// defines the conductance of the p-driver output during periods of no modulation
+		ModGsPReg				= 0x29 << 1,	// defines the conductance of the p-driver output during periods of modulation
+		TModeReg				= 0x2A << 1,	// defines settings for the internal timer
+		TPrescalerReg			= 0x2B << 1,	// the lower 8 bits of the TPrescaler value. The 4 high bits are in TModeReg.
+		TReloadRegH				= 0x2C << 1,	// defines the 16-bit timer reload value
+		TReloadRegL				= 0x2D << 1,
+		TCounterValueRegH		= 0x2E << 1,	// shows the 16-bit timer value
+		TCounterValueRegL		= 0x2F << 1,
+		
+		// Page 3: Test Registers
+		// 						  0x30			// reserved for future use
+		TestSel1Reg				= 0x31 << 1,	// general test signal configuration
+		TestSel2Reg				= 0x32 << 1,	// general test signal configuration
+		TestPinEnReg			= 0x33 << 1,	// enables pin output driver on pins D1 to D7
+		TestPinValueReg			= 0x34 << 1,	// defines the values for D1 to D7 when it is used as an I/O bus
+		TestBusReg				= 0x35 << 1,	// shows the status of the internal test bus
+		AutoTestReg				= 0x36 << 1,	// controls the digital self test
+		VersionReg				= 0x37 << 1,	// shows the software version
+		AnalogTestReg			= 0x38 << 1,	// controls the pins AUX1 and AUX2
+		TestDAC1Reg				= 0x39 << 1,	// defines the test value for TestDAC1
+		TestDAC2Reg				= 0x3A << 1,	// defines the test value for TestDAC2
+		TestADCReg				= 0x3B << 1		// shows the value of ADC I and Q channels
+		// 						  0x3C			// reserved for production tests
+		// 						  0x3D			// reserved for production tests
+		// 						  0x3E			// reserved for production tests
+		// 						  0x3F			// reserved for production tests
+	};
+	
+	// MFRC522 commands. Described in chapter 10 of the datasheet.
+	enum PCD_Command {
+		PCD_Idle				= 0x00,		// no action, cancels current command execution
+		PCD_Mem					= 0x01,		// stores 25 bytes into the internal buffer
+		PCD_GenerateRandomID	= 0x02,		// generates a 10-byte random ID number
+		PCD_CalcCRC				= 0x03,		// activates the CRC coprocessor or performs a self test
+		PCD_Transmit			= 0x04,		// transmits data from the FIFO buffer
+		PCD_NoCmdChange			= 0x07,		// no command change, can be used to modify the CommandReg register bits without affecting the command, for example, the PowerDown bit
+		PCD_Receive				= 0x08,		// activates the receiver circuits
+		PCD_Transceive 			= 0x0C,		// transmits data from FIFO buffer to antenna and automatically activates the receiver after transmission
+		PCD_MFAuthent 			= 0x0E,		// performs the MIFARE standard authentication as a reader
+		PCD_SoftReset			= 0x0F		// resets the MFRC522
+	};
+	
+	// MFRC522 RxGain[2:0] masks, defines the receiver's signal voltage gain factor (on the PCD).
+	// Described in 9.3.3.6 / table 98 of the datasheet at http://www.nxp.com/documents/data_sheet/MFRC522.pdf
+	enum PCD_RxGain {
+		RxGain_18dB				= 0x00 << 4,	// 000b - 18 dB, minimum
+		RxGain_23dB				= 0x01 << 4,	// 001b - 23 dB
+		RxGain_18dB_2			= 0x02 << 4,	// 010b - 18 dB, it seems 010b is a duplicate for 000b
+		RxGain_23dB_2			= 0x03 << 4,	// 011b - 23 dB, it seems 011b is a duplicate for 001b
+		RxGain_33dB				= 0x04 << 4,	// 100b - 33 dB, average, and typical default
+		RxGain_38dB				= 0x05 << 4,	// 101b - 38 dB
+		RxGain_43dB				= 0x06 << 4,	// 110b - 43 dB
+		RxGain_48dB				= 0x07 << 4,	// 111b - 48 dB, maximum
+		RxGain_min				= 0x00 << 4,	// 000b - 18 dB, minimum, convenience for RxGain_18dB
+		RxGain_avg				= 0x04 << 4,	// 100b - 33 dB, average, convenience for RxGain_33dB
+		RxGain_max				= 0x07 << 4		// 111b - 48 dB, maximum, convenience for RxGain_48dB
+	};
+	
+	// Commands sent to the PICC.
+	enum PICC_Command {
+		// The commands used by the PCD to manage communication with several PICCs (ISO 14443-3, Type A, section 6.4)
+		PICC_CMD_REQA			= 0x26,		// REQuest command, Type A. Invites PICCs in state IDLE to go to READY and prepare for anticollision or selection. 7 bit frame.
+		PICC_CMD_WUPA			= 0x52,		// Wake-UP command, Type A. Invites PICCs in state IDLE and HALT to go to READY(*) and prepare for anticollision or selection. 7 bit frame.
+		PICC_CMD_CT				= 0x88,		// Cascade Tag. Not really a command, but used during anti collision.
+		PICC_CMD_SEL_CL1		= 0x93,		// Anti collision/Select, Cascade Level 1
+		PICC_CMD_SEL_CL2		= 0x95,		// Anti collision/Select, Cascade Level 2
+		PICC_CMD_SEL_CL3		= 0x97,		// Anti collision/Select, Cascade Level 3
+		PICC_CMD_HLTA			= 0x50,		// HaLT command, Type A. Instructs an ACTIVE PICC to go to state HALT.
+		// The commands used for MIFARE Classic (from http://www.nxp.com/documents/data_sheet/MF1S503x.pdf, Section 9)
+		// Use PCD_MFAuthent to authenticate access to a sector, then use these commands to read/write/modify the blocks on the sector.
+		// The read/write commands can also be used for MIFARE Ultralight.
+		PICC_CMD_MF_AUTH_KEY_A	= 0x60,		// Perform authentication with Key A
+		PICC_CMD_MF_AUTH_KEY_B	= 0x61,		// Perform authentication with Key B
+		PICC_CMD_MF_READ		= 0x30,		// Reads one 16 byte block from the authenticated sector of the PICC. Also used for MIFARE Ultralight.
+		PICC_CMD_MF_WRITE		= 0xA0,		// Writes one 16 byte block to the authenticated sector of the PICC. Called "COMPATIBILITY WRITE" for MIFARE Ultralight.
+		PICC_CMD_MF_DECREMENT	= 0xC0,		// Decrements the contents of a block and stores the result in the internal data register.
+		PICC_CMD_MF_INCREMENT	= 0xC1,		// Increments the contents of a block and stores the result in the internal data register.
+		PICC_CMD_MF_RESTORE		= 0xC2,		// Reads the contents of a block into the internal data register.
+		PICC_CMD_MF_TRANSFER	= 0xB0,		// Writes the contents of the internal data register to a block.
+		// The commands used for MIFARE Ultralight (from http://www.nxp.com/documents/data_sheet/MF0ICU1.pdf, Section 8.6)
+		// The PICC_CMD_MF_READ and PICC_CMD_MF_WRITE can also be used for MIFARE Ultralight.
+		PICC_CMD_UL_WRITE		= 0xA2		// Writes one 4 byte page to the PICC.
+	};
+	
+	// MIFARE constants that does not fit anywhere else
+	enum MIFARE_Misc {
+		MF_ACK					= 0xA,		// The MIFARE Classic uses a 4 bit ACK/NAK. Any other value than 0xA is NAK.
+		MF_KEY_SIZE				= 6			// A Mifare Crypto1 key is 6 bytes.
+	};
+	
+	// PICC types we can detect. Remember to update PICC_GetTypeName() if you add more.
+	enum PICC_Type {
+		PICC_TYPE_UNKNOWN		= 0,
+		PICC_TYPE_ISO_14443_4	= 1,	// PICC compliant with ISO/IEC 14443-4 
+		PICC_TYPE_ISO_18092		= 2, 	// PICC compliant with ISO/IEC 18092 (NFC)
+		PICC_TYPE_MIFARE_MINI	= 3,	// MIFARE Classic protocol, 320 bytes
+		PICC_TYPE_MIFARE_1K		= 4,	// MIFARE Classic protocol, 1KB
+		PICC_TYPE_MIFARE_4K		= 5,	// MIFARE Classic protocol, 4KB
+		PICC_TYPE_MIFARE_UL		= 6,	// MIFARE Ultralight or Ultralight C
+		PICC_TYPE_MIFARE_PLUS	= 7,	// MIFARE Plus
+		PICC_TYPE_TNP3XXX		= 8,	// Only mentioned in NXP AN 10833 MIFARE Type Identification Procedure
+		PICC_TYPE_NOT_COMPLETE	= 255	// SAK indicates UID is not complete.
+	};
+	
+	// Return codes from the functions in this class. Remember to update GetStatusCodeName() if you add more.
+	enum StatusCode {
+		STATUS_OK				= 1,	// Success
+		STATUS_ERROR			= 2,	// Error in communication
+		STATUS_COLLISION		= 3,	// Collission detected
+		STATUS_TIMEOUT			= 4,	// Timeout in communication.
+		STATUS_NO_ROOM			= 5,	// A buffer is not big enough.
+		STATUS_INTERNAL_ERROR	= 6,	// Internal error in the code. Should not happen ;-)
+		STATUS_INVALID			= 7,	// Invalid argument.
+		STATUS_CRC_WRONG		= 8,	// The CRC_A does not match
+		STATUS_MIFARE_NACK		= 9		// A MIFARE PICC responded with NAK.
+	};
+	
+	// A struct used for passing the UID of a PICC.
+	typedef struct {
+		byte		size;			// Number of bytes in the UID. 4, 7 or 10.
+		byte		uidByte[10];
+		byte		sak;			// The SAK (Select acknowledge) byte returned from the PICC after successful selection.
+	} Uid;
+	
+	// A struct used for passing a MIFARE Crypto1 key
+	typedef struct {
+		byte		keyByte[MF_KEY_SIZE];
+	} MIFARE_Key;
+	
+	// Member variables
+	Uid uid;								// Used by PICC_ReadCardSerial().
+	
+	// Size of the MFRC522 FIFO
+	static const byte FIFO_SIZE = 64;		// The FIFO is 64 bytes.
+	
+	/////////////////////////////////////////////////////////////////////////////////////
+	// Functions for setting up the Raspberry Pi
+	/////////////////////////////////////////////////////////////////////////////////////
+	MFRC522();
+	void setSPIConfig();
+	/////////////////////////////////////////////////////////////////////////////////////
+	// Basic interface functions for communicating with the MFRC522
+	/////////////////////////////////////////////////////////////////////////////////////
+	void PCD_WriteRegister(byte reg, byte value);
+	void PCD_WriteRegister(byte reg, byte count, byte *values);
+	byte PCD_ReadRegister(byte reg);
+	void PCD_ReadRegister(byte reg, byte count, byte *values, byte rxAlign = 0);
+	void setBitMask(unsigned char reg, unsigned char mask);
+	void PCD_SetRegisterBitMask(byte reg, byte mask);
+	void PCD_ClearRegisterBitMask(byte reg, byte mask);
+	byte PCD_CalculateCRC(byte *data, byte length, byte *result);
+	
+	/////////////////////////////////////////////////////////////////////////////////////
+	// Functions for manipulating the MFRC522
+	/////////////////////////////////////////////////////////////////////////////////////
+	void PCD_Init();
+	void PCD_Reset();
+	void PCD_AntennaOn();
+	void PCD_AntennaOff();
+	byte PCD_GetAntennaGain();
+	void PCD_SetAntennaGain(byte mask);
+	bool PCD_PerformSelfTest();
+	
+	/////////////////////////////////////////////////////////////////////////////////////
+	// Functions for communicating with PICCs
+	/////////////////////////////////////////////////////////////////////////////////////
+	byte PCD_TransceiveData(byte *sendData, byte sendLen, byte *backData, byte *backLen, byte *validBits = NULL, byte rxAlign = 0, bool checkCRC = false);
+	byte PCD_CommunicateWithPICC(byte command, byte waitIRq, byte *sendData, byte sendLen, byte *backData = NULL, byte *backLen = NULL, byte *validBits = NULL, byte rxAlign = 0, bool checkCRC = false);
+	byte PICC_RequestA(byte *bufferATQA, byte *bufferSize);
+	byte PICC_WakeupA(byte *bufferATQA, byte *bufferSize);
+	byte PICC_REQA_or_WUPA(byte command, byte *bufferATQA, byte *bufferSize);
+	byte PICC_Select(Uid *uid, byte validBits = 0);
+	byte PICC_HaltA();
+	
+	/////////////////////////////////////////////////////////////////////////////////////
+	// Functions for communicating with MIFARE PICCs
+	/////////////////////////////////////////////////////////////////////////////////////
+	byte PCD_Authenticate(byte command, byte blockAddr, MIFARE_Key *key, Uid *uid);
+	void PCD_StopCrypto1();
+	byte MIFARE_Read(byte blockAddr, byte *buffer, byte *bufferSize);
+	byte MIFARE_Write(byte blockAddr, byte *buffer, byte bufferSize);
+	byte MIFARE_Decrement(byte blockAddr, long delta);
+	byte MIFARE_Increment(byte blockAddr, long delta);
+	byte MIFARE_Restore(byte blockAddr);
+	byte MIFARE_Transfer(byte blockAddr);
+	byte MIFARE_Ultralight_Write(byte page, byte *buffer, byte bufferSize);
+	byte MIFARE_GetValue(byte blockAddr, long *value);
+	byte MIFARE_SetValue(byte blockAddr, long value);
+	
+	/////////////////////////////////////////////////////////////////////////////////////
+	// Support functions
+	/////////////////////////////////////////////////////////////////////////////////////
+	byte PCD_MIFARE_Transceive(byte *sendData, byte sendLen, bool acceptTimeout = false);
+	// old function used too much memory, now name moved to flash; if you need char, copy from flash to memory
+	//const char *GetStatusCodeName(byte code);
+	const string GetStatusCodeName(byte code);
+	byte PICC_GetType(byte sak);
+	// old function used too much memory, now name moved to flash; if you need char, copy from flash to memory
+	//const char *PICC_GetTypeName(byte type);
+	const string PICC_GetTypeName(byte type);
+	void PICC_DumpToSerial(Uid *uid);
+	void PICC_DumpMifareClassicToSerial(Uid *uid, byte piccType, MIFARE_Key *key);
+	void PICC_DumpMifareClassicSectorToSerial(Uid *uid, MIFARE_Key *key, byte sector);
+	void PICC_DumpMifareUltralightToSerial();
+	void MIFARE_SetAccessBits(byte *accessBitBuffer, byte g0, byte g1, byte g2, byte g3);
+	bool MIFARE_OpenUidBackdoor(bool logErrors);
+	bool MIFARE_SetUid(byte *newUid, byte uidSize, bool logErrors);
+	bool MIFARE_UnbrickUidSector(bool logErrors);
+	
+	/////////////////////////////////////////////////////////////////////////////////////
+	// Convenience functions - does not add extra functionality
+	/////////////////////////////////////////////////////////////////////////////////////
+	bool PICC_IsNewCardPresent();
+	bool PICC_ReadCardSerial();
+	
+private:
+	byte MIFARE_TwoStepHelper(byte command, byte blockAddr, long data);
+};
+
+#endif
--- a/kawaii/bcm2835.h
+++ b/kawaii/bcm2835.h
--- a/kawaii/emergency_stop.cpp
+++ b/kawaii/emergency_stop.cpp
@@ -0,0 +1,29 @@
+//
+// Created by Simon Wörner on 16.06.17.
+//
+
+#include "emergency_stop.h"
+
+#include <cstddef>
+
+extern "C" {
+void *emergency_stop_init(uint8_t port);
+void emergency_stop_clean(void *emergency_stop);
+bool emergency_stop_get_state(void *emergency_stop);
+}
+
+emergency_stop::emergency_stop(uint8_t port)
+{
+    rust_emergency_stop = emergency_stop_init(port);
+}
+
+emergency_stop::~emergency_stop()
+{
+    emergency_stop_clean(rust_emergency_stop);
+    rust_emergency_stop = NULL;
+}
+
+bool emergency_stop::get_state() const
+{
+    return emergency_stop_get_state(rust_emergency_stop);
+}
--- a/kawaii/emergency_stop.h
+++ b/kawaii/emergency_stop.h
@@ -0,0 +1,24 @@
+//
+// Created by Simon Wörner on 16.06.17.
+//
+
+#ifndef KAWAII_ENGINE_EMERGENCY_STOP_H
+#define KAWAII_ENGINE_EMERGENCY_STOP_H
+
+
+#include <cstdint>
+
+class emergency_stop
+{
+private:
+	void *rust_emergency_stop;
+public:
+   	emergency_stop(uint8_t port);
+	emergency_stop(const emergency_stop &) = delete;
+	emergency_stop(const emergency_stop &&) = delete;
+	bool get_state() const;
+	~emergency_stop();
+};
+
+
+#endif //KAWAII_ENGINE_EMERGENCY_STOP_H
--- a/kawaii/engine.cpp
+++ b/kawaii/engine.cpp
@@ -0,0 +1,79 @@
+#include "engine.hpp"
+
+#include <chrono>
+#include <utility>
+
+using namespace std;
+using namespace std::chrono;
+
+engine::engine(gpio&& pin_forward, gpio&& pin_reverse)
+	: speed(0),
+	  pin_forward(move(pin_forward)),
+	  pin_reverse(move(pin_reverse)),
+	  stop_thread(false),
+	  measurement(string("engine") + to_string(this->pin_forward.get_pin()))
+{
+	this->pin_forward.set_value(false);
+	this->pin_reverse.set_value(false);
+	pwm_thread = thread(&engine::pwm_loop, this);
+}
+
+engine::~engine()
+{
+	stop_thread = true;
+	pwm_thread.join();
+}
+
+void engine::set_speed(int speed)
+{
+	this->speed.store(speed, memory_order_relaxed);
+}
+
+void engine::pwm_loop()
+{
+	this_thread::sleep_for(milliseconds(100));
+	const int sleep_msec = 1;
+	int counter = 0;
+	high_resolution_clock::time_point next_sleep_target = high_resolution_clock::now();
+	while (!stop_thread)
+	{
+		measurement.start();
+		direction target_direction;
+		int speed_val = speed.load(memory_order_relaxed);
+		if (speed_val < 0)
+		{
+			target_direction = direction::REVERSE;
+			speed_val *= -1;
+		}
+		else
+		{
+			target_direction = direction::FORWARD;
+		}
+		counter += sleep_msec;
+		if (counter >= 100)
+			counter = 0;
+		if (counter < speed_val)
+		{
+			if (target_direction == direction::FORWARD)
+			{
+				pin_reverse.set_value(false);
+				pin_forward.set_value(true);
+			}
+			else
+			{
+				pin_forward.set_value(false);
+				pin_reverse.set_value(true);
+			}
+		}
+		else
+		{
+			pin_forward.set_value(false);
+			pin_reverse.set_value(false);
+		}
+		measurement.stop();
+		next_sleep_target += 500us;
+		this_thread::sleep_until(next_sleep_target);
+	}
+	pin_forward.set_value(false);
+	pin_reverse.set_value(false);
+}
--- a/kawaii/engine.hpp
+++ b/kawaii/engine.hpp
@@ -0,0 +1,31 @@
+#ifndef ENGINE_HPP_
+#define ENGINE_HPP_
+
+#include <atomic>
+#include <thread>
+#include "gpio.hpp"
+#include "measure.hpp"
+
+class engine
+{
+public:
+	enum class direction
+	{
+		FORWARD,
+		REVERSE
+	};
+private:
+	std::atomic<int> speed;
+	gpio pin_forward;
+	gpio pin_reverse;
+	std::atomic<bool> stop_thread;
+	std::thread pwm_thread;
+	measure measurement;
+	void pwm_loop();
+public:
+	engine(gpio&& pin_forward, gpio&& pin_reverse);
+	~engine();
+	void set_speed(int speed);
+};
+
+#endif
--- a/kawaii/gpio.cpp
+++ b/kawaii/gpio.cpp
@@ -0,0 +1,109 @@
+#include "gpio.hpp"
+
+#include <fstream>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+
+using namespace std;
+
+static string construct_filename(const string &prefix, int pin, const string &suffix)
+{
+	stringstream filename;
+	filename << prefix << pin << suffix;
+	return filename.str();
+}
+
+gpio::gpio(int pin, pin_direction direction, pin_type type, bool default_state)
+	: pin(pin),
+	  direction(direction),
+	  type(type),
+	  current_state(false)
+{
+	ofstream export_file("/sys/class/gpio/export");
+	export_file << pin;
+	export_file.close();
+	ofstream direction_file(construct_filename("/sys/class/gpio/gpio", pin, "/direction").c_str());
+	if (direction == pin_direction::INPUT)
+	{
+		direction_file << "in";
+	}
+	else
+	{
+		direction_file << "out";
+	}
+	direction_file.close();
+	if (direction == pin_direction::OUTPUT)
+	{
+		set_value(default_state, false);
+	}
+}
+
+gpio::gpio(gpio&& old)
+	: pin(old.pin),
+	  direction(old.direction),
+	  type(old.type),
+	  current_state(old.current_state)
+{
+	old.pin = -1;
+}
+
+gpio::~gpio()
+{
+	if (pin != -1)
+	{
+		ofstream unexport_file("/sys/class/gpio/unexport");
+		unexport_file << pin;
+	}
+}
+
+void gpio::set_value(bool on, bool use_cache)
+{
+	if (pin == -1)
+		throw logic_error("Usage of moved gpio");
+	if (direction == pin_direction::INPUT)
+	{
+		stringstream errormsg;
+		errormsg << "Cannot write to input pin " << pin;
+		throw logic_error(errormsg.str());
+	}
+	if (!use_cache || current_state != on)
+	{
+		bool value;
+		if (type == pin_type::HIGH_ON)
+			value = on;
+		else
+			value = !on;
+		ofstream value_file(construct_filename("/sys/class/gpio/gpio", pin, "/value"));
+		value_file << value;
+	}
+	current_state = on;
+}
+
+void gpio::set_value(bool on)
+{
+	set_value(on, true);
+}
+
+bool gpio::get_value()
+{
+	if (pin == -1)
+		throw logic_error("Usage of moved gpio");
+	if (direction == pin_direction::OUTPUT)
+		return current_state;
+	ifstream value_file(construct_filename("/sys/class/gpio/gpio", pin, "/value"));
+	bool value;
+	value_file >> value;
+	bool on;
+	if (type == pin_type::HIGH_ON)
+		on = value;
+	else
+		on = !value;
+	return on;
+}
+
+int gpio::get_pin() const
+{
+	return pin;
+}
+
--- a/kawaii/gpio.hpp
+++ b/kawaii/gpio.hpp
@@ -0,0 +1,34 @@
+#ifndef GPIO_HPP_
+#define GPIO_HPP_
+
+class gpio
+{
+public:
+	enum class pin_direction
+	{
+		INPUT,
+		OUTPUT
+	};
+	enum class pin_type
+	{
+		HIGH_ON,
+		LOW_ON
+	};
+
+private:
+	int pin;
+	pin_direction direction;
+	pin_type type;
+	bool current_state;
+	void set_value(bool on, bool use_cache);
+public:
+	gpio(int pin, pin_direction, pin_type=pin_type::HIGH_ON, bool default_state=false);
+	gpio(const gpio&) = delete;
+	gpio(gpio&&);
+	~gpio();
+	void set_value(bool on);
+	bool get_value();
+	int get_pin() const;
+};
+
+#endif
--- a/kawaii/kawaii-rs/.gitignore
+++ b/kawaii/kawaii-rs/.gitignore
@@ -0,0 +1,4 @@
+Cargo.lock
+target/
+**/*.rs.bk
+*.iml
--- a/kawaii/kawaii-rs/CMakeLists.txt
+++ b/kawaii/kawaii-rs/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.0)
+project(kawaii-rs)
+
+include(ExternalProject)
+
+if (MEASURE)
+	set(CARGO_FEATURES "${CARGO_FEATURES} measure")
+endif (MEASURE)
+
+if (CARGO_FEATURES)
+	set(CARGO_ARGUMENTS --features "${CARGO_FEATURES}")
+endif(CARGO_FEATURES)
+
+file(GLOB RUST_SOURCE_FILES "${PROJECT_SOURCE_DIR}/src" *.rs)
+add_custom_target(${PROJECT_NAME}
+		COMMAND cargo build --color=never ${CARGO_ARGUMENTS}
+		COMMAND cargo build --color=never ${CARGO_ARGUMENTS} --release
+		DEPENDS ${RUST_SOURCE_FILES}
+		BYPRODUCTS target/debug/libkawaii.a target/release/libkawaii.a
+		WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
+		SOURCES ${RUST_SOURCE_FILES})
--- a/kawaii/kawaii-rs/Cargo.toml
+++ b/kawaii/kawaii-rs/Cargo.toml
@@ -0,0 +1,19 @@
+[package]
+name = "kawaii-rs-api"
+version = "0.1.0"
+authors = ["Simon Wörner <git@simon-woerner.de>"]
+
+[lib]
+name = "kawaii_api"
+crate-type = ["staticlib"]
+
+[features]
+measure = [
+    "kawaii/measure",
+    "emergency_stop/measure",
+    "ultrasonic_irq/measure" ]
+
+[dependencies]
+emergency_stop = { git = "https://git.brn.li/kawaii-robotto/emergency-stop.git" }
+kawaii = { git = "https://git.brn.li/kawaii-robotto/kawaii-rs.git" }
+ultrasonic_irq = { git = "https://git.brn.li/kawaii-robotto/ultrasonic-irq.git" }
--- a/kawaii/kawaii-rs/dependencies/emergency-stop/.gitignore
+++ b/kawaii/kawaii-rs/dependencies/emergency-stop/.gitignore
@@ -0,0 +1,8 @@
+CMakeFiles/
+Makefile
+cmake_install.cmake
+emergency-stop-prefix/
+emergency-stop.cbp
+target/
+**/*.rs.bk
+*.iml
--- a/kawaii/kawaii-rs/dependencies/emergency-stop/Cargo.toml
+++ b/kawaii/kawaii-rs/dependencies/emergency-stop/Cargo.toml
@@ -0,0 +1,14 @@
+[package]
+name = "emergency_stop"
+version = "0.1.0"
+authors = ["Simon Wörner <git@simon-woerner.de>"]
+
+[[bin]]
+name = "emergency_stop-test"
+doc = false
+
+[features]
+measure = ["kawaii/measure"]
+
+[dependencies]
+kawaii = { git = "https://git.brn.li/kawaii-robotto/kawaii-rs.git" }
--- a/kawaii/kawaii-rs/dependencies/emergency-stop/src/lib.rs
+++ b/kawaii/kawaii-rs/dependencies/emergency-stop/src/lib.rs
@@ -0,0 +1,102 @@
+extern crate kawaii;
+
+use std::time::Duration;
+use std::thread;
+use std::thread::JoinHandle;
+use std::sync::Arc;
+use std::sync::atomic::{AtomicBool, Ordering};
+
+use self::kawaii::gpio::{AsyncPort, Edge, Value};
+
+#[cfg(feature = "measure")]
+use self::kawaii::Measure;
+
+#[derive(Debug)]
+pub struct EmergencyStop {
+    thread: Option<JoinHandle<()>>,
+    pub state: Arc<AtomicBool>,
+}
+
+impl EmergencyStop {
+    /// Constructs a new `EmergencyStop` and starts poll thread.
+    ///
+    /// # Parameter
+    /// - `stop_port` GPIO Port number of emergency stop pin.
+    pub fn new(stop_port: u8) -> std::io::Result<Self> {
+        let name = format!("EmergencyStop(port = {})", stop_port);
+        let state = Arc::new(AtomicBool::new(false));
+        let mut port = AsyncPort::new(stop_port, Edge::Both)?;
+
+        let state_clone = state.clone();
+        let thread = thread::Builder::new()
+            .name(name)
+            .spawn(move || EmergencyStop::thread(&mut port, state_clone))?;
+
+        Ok(EmergencyStop {
+               thread: Some(thread),
+               state: state,
+           })
+    }
+
+    /// Emergency stop poll thread
+    fn thread(port: &mut AsyncPort, state: Arc<AtomicBool>) {
+        #[cfg(feature = "measure")]
+        let mut measure = Measure::new(format!("EmergencyStop(port = {})", port.port.number));
+
+        // clear first value
+        port.poll(Some(Duration::new(0, 0))).is_ok();
+
+        while !state.load(Ordering::Relaxed) {
+            #[cfg(feature = "measure")]
+            measure.start();
+
+            let timeout = Some(Duration::new(1, 0));
+
+            #[cfg(not(feature = "measure"))]
+            let value = port.poll(timeout);
+
+            #[cfg(feature = "measure")]
+            let value = port.poll_measure(timeout, &mut measure);
+
+            // continue on timeout
+            match value {
+                Ok(value) => {
+                    if let Some(value) = value {
+                        match value {
+                            Value::High => {
+                                #[cfg(debug_assertions)]
+                                println!("EmergencyStop! ({:?})", value);
+
+                                state.store(true, Ordering::Relaxed);
+                            }
+                            _ => {
+                                #[cfg(debug_assertions)]
+                                println!("EmergencyStop ignored: ({:?})", value);
+                            }
+                        }
+                    }
+                }
+                Err(e) => {
+                    #[cfg(debug_assertions)]
+                    println!("EmergencyStop! ({:?})", e);
+
+                    state.store(true, Ordering::Relaxed);
+                }
+            }
+
+            #[cfg(feature = "measure")]
+            measure.stop();
+        }
+    }
+}
+
+impl Drop for EmergencyStop {
+    /// Set emergency stop and join poll thread.
+    fn drop(&mut self) {
+        self.state.store(true, Ordering::Relaxed);
+
+        if let Some(thread) = self.thread.take() {
+            thread.join().is_ok();
+        }
+    }
+}
--- a/kawaii/kawaii-rs/dependencies/emergency-stop/src/main.rs
+++ b/kawaii/kawaii-rs/dependencies/emergency-stop/src/main.rs
@@ -0,0 +1,21 @@
+extern crate emergency_stop;
+
+use emergency_stop::EmergencyStop;
+
+use std::time::Duration;
+use std::thread::sleep;
+use std::sync::atomic::Ordering;
+
+static GPIO_PORT_STOP: u8 = 25;
+
+fn main() {
+    let emergency_stop = EmergencyStop::new(GPIO_PORT_STOP).expect("Create Emergency Stop failed");
+
+    println!("{:?}", emergency_stop);
+
+    while !emergency_stop.state.load(Ordering::Relaxed) {
+        sleep(Duration::new(1, 0));
+    }
+
+    println!("Stopped.");
+}
--- a/kawaii/kawaii-rs/dependencies/kawaii-rs/.gitignore
+++ b/kawaii/kawaii-rs/dependencies/kawaii-rs/.gitignore
@@ -0,0 +1,4 @@
+Cargo.lock
+target/
+**/*.rs.bk
+*.iml
--- a/kawaii/kawaii-rs/dependencies/kawaii-rs/Cargo.toml
+++ b/kawaii/kawaii-rs/dependencies/kawaii-rs/Cargo.toml
@@ -0,0 +1,17 @@
+[package]
+name = "kawaii"
+version = "0.1.0"
+authors = ["Simon Wörner <git@simon-woerner.de>"]
+
+[[bin]]
+name = "kawaii-test"
+doc = false
+
+[features]
+measure = []
+
+[dependencies]
+nix = "0.8.1"
+regex = "^0.2"
+separator = "^0.3.1"
+time = "^0.1.36"
--- a/kawaii/kawaii-rs/dependencies/kawaii-rs/src/gpio.rs
+++ b/kawaii/kawaii-rs/dependencies/kawaii-rs/src/gpio.rs
@@ -0,0 +1,320 @@
+extern crate std;
+extern crate nix;
+
+use std::fmt;
+use std::time::Duration;
+use std::io::prelude::*;
+use std::io::{Error, ErrorKind, SeekFrom};
+use std::fs::File;
+use std::path::Path;
+
+use std::os::unix::io::RawFd;
+
+#[cfg(feature = "measure")]
+use measure::Measure;
+
+fn duration_to_ms(duration: Duration) -> u64 {
+    duration.as_secs() * 1_000u64 + duration.subsec_nanos() as u64 / 1_000_000u64
+}
+
+#[derive(Clone, Copy, Debug)]
+pub enum Direction {
+    Out,
+    In,
+}
+impl Direction {
+    pub fn from_str(s: &str) -> Option<Direction> {
+        match s {
+            "out" => Some(Direction::Out),
+            "in" => Some(Direction::In),
+            _ => None,
+        }
+    }
+
+    pub fn as_str(&self) -> &'static str {
+        match *self {
+            Direction::Out => "out",
+            Direction::In => "in",
+        }
+    }
+}
+
+#[derive(Clone, Copy, Debug)]
+pub enum Edge {
+    None,
+    Rising,
+    Falling,
+    Both,
+}
+impl Edge {
+    pub fn from_str(s: &str) -> Option<Edge> {
+        match s {
+            "none" => Some(Edge::None),
+            "rising" => Some(Edge::Rising),
+            "falling" => Some(Edge::Falling),
+            "both" => Some(Edge::Both),
+            _ => None,
+        }
+    }
+
+    pub fn as_str(&self) -> &'static str {
+        match *self {
+            Edge::None => "none",
+            Edge::Rising => "rising",
+            Edge::Falling => "falling",
+            Edge::Both => "both",
+        }
+    }
+}
+
+#[derive(Clone, Copy, Debug)]
+pub enum Value {
+    High,
+    Low,
+}
+impl Value {
+    pub fn from_str(s: &str) -> Option<Value> {
+        match s {
+            "1" => Some(Value::High),
+            "0" => Some(Value::Low),
+            _ => None,
+        }
+    }
+
+    pub fn from_buffer(b: &[u8; 1]) -> Option<Self> {
+        Value::from_char(b[0])
+    }
+
+    pub fn from_char(c: u8) -> Option<Self> {
+        match c {
+            48 => Some(Value::Low), // '0'
+            49 => Some(Value::High), // '1'
+            _ => None,
+        }
+    }
+
+    pub fn as_str(&self) -> &'static str {
+        match *self {
+            Value::High => "1",
+            Value::Low => "0",
+        }
+    }
+}
+
+#[derive(Debug)]
+pub struct Port {
+    pub number: u8,
+    pub direction: Direction,
+}
+
+#[derive(Debug)]
+pub struct SyncPort {
+    pub port: Port,
+    file: File,
+    buffer: [u8; 1],
+}
+pub struct AsyncPort {
+    pub port: Port,
+    pub edge: Edge,
+    file: RawFd,
+    fds: [nix::poll::PollFd; 1],
+    buffer: [u8; 1],
+}
+
+impl fmt::Debug for AsyncPort {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(f,
+               "AsyncPort {{ port: {:?}, edge: {:?}, file: {:?}, fds: [?], buffer: {:?} }}",
+               self.port,
+               self.edge,
+               self.file,
+               self.buffer)
+    }
+}
+
+impl Port {
+    /// Constructs a new GPIO `Port`.
+    ///
+    /// # Parameter
+    /// - `number` GPIO Port number of pin.
+    /// - `direction` GPIO Port direction.
+    pub fn new(number: u8, direction: Direction) -> std::io::Result<Port> {
+        let port = Port {
+            number: number,
+            direction: direction,
+        };
+
+        port.init()?;
+        Ok(port)
+    }
+
+    /// Init GPIO `Port`: export port and set direction
+    fn init(&self) -> std::io::Result<()> {
+        self.export().ok();
+        self.set_direction()?;
+
+        Ok(())
+    }
+
+    /// Drop GPIO `Port`: unexport
+    pub fn drop(&mut self) {
+        self.unexport().ok();
+    }
+
+    fn write_path(path: &str, value: &str) -> std::io::Result<()> {
+        File::create(Path::new(path))?
+            .write_all(value.as_bytes())
+    }
+
+
+    /// Export GPIO `Port`
+    fn export(&self) -> std::io::Result<()> {
+        Port::write_path("/sys/class/gpio/export", self.number.to_string().as_str())
+    }
+    /// Unexport GPIO `Port`
+    fn unexport(&self) -> std::io::Result<()> {
+        Port::write_path("/sys/class/gpio/unexport", self.number.to_string().as_str())
+    }
+
+    /// Set GPIO `Port` direction
+    fn set_direction(&self) -> std::io::Result<()> {
+        Port::write_path(format!("/sys/class/gpio/gpio{}/direction", self.number).as_str(),
+                         self.direction.as_str())
+    }
+}
+
+impl SyncPort {
+    /// Constructs a new synchronised GPIO `Port`.
+    ///
+    /// # Parameter
+    /// - `number` GPIO Port number of pin.
+    /// - `direction` GPIO Port direction.
+    pub fn new(number: u8, direction: Direction) -> std::io::Result<SyncPort> {
+        Ok(SyncPort {
+               port: Port::new(number, direction)?,
+               file: SyncPort::open(number, direction)?,
+               buffer: [0; 1],
+           })
+    }
+
+    /// Open GPIO `SyncPort` sysfs file
+    fn open(number: u8, direction: Direction) -> std::io::Result<File> {
+        let path = format!("/sys/class/gpio/gpio{}/value", number);
+        let path = Path::new(path.as_str());
+
+        Ok(match direction {
+               Direction::Out => File::create(path)?,
+               Direction::In => File::open(path)?,
+           })
+    }
+
+    /// Read from GPIO `SyncPort` sysfs file
+    pub fn read(&mut self) -> std::io::Result<Value> {
+        self.file.seek(SeekFrom::Start(0))?;
+        self.file.read_exact(&mut self.buffer)?;
+
+        Value::from_buffer(&self.buffer).ok_or(Error::new(ErrorKind::InvalidData,
+                                                          "Unrecognized GPIO Value"))
+    }
+
+    /// Write to GPIO `SyncPort` sysfs file
+    pub fn write(&mut self, value: Value) -> std::io::Result<()> {
+        self.file.write_all(value.as_str().as_bytes())
+    }
+}
+
+impl AsyncPort {
+    /// Constructs a new asynchronous GPIO `Port`.
+    ///
+    /// # Parameter
+    /// - `number` GPIO Port number of pin.
+    /// - `edge` GPIO Port edge detection setting.
+    pub fn new(number: u8, edge: Edge) -> std::io::Result<AsyncPort> {
+        let port = Port::new(number, Direction::In)?;
+        let file = AsyncPort::open(number)?;
+        let port = AsyncPort {
+            port: port,
+            edge: edge,
+            file: file,
+            fds: [nix::poll::PollFd::new(file, nix::poll::POLLPRI, nix::poll::EventFlags::empty())],
+            buffer: [0; 1],
+        };
+
+        port.init()?;
+        Ok(port)
+    }
+
+    /// Init GPIO `Port`: set edge detection
+    fn init(&self) -> std::io::Result<()> {
+        self.set_edge()?;
+
+        Ok(())
+    }
+
+    /// Open GPIO `AsyncPort` sysfs file with posix API
+    fn open(number: u8) -> std::io::Result<RawFd> {
+        nix::fcntl::open(format!("/sys/class/gpio/gpio{}/value", number).as_str(),
+                         nix::fcntl::O_RDONLY,
+                         nix::sys::stat::Mode::empty())
+                .or(Err(Error::new(ErrorKind::Other, "open failed")))
+    }
+
+    fn get_timeout(timeout: Option<Duration>) -> i32 {
+        match timeout {
+            None => -1,
+            Some(t) => duration_to_ms(t) as i32,
+        }
+    }
+
+    /// Posix poll on sysfs file
+    fn nix_poll(&mut self, timeout: i32) -> nix::Result<i32> {
+        nix::poll::poll(&mut self.fds, timeout)
+    }
+
+    /// Read from GPIO `AsyncPort` sysfs file with posix poll
+    fn poll_read(&mut self, poll: nix::Result<i32>) -> std::io::Result<Option<Value>> {
+        let poll = poll.or(Err(Error::new(ErrorKind::Other, "poll failed")))?;
+
+        if poll == 0 {
+            return Ok(None);
+        }
+
+        nix::unistd::lseek(self.file, 0, nix::unistd::Whence::SeekSet)
+            .or(Err(Error::new(ErrorKind::Other, "lseek failed")))?;
+
+        nix::unistd::read(self.file, &mut self.buffer)
+            .or(Err(Error::new(ErrorKind::Other, "read failed")))?;
+
+        Value::from_buffer(&self.buffer).map_or(Err(Error::new(ErrorKind::InvalidData,
+                                                               "Unrecognized GPIO Value")),
+                                                |v| Ok(Some(v)))
+    }
+
+    /// Read asynchronous from GPIO `AsyncPort` sysfs file
+    pub fn poll(&mut self, timeout: Option<Duration>) -> std::io::Result<Option<Value>> {
+        let poll = self.nix_poll(Self::get_timeout(timeout));
+
+        self.poll_read(poll)
+    }
+
+    /// Read asynchronous from GPIO `AsyncPort` sysfs file with measure support (ignore poll time)
+    #[cfg(feature = "measure")]
+    pub fn poll_measure(&mut self,
+                        timeout: Option<Duration>,
+                        measure: &mut Measure)
+                        -> std::io::Result<Option<Value>> {
+        let timeout = Self::get_timeout(timeout);
+
+        measure.pause();
+        let poll = self.nix_poll(timeout);
+        measure.start();
+
+        self.poll_read(poll)
+    }
+
+    /// Set GPIO `Port` edge detection
+    fn set_edge(&self) -> std::io::Result<()> {
+        Port::write_path(format!("/sys/class/gpio/gpio{}/edge", self.port.number).as_str(),
+                         self.edge.as_str())
+    }
+}
--- a/kawaii/kawaii-rs/dependencies/kawaii-rs/src/lib.rs
+++ b/kawaii/kawaii-rs/dependencies/kawaii-rs/src/lib.rs
@@ -0,0 +1,7 @@
+pub mod gpio;
+
+#[cfg(feature = "measure")]
+mod measure;
+
+#[cfg(feature = "measure")]
+pub use measure::Measure;
--- a/kawaii/kawaii-rs/dependencies/kawaii-rs/src/main.rs
+++ b/kawaii/kawaii-rs/dependencies/kawaii-rs/src/main.rs
@@ -0,0 +1,35 @@
+extern crate kawaii;
+
+use std::time::Duration;
+
+use kawaii::gpio::{SyncPort, AsyncPort, Direction, Edge, Value};
+
+#[cfg(feature = "measure")]
+use kawaii::measure::Measure;
+
+fn main() {
+    println!("Hello, world!");
+
+    #[cfg(feature = "measure")]
+    {
+        let mut measure = Measure::new(String::from("main({test: 1})"));
+
+        for _ in 0..5 {
+            measure.start();
+            std::thread::sleep(Duration::new(0, 1_000_000));
+            measure.stop();
+        }
+
+        println!("{:?}", measure);
+    }
+
+    let mut trigger = SyncPort::new(27, Direction::Out).expect("Create Trigger GPIO failed");
+    let mut echo = AsyncPort::new(28, Edge::Both).expect("Create Echo GPIO failed");
+
+    println!("trigger = {:?}", trigger.read());
+    trigger.write(Value::High).expect("write failed");
+    println!("trigger = {:?}", trigger.read());
+    trigger.write(Value::Low).expect("write failed");
+    println!("trigger = {:?}", trigger.read());
+    println!("echo = {:?}", echo.poll(Some(Duration::new(1, 0))));
+}
--- a/kawaii/kawaii-rs/dependencies/kawaii-rs/src/measure.rs
+++ b/kawaii/kawaii-rs/dependencies/kawaii-rs/src/measure.rs
@@ -0,0 +1,119 @@
+extern crate regex;
+extern crate separator;
+extern crate time;
+
+use std;
+use std::fs::File;
+use std::io::prelude::*;
+use std::io::{Error, ErrorKind};
+
+use self::regex::Regex;
+use self::separator::Separatable;
+use self::time::precise_time_ns;
+
+#[derive(Debug)]
+pub struct Measure {
+    pub min: u64,
+    pub max: u64,
+    time: u64,
+    last: u64,
+    data: Vec<u64>,
+    pub name: String,
+}
+
+impl Measure {
+    /// Constructs a new `Measure`.
+    ///
+    /// # Parameter
+    /// - `name` Name of measured component.
+    pub fn new(name: String) -> Self {
+        Measure {
+            min: u64::max_value(),
+            max: 0u64,
+            time: 0u64,
+            last: 0u64,
+            data: Vec::with_capacity(1_000_000),
+            name: name,
+        }
+    }
+
+    /// Start measurement
+    pub fn start(&mut self) {
+        self.last = precise_time_ns();
+    }
+
+    /// Pause measurement
+    pub fn pause(&mut self) {
+        if self.last == 0 {
+            #[cfg(debug_assertions)]
+            println!("WARNING: {:?} pause called without start!", self);
+
+            return;
+        }
+
+        self.time += self.time_diff();
+    }
+
+    /// Stop measurement and calculate time difference
+    pub fn stop(&mut self) {
+        if self.last == 0 {
+            #[cfg(debug_assertions)]
+            println!("WARNING: {:?} stop called without start!", self);
+
+            return;
+        }
+
+        self.time += self.time_diff();
+        self.data.push(self.time);
+
+        if self.time < self.min {
+            self.min = self.time;
+        }
+
+        if self.time > self.max {
+            self.max = self.time;
+        }
+
+        self.time = 0u64;
+        self.last = 0u64;
+    }
+
+    fn time_diff(&mut self) -> u64 {
+        let current_time = precise_time_ns();
+        let time_diff = current_time - self.last;
+        self.last = current_time;
+
+        time_diff
+    }
+
+    fn write_data(&self) -> std::io::Result<()> {
+        let re = Regex::new(r"[^\w\-.]")
+            .or(Err(Error::new(ErrorKind::Other, "Create filename regex failed.")))?;
+
+        let file_name = format!("measure_{}.txt", self.name);
+        let file_name = re.replace_all(file_name.as_str(), "_").to_string();
+        println!("{}: Write data to {}", self.name, file_name);
+
+        let mut file = File::create(file_name)?;
+
+        for value in &self.data {
+            file.write_fmt(format_args!("{}\n", value))?;
+        }
+
+        Ok(())
+    }
+}
+
+impl Drop for Measure {
+    /// Print measure results and write times to file
+    fn drop(&mut self) {
+        println!("{}:\n\tmin: {} ns\n\tmax: {} ns",
+                 self.name,
+                 self.min.separated_string(),
+                 self.max.separated_string());
+
+        if let Err(e) = self.write_data() {
+            println!("{}: Write measure data failed: {}", self.name, e);
+        }
+    }
+}
--- a/kawaii/kawaii-rs/dependencies/ultrasonic-irq/.gitignore
+++ b/kawaii/kawaii-rs/dependencies/ultrasonic-irq/.gitignore
@@ -0,0 +1,7 @@
+CMakeFiles/
+Makefile
+cmake_install.cmake
+ultrasonic-irq-prefix/
+ultrasonic-irq.cbp
+target/
+**/*.rs.bk
--- a/kawaii/kawaii-rs/dependencies/ultrasonic-irq/Cargo.toml
+++ b/kawaii/kawaii-rs/dependencies/ultrasonic-irq/Cargo.toml
@@ -0,0 +1,16 @@
+[package]
+name = "ultrasonic_irq"
+version = "0.1.0"
+authors = ["kawaii <root@kawaii.home.lost-in-space.net>"]
+
+[[bin]]
+name = 'ultrasonic_irq-test'
+doc = false
+
+[features]
+measure = ["kawaii/measure"]
+
+[dependencies]
+time = "^0.1.36"
+shuteye = "^0.3.2"
+kawaii = { git = "https://git.brn.li/kawaii-robotto/kawaii-rs.git" }
--- a/kawaii/kawaii-rs/dependencies/ultrasonic-irq/src/lib.rs
+++ b/kawaii/kawaii-rs/dependencies/ultrasonic-irq/src/lib.rs
@@ -0,0 +1,215 @@
+#![feature(integer_atomics)]
+
+extern crate time;
+extern crate shuteye;
+extern crate kawaii;
+
+use std::time::Duration;
+use std::thread;
+use std::thread::JoinHandle;
+use std::sync::mpsc::{Sender, Receiver};
+use std::sync::mpsc;
+use std::sync::Arc;
+use std::sync::atomic::{AtomicU32, Ordering};
+
+use self::kawaii::gpio::{SyncPort, AsyncPort, Direction, Edge, Value};
+
+#[cfg(feature = "measure")]
+use self::kawaii::Measure;
+
+use self::time::precise_time_ns;
+use self::shuteye::sleep;
+
+#[derive(Debug)]
+struct ThreadData<T> {
+    thread: JoinHandle<T>,
+    tx: Sender<()>,
+}
+
+#[derive(Debug)]
+pub struct UltrasonicEcho {
+    echo: AsyncPort,
+    temperature: u8,
+    timestamp: u64,
+    distance: Arc<AtomicU32>,
+}
+
+#[derive(Debug)]
+pub struct UltrasonicTrigger {
+    trigger: SyncPort,
+}
+
+#[derive(Debug)]
+pub struct Ultrasonic {
+    trigger: Option<ThreadData<()>>,
+    echo: Option<ThreadData<()>>,
+    pub distance: Arc<AtomicU32>,
+}
+
+impl Ultrasonic {
+    /// Constructs a new `Ultrasonic` and start threads.
+    ///
+    /// # Threads
+    /// - `UltrasonicTrigger`
+    /// - `UltrasonicEcho`
+    ///
+    /// # Parameter
+    /// - `trigger_port` GPIO Port number of trigger pin.
+    /// - `echo_port` GPIO Port number of echo pin.
+    /// - `temperature` Room temperature in °C.
+    pub fn new(trigger_port: u8, echo_port: u8, temperature: u8) -> std::io::Result<Ultrasonic> {
+        let distance = Arc::new(AtomicU32::new(u32::max_value()));
+
+        /// Create `UltrasonicEcho` thread with sync channel.
+        let echo = UltrasonicEcho {
+            echo: AsyncPort::new(echo_port, Edge::Both)?,
+            temperature: temperature,
+            timestamp: 0,
+            distance: distance.clone(),
+        };
+        let (tx, rx): (Sender<()>, Receiver<()>) = mpsc::channel();
+        let name = format!("Ultrasonic::echo(port = {})", echo_port);
+        let echo = ThreadData::<()> {
+            thread: thread::Builder::new()
+                .name(name)
+                .spawn(move || echo.thread(rx))?,
+            tx: tx,
+        };
+
+        /// Create `UltrasonicTrigger` thread with sync channel.
+        let trigger = UltrasonicTrigger { trigger: SyncPort::new(trigger_port, Direction::Out)? };
+        let (tx, rx): (Sender<()>, Receiver<()>) = mpsc::channel();
+        let name = format!("Ultrasonic::trigger(port = {})", trigger_port);
+        let trigger = ThreadData::<()> {
+            thread: thread::Builder::new()
+                .name(name)
+                .spawn(move || trigger.thread(rx))?,
+            tx: tx,
+        };
+
+        Ok(Ultrasonic {
+               trigger: Some(trigger),
+               echo: Some(echo),
+               distance: distance,
+           })
+    }
+}
+
+impl Drop for Ultrasonic {
+    /// Drop sync channels and join threads.
+    fn drop(&mut self) {
+        if let Some(echo) = self.echo.take() {
+            echo.tx.send(()).is_ok();
+            echo.thread.join().is_ok();
+        }
+
+        if let Some(trigger) = self.trigger.take() {
+            trigger.tx.send(()).is_ok();
+            trigger.thread.join().is_ok();
+        }
+    }
+}
+
+impl UltrasonicTrigger {
+    /// `UltrasonicTrigger` thread function.
+    fn thread(mut self, stop_rx: Receiver<()>) {
+        #[cfg(feature = "measure")]
+        let mut measure = Measure::new(format!("Ultrasonic::trigger(port = {})",
+                                               self.trigger.port.number));
+
+        while stop_rx.try_recv().is_err() {
+            #[cfg(feature = "measure")]
+            measure.start();
+            self.trigger.write(Value::Low).is_ok();
+            #[cfg(feature = "measure")]
+            measure.pause();
+
+            // sleep 10us (min length to trigger)
+            sleep(Duration::new(0, 10_000));
+
+            #[cfg(feature = "measure")]
+            measure.start();
+            self.trigger.write(Value::High).is_ok();
+            #[cfg(feature = "measure")]
+            measure.stop();
+
+            // sleep 20ms (max trigger frequency)
+            sleep(Duration::new(0, 20_000_000));
+        }
+    }
+}
+
+impl UltrasonicEcho {
+    /// `UltrasonicEcho` thread function.
+    fn thread(mut self, stop_rx: Receiver<()>) {
+        #[cfg(feature = "measure")]
+        let mut measure = Measure::new(format!("Ultrasonic::echo(port = {})",
+                                               self.echo.port.number));
+
+        while stop_rx.try_recv().is_err() {
+            #[cfg(feature = "measure")]
+            measure.start();
+
+            #[cfg(not(feature = "measure"))]
+            let value = self.echo.poll(Some(Duration::new(1, 0)));
+
+            #[cfg(feature = "measure")]
+            let value = self.echo
+                .poll_measure(Some(Duration::new(1, 0)), &mut measure);
+
+            match value {
+                Ok(value) => {
+                    if let Some(value) = value {
+                        self.on_value_changed(value);
+                    }
+                }
+                Err(_e) => {
+                    #[cfg(debug_assertions)]
+                    println!("POLL failed: e = {:?}", _e);
+                }
+            }
+
+            #[cfg(feature = "measure")]
+            measure.stop();
+        }
+    }
+
+    /// Start time measure or calculates distance based on port value
+    fn on_value_changed(&mut self, value: Value) {
+        match value {
+            Value::High => {
+                // Switched from Value::High to Value::High
+                // possibly because of trigger after timeout and slow reading
+                if self.timestamp > 0 {
+                    #[cfg(debug_assertions)]
+                    println!("{:?}", self);
+
+                    self.calc_distance();
+                }
+
+                self.timestamp = precise_time_ns();
+            }
+            Value::Low => {
+                // Switched from Value::Low to Value::Low
+                if self.timestamp == 0 {
+                    #[cfg(debug_assertions)]
+                    println!("{:?}", self);
+                }
+
+                self.calc_distance();
+            }
+        }
+    }
+
+    /// Calculates distance based on time measurement and `temperature` and stores it in `distance`
+    fn calc_distance(&mut self) {
+        let time_diff = precise_time_ns() - self.timestamp;
+        let distance = (3315 + self.temperature as u64 * 6) * time_diff / 20_000_000;
+        self.distance.store(distance as u32, Ordering::Relaxed);
+
+        #[cfg(debug_assertions)]
+        println!("time diff: {}\tdistance: {}mm", time_diff, distance);
+
+        self.timestamp = 0u64;
+    }
+}
--- a/kawaii/kawaii-rs/dependencies/ultrasonic-irq/src/main.rs
+++ b/kawaii/kawaii-rs/dependencies/ultrasonic-irq/src/main.rs
@@ -0,0 +1,21 @@
+extern crate shuteye;
+
+extern crate ultrasonic_irq;
+
+use std::time::Duration;
+use std::thread::sleep;
+
+use ultrasonic_irq::Ultrasonic;
+
+static GPIO_PORT_TRIG: u8 = 23;
+static GPIO_PORT_ECHO: u8 = 24;
+static TEMPERATURE: u8 = 20;
+
+fn main() {
+    let ultrasonic = Ultrasonic::new(GPIO_PORT_TRIG, GPIO_PORT_ECHO, TEMPERATURE)
+        .expect("Create Ultrasonic failed");
+
+    println!("{:?}", ultrasonic);
+
+    sleep(Duration::new(10, 0));
+}
--- a/kawaii/kawaii-rs/doc/.lock
+++ b/kawaii/kawaii-rs/doc/.lock
--- a/kawaii/kawaii-rs/doc/COPYRIGHT.txt
+++ b/kawaii/kawaii-rs/doc/COPYRIGHT.txt
@@ -0,0 +1,59 @@
+These documentation pages include resources by third parties. This copyright
+file applies only to those resources. The following third party resources are
+included, and carry their own copyright notices and license terms:
+
+* Fira Sans (FiraSans-Regular.woff, FiraSans-Medium.woff):
+
+    Copyright (c) 2014, Mozilla Foundation https://mozilla.org/
+    with Reserved Font Name Fira Sans.
+
+    Copyright (c) 2014, Telefonica S.A.
+
+    Licensed under the SIL Open Font License, Version 1.1.
+    See FiraSans-LICENSE.txt.
+
+* Heuristica (Heuristica-Italic.woff):
+
+    Copyright 1989, 1991 Adobe Systems Incorporated. All rights reserved.
+    Utopia is either a registered trademark or trademark of Adobe Systems
+    Incorporated in the United States and/or other countries. Used under
+    license.
+
+    Copyright 2006 Han The Thanh, Vntopia font family, http://vntex.sf.net
+
+    Copyright (c) 2008-2012, Andrey V. Panov (panov@canopus.iacp.dvo.ru),
+    with Reserved Font Name Heuristica.
+
+    Licensed under the SIL Open Font License, Version 1.1.
+    See Heuristica-LICENSE.txt.
+
+* rustdoc.css, main.js, and playpen.js:
+
+    Copyright 2015 The Rust Developers.
+    Licensed under the Apache License, Version 2.0 (see LICENSE-APACHE.txt) or
+    the MIT license (LICENSE-MIT.txt) at your option.
+
+* normalize.css:
+
+    Copyright (c) Nicolas Gallagher and Jonathan Neal.
+    Licensed under the MIT license (see LICENSE-MIT.txt).
+
+* Source Code Pro (SourceCodePro-Regular.woff, SourceCodePro-Semibold.woff):
+
+    Copyright 2010, 2012 Adobe Systems Incorporated (http://www.adobe.com/),
+    with Reserved Font Name 'Source'. All Rights Reserved. Source is a trademark
+    of Adobe Systems Incorporated in the United States and/or other countries.
+
+    Licensed under the SIL Open Font License, Version 1.1.
+    See SourceCodePro-LICENSE.txt.
+
+* Source Serif Pro (SourceSerifPro-Regular.woff, SourceSerifPro-Bold.woff):
+
+    Copyright 2014 Adobe Systems Incorporated (http://www.adobe.com/), with
+    Reserved Font Name 'Source'. All Rights Reserved. Source is a trademark of
+    Adobe Systems Incorporated in the United States and/or other countries.
+
+    Licensed under the SIL Open Font License, Version 1.1.
+    See SourceSerifPro-LICENSE.txt.
+
+This copyright file is intended to be distributed with rustdoc output.
--- a/kawaii/kawaii-rs/doc/FiraSans-LICENSE.txt
+++ b/kawaii/kawaii-rs/doc/FiraSans-LICENSE.txt
@@ -0,0 +1,99 @@
+Copyright (c) 2014, Mozilla Foundation https://mozilla.org/
+with Reserved Font Name Fira Sans.
+
+Copyright (c) 2014, Mozilla Foundation https://mozilla.org/
+with Reserved Font Name Fira Mono.
+
+Copyright (c) 2014, Telefonica S.A.
+
+This Font Software is licensed under the SIL Open Font License, Version 1.1.
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font creation
+efforts of academic and linguistic communities, and to provide a free and
+open framework in which fonts may be shared and improved in partnership
+with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply
+to any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software components as
+distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to, deleting,
+or substituting -- in part or in whole -- any of the components of the
+Original Version, by changing formats or by porting the Font Software to a
+new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed, modify,
+redistribute, and sell modified and unmodified copies of the Font
+Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components,
+in Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the corresponding
+Copyright Holder. This restriction only applies to the primary font name as
+presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created
+using the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
--- a/kawaii/kawaii-rs/doc/FiraSans-Medium.woff
+++ b/kawaii/kawaii-rs/doc/FiraSans-Medium.woff
--- a/kawaii/kawaii-rs/doc/FiraSans-Regular.woff
+++ b/kawaii/kawaii-rs/doc/FiraSans-Regular.woff
--- a/kawaii/kawaii-rs/doc/Heuristica-Italic.woff
+++ b/kawaii/kawaii-rs/doc/Heuristica-Italic.woff
--- a/kawaii/kawaii-rs/doc/Heuristica-LICENSE.txt
+++ b/kawaii/kawaii-rs/doc/Heuristica-LICENSE.txt
@@ -0,0 +1,101 @@
+Copyright 1989, 1991 Adobe Systems Incorporated. All rights reserved.
+Utopia is either a registered trademark or trademark of Adobe Systems
+Incorporated in the United States and/or other countries. Used under
+license.
+
+Copyright 2006 Han The Thanh, Vntopia font family, http://vntex.sf.net
+
+Copyright (c) 2008-2012, Andrey V. Panov (panov@canopus.iacp.dvo.ru),
+with Reserved Font Name Heuristica.
+
+This Font Software is licensed under the SIL Open Font License, Version 1.1.
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font creation
+efforts of academic and linguistic communities, and to provide a free and
+open framework in which fonts may be shared and improved in partnership
+with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply
+to any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software components as
+distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to, deleting,
+or substituting -- in part or in whole -- any of the components of the
+Original Version, by changing formats or by porting the Font Software to a
+new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed, modify,
+redistribute, and sell modified and unmodified copies of the Font
+Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components,
+in Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the corresponding
+Copyright Holder. This restriction only applies to the primary font name as
+presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created
+using the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
--- a/kawaii/kawaii-rs/doc/LICENSE-APACHE.txt
+++ b/kawaii/kawaii-rs/doc/LICENSE-APACHE.txt
@@ -0,0 +1,201 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
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+
+   "Legal Entity" shall mean the union of the acting entity and all
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+
+   "You" (or "Your") shall mean an individual or Legal Entity
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--- a/kawaii/kawaii-rs/doc/LICENSE-MIT.txt
+++ b/kawaii/kawaii-rs/doc/LICENSE-MIT.txt
@@ -0,0 +1,23 @@
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--- a/kawaii/kawaii-rs/doc/SourceCodePro-LICENSE.txt
+++ b/kawaii/kawaii-rs/doc/SourceCodePro-LICENSE.txt
@@ -0,0 +1,93 @@
+Copyright 2010, 2012 Adobe Systems Incorporated (http://www.adobe.com/), with Reserved Font Name 'Source'. All Rights Reserved. Source is a trademark of Adobe Systems Incorporated in the United States and/or other countries.
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+This Font Software is licensed under the SIL Open Font License, Version 1.1.
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+This license is copied below, and is also available with a FAQ at: http://scripts.sil.org/OFL
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+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
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+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font creation
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--- a/kawaii/kawaii-rs/doc/SourceCodePro-Regular.woff
+++ b/kawaii/kawaii-rs/doc/SourceCodePro-Regular.woff
--- a/kawaii/kawaii-rs/doc/SourceCodePro-Semibold.woff
+++ b/kawaii/kawaii-rs/doc/SourceCodePro-Semibold.woff
--- a/kawaii/kawaii-rs/doc/SourceSerifPro-Bold.woff
+++ b/kawaii/kawaii-rs/doc/SourceSerifPro-Bold.woff
--- a/kawaii/kawaii-rs/doc/SourceSerifPro-LICENSE.txt
+++ b/kawaii/kawaii-rs/doc/SourceSerifPro-LICENSE.txt
@@ -0,0 +1,93 @@
+Copyright 2014 Adobe Systems Incorporated (http://www.adobe.com/), with Reserved Font Name 'Source'. All Rights Reserved. Source is a trademark of Adobe Systems Incorporated in the United States and/or other countries.
+
+This Font Software is licensed under the SIL Open Font License, Version 1.1.
+
+This license is copied below, and is also available with a FAQ at: http://scripts.sil.org/OFL
+
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font creation
+efforts of academic and linguistic communities, and to provide a free and
+open framework in which fonts may be shared and improved in partnership
+with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply
+to any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
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+"Original Version" refers to the collection of Font Software components as
+distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to, deleting,
+or substituting -- in part or in whole -- any of the components of the
+Original Version, by changing formats or by porting the Font Software to a
+new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed, modify,
+redistribute, and sell modified and unmodified copies of the Font
+Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components,
+in Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
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+in the appropriate machine-readable metadata fields within text or
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+Name(s) unless explicit written permission is granted by the corresponding
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+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
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+using the Font Software.
+
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+This license becomes null and void if any of the above conditions are
+not met.
+
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+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
--- a/kawaii/kawaii-rs/doc/SourceSerifPro-Regular.woff
+++ b/kawaii/kawaii-rs/doc/SourceSerifPro-Regular.woff
--- a/kawaii/kawaii-rs/doc/emergency_stop/EmergencyStop.t.html
+++ b/kawaii/kawaii-rs/doc/emergency_stop/EmergencyStop.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=struct.EmergencyStop.html">
+</head>
+<body>
+    <p>Redirecting to <a href="struct.EmergencyStop.html">struct.EmergencyStop.html</a>...</p>
+    <script>location.replace("struct.EmergencyStop.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/emergency_stop/index.html
+++ b/kawaii/kawaii-rs/doc/emergency_stop/index.html
@@ -0,0 +1,120 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `emergency_stop` crate.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, emergency_stop">
+
+    <title>emergency_stop - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../rustdoc.css">
+    <link rel="stylesheet" type="text/css" href="../main.css">
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+        <p class='location'>Crate emergency_stop</p><div class="block items"><ul><li><a href="#structs">Structs</a></li></ul></div><p class='location'></p><script>window.sidebarCurrent = {name: 'emergency_stop', ty: 'mod', relpath: '../'};</script>
+    </nav>
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+                       type="search">
+            </div>
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+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Crate <a class="mod" href=''>emergency_stop</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../src/emergency_stop/lib.rs.html#1-102' title='goto source code'>[src]</a></span></h1>
+<h2 id='structs' class='section-header'><a href="#structs">Structs</a></h2>
+<table>
+                       <tr class=' module-item'>
+                           <td><a class="struct" href="struct.EmergencyStop.html"
+                                  title='struct emergency_stop::EmergencyStop'>EmergencyStop</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr></table></section>
+    <section id='search' class="content hidden"></section>
+
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+        <div>
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+                    <dd>Show this help dialog</dd>
+                    <dt>S</dt>
+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
+                    <dt>&#9166;</dt>
+                    <dd>Go to active search result</dd>
+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
+                </dl>
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+
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+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
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+    <script>
+        window.rootPath = "../";
+        window.currentCrate = "emergency_stop";
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--- a/kawaii/kawaii-rs/doc/emergency_stop/sidebar-items.js
+++ b/kawaii/kawaii-rs/doc/emergency_stop/sidebar-items.js
@@ -0,0 +1 @@
+initSidebarItems({"struct":[["EmergencyStop",""]]});
--- a/kawaii/kawaii-rs/doc/emergency_stop/struct.EmergencyStop.html
+++ b/kawaii/kawaii-rs/doc/emergency_stop/struct.EmergencyStop.html
@@ -0,0 +1,132 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `EmergencyStop` struct in crate `emergency_stop`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, EmergencyStop">
+
+    <title>emergency_stop::EmergencyStop - Rust</title>
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+        things.
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+
+    
+
+    <nav class="sidebar">
+        
+        <p class='location'>Struct EmergencyStop</p><div class="block items"><ul><li><a href="#fields">Fields</a></li><li><a href="#methods">Methods</a></li><li><a href="#implementations">Trait Implementations</a></li></ul></div><p class='location'><a href='index.html'>emergency_stop</a></p><script>window.sidebarCurrent = {name: 'EmergencyStop', ty: 'struct', relpath: ''};</script><script defer src="sidebar-items.js"></script>
+    </nav>
+
+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Struct <a href='index.html'>emergency_stop</a>::<wbr><a class="struct" href=''>EmergencyStop</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../src/emergency_stop/lib.rs.html#15-18' title='goto source code'>[src]</a></span></h1>
+<pre class='rust struct'>pub struct EmergencyStop {
+    pub state: <a class="struct" href="https://doc.rust-lang.org/nightly/alloc/arc/struct.Arc.html" title="struct alloc::arc::Arc">Arc</a>&lt;<a class="struct" href="https://doc.rust-lang.org/nightly/core/sync/atomic/struct.AtomicBool.html" title="struct core::sync::atomic::AtomicBool">AtomicBool</a>&gt;,
+    // some fields omitted
+}</pre><h2 id='fields' class='fields'>Fields</h2><span id='structfield.state' class="structfield">
+                           <span id='state.v' class='invisible'>
+                           <code>state: <a class="struct" href="https://doc.rust-lang.org/nightly/alloc/arc/struct.Arc.html" title="struct alloc::arc::Arc">Arc</a>&lt;<a class="struct" href="https://doc.rust-lang.org/nightly/core/sync/atomic/struct.AtomicBool.html" title="struct core::sync::atomic::AtomicBool">AtomicBool</a>&gt;</code>
+                           </span></span><h2 id='methods'>Methods</h2><h3 class='impl'><span class='in-band'><code>impl <a class="struct" href="../emergency_stop/struct.EmergencyStop.html" title="struct emergency_stop::EmergencyStop">EmergencyStop</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../src/emergency_stop/lib.rs.html#20-91' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.new' class="method"><span id='new.v' class='invisible'><code>fn <a href='#method.new' class='fnname'>new</a>(stop_port: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u8.html">u8</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/std/io/error/type.Result.html" title="type std::io::error::Result">Result</a>&lt;Self&gt;</code></span></h4>
+<div class='docblock'><p>Constructs a new <code>EmergencyStop</code> and starts poll thread.</p>
+
+<h1 id='parameter' class='section-header'><a href='#parameter'>Parameter</a></h1>
+<ul>
+<li><code>stop_port</code> GPIO Port number of emergency stop pin.</li>
+</ul>
+</div></div><h2 id='implementations'>Trait Implementations</h2><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html" title="trait core::fmt::Debug">Debug</a> for <a class="struct" href="../emergency_stop/struct.EmergencyStop.html" title="struct emergency_stop::EmergencyStop">EmergencyStop</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../src/emergency_stop/lib.rs.html#14' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.fmt' class="method"><span id='fmt.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html#tymethod.fmt' class='fnname'>fmt</a>(&amp;self, __arg_0: &amp;mut <a class="struct" href="https://doc.rust-lang.org/nightly/core/fmt/struct.Formatter.html" title="struct core::fmt::Formatter">Formatter</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/core/fmt/type.Result.html" title="type core::fmt::Result">Result</a></code></span></h4>
+<div class='docblock'><p>Formats the value using the given formatter.</p>
+</div></div><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/ops/drop/trait.Drop.html" title="trait core::ops::drop::Drop">Drop</a> for <a class="struct" href="../emergency_stop/struct.EmergencyStop.html" title="struct emergency_stop::EmergencyStop">EmergencyStop</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../src/emergency_stop/lib.rs.html#93-102' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.drop' class="method"><span id='drop.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/ops/drop/trait.Drop.html#tymethod.drop' class='fnname'>drop</a>(&amp;mut self)</code></span></h4>
+<div class='docblock'><p>Set emergency stop and join poll thread.</p>
+</div></div></section>
+    <section id='search' class="content hidden"></section>
+
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+        <div>
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+                <h2>Keyboard Shortcuts</h2>
+
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+                    <dt>?</dt>
+                    <dd>Show this help dialog</dd>
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+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
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+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
+
+                <p>
+                    Accepted types are: <code>fn</code>, <code>mod</code>,
+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
+                <p>
+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
+                </p>
+            </div>
+        </div>
+    </aside>
+
+    
+
+    <script>
+        window.rootPath = "../";
+        window.currentCrate = "emergency_stop";
+    </script>
+    <script src="../main.js"></script>
+    <script defer src="../search-index.js"></script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/implementors/core/clone/trait.Clone.js
+++ b/kawaii/kawaii-rs/doc/implementors/core/clone/trait.Clone.js
@@ -0,0 +1,10 @@
+(function() {var implementors = {};
+implementors["kawaii"] = ["impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html\" title=\"trait core::clone::Clone\">Clone</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Direction.html\" title=\"enum kawaii::gpio::Direction\">Direction</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html\" title=\"trait core::clone::Clone\">Clone</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Edge.html\" title=\"enum kawaii::gpio::Edge\">Edge</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html\" title=\"trait core::clone::Clone\">Clone</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Value.html\" title=\"enum kawaii::gpio::Value\">Value</a>",];
+
+            if (window.register_implementors) {
+                window.register_implementors(implementors);
+            } else {
+                window.pending_implementors = implementors;
+            }
+        
+})()
--- a/kawaii/kawaii-rs/doc/implementors/core/fmt/trait.Debug.js
+++ b/kawaii/kawaii-rs/doc/implementors/core/fmt/trait.Debug.js
@@ -0,0 +1,12 @@
+(function() {var implementors = {};
+implementors["emergency_stop"] = ["impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"struct\" href=\"emergency_stop/struct.EmergencyStop.html\" title=\"struct emergency_stop::EmergencyStop\">EmergencyStop</a>",];
+implementors["kawaii"] = ["impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Direction.html\" title=\"enum kawaii::gpio::Direction\">Direction</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Edge.html\" title=\"enum kawaii::gpio::Edge\">Edge</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Value.html\" title=\"enum kawaii::gpio::Value\">Value</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"struct\" href=\"kawaii/gpio/struct.Port.html\" title=\"struct kawaii::gpio::Port\">Port</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"struct\" href=\"kawaii/gpio/struct.SyncPort.html\" title=\"struct kawaii::gpio::SyncPort\">SyncPort</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"struct\" href=\"kawaii/gpio/struct.AsyncPort.html\" title=\"struct kawaii::gpio::AsyncPort\">AsyncPort</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"struct\" href=\"kawaii/struct.Measure.html\" title=\"struct kawaii::Measure\">Measure</a>",];
+implementors["ultrasonic_irq"] = ["impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"struct\" href=\"ultrasonic_irq/struct.UltrasonicEcho.html\" title=\"struct ultrasonic_irq::UltrasonicEcho\">UltrasonicEcho</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"struct\" href=\"ultrasonic_irq/struct.UltrasonicTrigger.html\" title=\"struct ultrasonic_irq::UltrasonicTrigger\">UltrasonicTrigger</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html\" title=\"trait core::fmt::Debug\">Debug</a> for <a class=\"struct\" href=\"ultrasonic_irq/struct.Ultrasonic.html\" title=\"struct ultrasonic_irq::Ultrasonic\">Ultrasonic</a>",];
+
+            if (window.register_implementors) {
+                window.register_implementors(implementors);
+            } else {
+                window.pending_implementors = implementors;
+            }
+        
+})()
--- a/kawaii/kawaii-rs/doc/implementors/core/marker/trait.Copy.js
+++ b/kawaii/kawaii-rs/doc/implementors/core/marker/trait.Copy.js
@@ -0,0 +1,10 @@
+(function() {var implementors = {};
+implementors["kawaii"] = ["impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/marker/trait.Copy.html\" title=\"trait core::marker::Copy\">Copy</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Direction.html\" title=\"enum kawaii::gpio::Direction\">Direction</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/marker/trait.Copy.html\" title=\"trait core::marker::Copy\">Copy</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Edge.html\" title=\"enum kawaii::gpio::Edge\">Edge</a>","impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/marker/trait.Copy.html\" title=\"trait core::marker::Copy\">Copy</a> for <a class=\"enum\" href=\"kawaii/gpio/enum.Value.html\" title=\"enum kawaii::gpio::Value\">Value</a>",];
+
+            if (window.register_implementors) {
+                window.register_implementors(implementors);
+            } else {
+                window.pending_implementors = implementors;
+            }
+        
+})()
--- a/kawaii/kawaii-rs/doc/implementors/core/ops/drop/trait.Drop.js
+++ b/kawaii/kawaii-rs/doc/implementors/core/ops/drop/trait.Drop.js
@@ -0,0 +1,12 @@
+(function() {var implementors = {};
+implementors["emergency_stop"] = ["impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/ops/drop/trait.Drop.html\" title=\"trait core::ops::drop::Drop\">Drop</a> for <a class=\"struct\" href=\"emergency_stop/struct.EmergencyStop.html\" title=\"struct emergency_stop::EmergencyStop\">EmergencyStop</a>",];
+implementors["kawaii"] = ["impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/ops/drop/trait.Drop.html\" title=\"trait core::ops::drop::Drop\">Drop</a> for <a class=\"struct\" href=\"kawaii/struct.Measure.html\" title=\"struct kawaii::Measure\">Measure</a>",];
+implementors["ultrasonic_irq"] = ["impl <a class=\"trait\" href=\"https://doc.rust-lang.org/nightly/core/ops/drop/trait.Drop.html\" title=\"trait core::ops::drop::Drop\">Drop</a> for <a class=\"struct\" href=\"ultrasonic_irq/struct.Ultrasonic.html\" title=\"struct ultrasonic_irq::Ultrasonic\">Ultrasonic</a>",];
+
+            if (window.register_implementors) {
+                window.register_implementors(implementors);
+            } else {
+                window.pending_implementors = implementors;
+            }
+        
+})()
--- a/kawaii/kawaii-rs/doc/kawaii/Measure.t.html
+++ b/kawaii/kawaii-rs/doc/kawaii/Measure.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=struct.Measure.html">
+</head>
+<body>
+    <p>Redirecting to <a href="struct.Measure.html">struct.Measure.html</a>...</p>
+    <script>location.replace("struct.Measure.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/AsyncPort.t.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/AsyncPort.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=struct.AsyncPort.html">
+</head>
+<body>
+    <p>Redirecting to <a href="struct.AsyncPort.html">struct.AsyncPort.html</a>...</p>
+    <script>location.replace("struct.AsyncPort.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/Direction.t.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/Direction.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=enum.Direction.html">
+</head>
+<body>
+    <p>Redirecting to <a href="enum.Direction.html">enum.Direction.html</a>...</p>
+    <script>location.replace("enum.Direction.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/Edge.t.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/Edge.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=enum.Edge.html">
+</head>
+<body>
+    <p>Redirecting to <a href="enum.Edge.html">enum.Edge.html</a>...</p>
+    <script>location.replace("enum.Edge.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/Port.t.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/Port.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=struct.Port.html">
+</head>
+<body>
+    <p>Redirecting to <a href="struct.Port.html">struct.Port.html</a>...</p>
+    <script>location.replace("struct.Port.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/SyncPort.t.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/SyncPort.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=struct.SyncPort.html">
+</head>
+<body>
+    <p>Redirecting to <a href="struct.SyncPort.html">struct.SyncPort.html</a>...</p>
+    <script>location.replace("struct.SyncPort.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/Value.t.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/Value.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=enum.Value.html">
+</head>
+<body>
+    <p>Redirecting to <a href="enum.Value.html">enum.Value.html</a>...</p>
+    <script>location.replace("enum.Value.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/enum.Direction.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/enum.Direction.html
@@ -0,0 +1,128 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `Direction` enum in crate `kawaii`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, Direction">
+
+    <title>kawaii::gpio::Direction - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../../rustdoc.css">
+    <link rel="stylesheet" type="text/css" href="../../main.css">
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+
+    
+    
+</head>
+<body class="rustdoc enum">
+    <!--[if lte IE 8]>
+    <div class="warning">
+        This old browser is unsupported and will most likely display funky
+        things.
+    </div>
+    <![endif]-->
+
+    
+
+    <nav class="sidebar">
+        
+        <p class='location'>Enum Direction</p><div class="block items"><ul><li><a href="#variants">Variants</a></li><li><a href="#methods">Methods</a></li><li><a href="#implementations">Trait Implementations</a></li></ul></div><p class='location'><a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a></p><script>window.sidebarCurrent = {name: 'Direction', ty: 'enum', relpath: ''};</script><script defer src="sidebar-items.js"></script>
+    </nav>
+
+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Enum <a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a>::<wbr><a class="enum" href=''>Direction</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../../src/kawaii/gpio.rs.html#21-24' title='goto source code'>[src]</a></span></h1>
+<pre class='rust enum'>pub enum Direction {
+    Out,
+    In,
+}</pre><h2 id='variants' class='variants'>Variants</h2>
+<span id='variant.Out' class='variant'><span id='Out.v' class='invisible'><code>Out</code></span></span><span id='variant.In' class='variant'><span id='In.v' class='invisible'><code>In</code></span></span><h2 id='methods'>Methods</h2><h3 class='impl'><span class='in-band'><code>impl <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#25-40' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.from_str' class="method"><span id='from_str.v' class='invisible'><code>fn <a href='#method.from_str' class='fnname'>from_str</a>(s: &amp;<a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.str.html">str</a>) -&gt; <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;<a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a>&gt;</code></span></h4>
+<h4 id='method.as_str' class="method"><span id='as_str.v' class='invisible'><code>fn <a href='#method.as_str' class='fnname'>as_str</a>(&amp;self) -&gt; &amp;'static <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.str.html">str</a></code></span></h4>
+</div><h2 id='implementations'>Trait Implementations</h2><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html" title="trait core::clone::Clone">Clone</a> for <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#20' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.clone' class="method"><span id='clone.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#tymethod.clone' class='fnname'>clone</a>(&amp;self) -&gt; <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a></code></span></h4>
+<div class='docblock'><p>Returns a copy of the value. <a href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#tymethod.clone">Read more</a></p>
+</div><h4 id='method.clone_from' class="method"><span id='clone_from.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#method.clone_from' class='fnname'>clone_from</a>(&amp;mut self, source: &amp;Self)</code><div class='since' title='Stable since Rust version 1.0.0'>1.0.0</div></span></h4>
+<div class='docblock'><p>Performs copy-assignment from <code>source</code>. <a href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#method.clone_from">Read more</a></p>
+</div></div><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/marker/trait.Copy.html" title="trait core::marker::Copy">Copy</a> for <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#20' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'></div><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html" title="trait core::fmt::Debug">Debug</a> for <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#20' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.fmt' class="method"><span id='fmt.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html#tymethod.fmt' class='fnname'>fmt</a>(&amp;self, __arg_0: &amp;mut <a class="struct" href="https://doc.rust-lang.org/nightly/core/fmt/struct.Formatter.html" title="struct core::fmt::Formatter">Formatter</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/core/fmt/type.Result.html" title="type core::fmt::Result">Result</a></code></span></h4>
+<div class='docblock'><p>Formats the value using the given formatter.</p>
+</div></div></section>
+    <section id='search' class="content hidden"></section>
+
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+                    <dt>?</dt>
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--- a/kawaii/kawaii-rs/doc/kawaii/gpio/enum.Edge.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/enum.Edge.html
@@ -0,0 +1,130 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `Edge` enum in crate `kawaii`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, Edge">
+
+    <title>kawaii::gpio::Edge - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../../rustdoc.css">
+    <link rel="stylesheet" type="text/css" href="../../main.css">
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+<body class="rustdoc enum">
+    <!--[if lte IE 8]>
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+        This old browser is unsupported and will most likely display funky
+        things.
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+    <![endif]-->
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+        
+        <p class='location'>Enum Edge</p><div class="block items"><ul><li><a href="#variants">Variants</a></li><li><a href="#methods">Methods</a></li><li><a href="#implementations">Trait Implementations</a></li></ul></div><p class='location'><a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a></p><script>window.sidebarCurrent = {name: 'Edge', ty: 'enum', relpath: ''};</script><script defer src="sidebar-items.js"></script>
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+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
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+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Enum <a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a>::<wbr><a class="enum" href=''>Edge</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../../src/kawaii/gpio.rs.html#43-48' title='goto source code'>[src]</a></span></h1>
+<pre class='rust enum'>pub enum Edge {
+    None,
+    Rising,
+    Falling,
+    Both,
+}</pre><h2 id='variants' class='variants'>Variants</h2>
+<span id='variant.None' class='variant'><span id='None.v' class='invisible'><code>None</code></span></span><span id='variant.Rising' class='variant'><span id='Rising.v' class='invisible'><code>Rising</code></span></span><span id='variant.Falling' class='variant'><span id='Falling.v' class='invisible'><code>Falling</code></span></span><span id='variant.Both' class='variant'><span id='Both.v' class='invisible'><code>Both</code></span></span><h2 id='methods'>Methods</h2><h3 class='impl'><span class='in-band'><code>impl <a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#49-68' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.from_str' class="method"><span id='from_str.v' class='invisible'><code>fn <a href='#method.from_str' class='fnname'>from_str</a>(s: &amp;<a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.str.html">str</a>) -&gt; <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;<a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a>&gt;</code></span></h4>
+<h4 id='method.as_str' class="method"><span id='as_str.v' class='invisible'><code>fn <a href='#method.as_str' class='fnname'>as_str</a>(&amp;self) -&gt; &amp;'static <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.str.html">str</a></code></span></h4>
+</div><h2 id='implementations'>Trait Implementations</h2><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html" title="trait core::clone::Clone">Clone</a> for <a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#42' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.clone' class="method"><span id='clone.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#tymethod.clone' class='fnname'>clone</a>(&amp;self) -&gt; <a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a></code></span></h4>
+<div class='docblock'><p>Returns a copy of the value. <a href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#tymethod.clone">Read more</a></p>
+</div><h4 id='method.clone_from' class="method"><span id='clone_from.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#method.clone_from' class='fnname'>clone_from</a>(&amp;mut self, source: &amp;Self)</code><div class='since' title='Stable since Rust version 1.0.0'>1.0.0</div></span></h4>
+<div class='docblock'><p>Performs copy-assignment from <code>source</code>. <a href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#method.clone_from">Read more</a></p>
+</div></div><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/marker/trait.Copy.html" title="trait core::marker::Copy">Copy</a> for <a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#42' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'></div><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html" title="trait core::fmt::Debug">Debug</a> for <a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#42' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.fmt' class="method"><span id='fmt.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html#tymethod.fmt' class='fnname'>fmt</a>(&amp;self, __arg_0: &amp;mut <a class="struct" href="https://doc.rust-lang.org/nightly/core/fmt/struct.Formatter.html" title="struct core::fmt::Formatter">Formatter</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/core/fmt/type.Result.html" title="type core::fmt::Result">Result</a></code></span></h4>
+<div class='docblock'><p>Formats the value using the given formatter.</p>
+</div></div></section>
+    <section id='search' class="content hidden"></section>
+
+    <section class="footer"></section>
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+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
+                    <dt>&#9166;</dt>
+                    <dd>Go to active search result</dd>
+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
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+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
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+                <p>
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+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
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+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
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+    
+
+    <script>
+        window.rootPath = "../../";
+        window.currentCrate = "kawaii";
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--- a/kawaii/kawaii-rs/doc/kawaii/gpio/enum.Value.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/enum.Value.html
@@ -0,0 +1,130 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `Value` enum in crate `kawaii`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, Value">
+
+    <title>kawaii::gpio::Value - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../../rustdoc.css">
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+        This old browser is unsupported and will most likely display funky
+        things.
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+    <![endif]-->
+
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+
+    <nav class="sidebar">
+        
+        <p class='location'>Enum Value</p><div class="block items"><ul><li><a href="#variants">Variants</a></li><li><a href="#methods">Methods</a></li><li><a href="#implementations">Trait Implementations</a></li></ul></div><p class='location'><a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a></p><script>window.sidebarCurrent = {name: 'Value', ty: 'enum', relpath: ''};</script><script defer src="sidebar-items.js"></script>
+    </nav>
+
+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Enum <a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a>::<wbr><a class="enum" href=''>Value</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../../src/kawaii/gpio.rs.html#71-74' title='goto source code'>[src]</a></span></h1>
+<pre class='rust enum'>pub enum Value {
+    High,
+    Low,
+}</pre><h2 id='variants' class='variants'>Variants</h2>
+<span id='variant.High' class='variant'><span id='High.v' class='invisible'><code>High</code></span></span><span id='variant.Low' class='variant'><span id='Low.v' class='invisible'><code>Low</code></span></span><h2 id='methods'>Methods</h2><h3 class='impl'><span class='in-band'><code>impl <a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#75-102' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.from_str' class="method"><span id='from_str.v' class='invisible'><code>fn <a href='#method.from_str' class='fnname'>from_str</a>(s: &amp;<a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.str.html">str</a>) -&gt; <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;<a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a>&gt;</code></span></h4>
+<h4 id='method.from_buffer' class="method"><span id='from_buffer.v' class='invisible'><code>fn <a href='#method.from_buffer' class='fnname'>from_buffer</a>(b: &amp;<a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.array.html">[</a><a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u8.html">u8</a><a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.array.html">; 1]</a>) -&gt; <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;Self&gt;</code></span></h4>
+<h4 id='method.from_char' class="method"><span id='from_char.v' class='invisible'><code>fn <a href='#method.from_char' class='fnname'>from_char</a>(c: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u8.html">u8</a>) -&gt; <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;Self&gt;</code></span></h4>
+<h4 id='method.as_str' class="method"><span id='as_str.v' class='invisible'><code>fn <a href='#method.as_str' class='fnname'>as_str</a>(&amp;self) -&gt; &amp;'static <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.str.html">str</a></code></span></h4>
+</div><h2 id='implementations'>Trait Implementations</h2><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html" title="trait core::clone::Clone">Clone</a> for <a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#70' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.clone' class="method"><span id='clone.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#tymethod.clone' class='fnname'>clone</a>(&amp;self) -&gt; <a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a></code></span></h4>
+<div class='docblock'><p>Returns a copy of the value. <a href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#tymethod.clone">Read more</a></p>
+</div><h4 id='method.clone_from' class="method"><span id='clone_from.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#method.clone_from' class='fnname'>clone_from</a>(&amp;mut self, source: &amp;Self)</code><div class='since' title='Stable since Rust version 1.0.0'>1.0.0</div></span></h4>
+<div class='docblock'><p>Performs copy-assignment from <code>source</code>. <a href="https://doc.rust-lang.org/nightly/core/clone/trait.Clone.html#method.clone_from">Read more</a></p>
+</div></div><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/marker/trait.Copy.html" title="trait core::marker::Copy">Copy</a> for <a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#70' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'></div><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html" title="trait core::fmt::Debug">Debug</a> for <a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#70' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.fmt' class="method"><span id='fmt.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html#tymethod.fmt' class='fnname'>fmt</a>(&amp;self, __arg_0: &amp;mut <a class="struct" href="https://doc.rust-lang.org/nightly/core/fmt/struct.Formatter.html" title="struct core::fmt::Formatter">Formatter</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/core/fmt/type.Result.html" title="type core::fmt::Result">Result</a></code></span></h4>
+<div class='docblock'><p>Formats the value using the given formatter.</p>
+</div></div></section>
+    <section id='search' class="content hidden"></section>
+
+    <section class="footer"></section>
+
+    <aside id="help" class="hidden">
+        <div>
+            <h1 class="hidden">Help</h1>
+
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+                <h2>Keyboard Shortcuts</h2>
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+                    <dt>S</dt>
+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
+                    <dt>&#9166;</dt>
+                    <dd>Go to active search result</dd>
+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
+                </dl>
+            </div>
+
+            <div class="infos">
+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
+
+                <p>
+                    Accepted types are: <code>fn</code>, <code>mod</code>,
+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
+                <p>
+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
+                </p>
+            </div>
+        </div>
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+    
+
+    <script>
+        window.rootPath = "../../";
+        window.currentCrate = "kawaii";
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+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/index.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/index.html
@@ -0,0 +1,156 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `gpio` mod in crate `kawaii`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, gpio">
+
+    <title>kawaii::gpio - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../../normalize.css">
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+
+    <nav class="sidebar">
+        
+        <p class='location'>Module gpio</p><div class="block items"><ul><li><a href="#structs">Structs</a></li><li><a href="#enums">Enums</a></li></ul></div><p class='location'><a href='../index.html'>kawaii</a></p><script>window.sidebarCurrent = {name: 'gpio', ty: 'mod', relpath: '../'};</script><script defer src="../sidebar-items.js"></script>
+    </nav>
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+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Module <a href='../index.html'>kawaii</a>::<wbr><a class="mod" href=''>gpio</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../../src/kawaii/gpio.rs.html#1-320' title='goto source code'>[src]</a></span></h1>
+<h2 id='structs' class='section-header'><a href="#structs">Structs</a></h2>
+<table>
+                       <tr class=' module-item'>
+                           <td><a class="struct" href="struct.AsyncPort.html"
+                                  title='struct kawaii::gpio::AsyncPort'>AsyncPort</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr>
+                       <tr class=' module-item'>
+                           <td><a class="struct" href="struct.Port.html"
+                                  title='struct kawaii::gpio::Port'>Port</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr>
+                       <tr class=' module-item'>
+                           <td><a class="struct" href="struct.SyncPort.html"
+                                  title='struct kawaii::gpio::SyncPort'>SyncPort</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr></table><h2 id='enums' class='section-header'><a href="#enums">Enums</a></h2>
+<table>
+                       <tr class=' module-item'>
+                           <td><a class="enum" href="enum.Direction.html"
+                                  title='enum kawaii::gpio::Direction'>Direction</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr>
+                       <tr class=' module-item'>
+                           <td><a class="enum" href="enum.Edge.html"
+                                  title='enum kawaii::gpio::Edge'>Edge</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr>
+                       <tr class=' module-item'>
+                           <td><a class="enum" href="enum.Value.html"
+                                  title='enum kawaii::gpio::Value'>Value</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr></table></section>
+    <section id='search' class="content hidden"></section>
+
+    <section class="footer"></section>
+
+    <aside id="help" class="hidden">
+        <div>
+            <h1 class="hidden">Help</h1>
+
+            <div class="shortcuts">
+                <h2>Keyboard Shortcuts</h2>
+
+                <dl>
+                    <dt>?</dt>
+                    <dd>Show this help dialog</dd>
+                    <dt>S</dt>
+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
+                    <dt>&#9166;</dt>
+                    <dd>Go to active search result</dd>
+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
+                </dl>
+            </div>
+
+            <div class="infos">
+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
+
+                <p>
+                    Accepted types are: <code>fn</code>, <code>mod</code>,
+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
+                <p>
+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
+                </p>
+            </div>
+        </div>
+    </aside>
+
+    
+
+    <script>
+        window.rootPath = "../../";
+        window.currentCrate = "kawaii";
+    </script>
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+    <script defer src="../../search-index.js"></script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/sidebar-items.js
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/sidebar-items.js
@@ -0,0 +1 @@
+initSidebarItems({"enum":[["Direction",""],["Edge",""],["Value",""]],"struct":[["AsyncPort",""],["Port",""],["SyncPort",""]]});
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/struct.AsyncPort.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/struct.AsyncPort.html
@@ -0,0 +1,138 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `AsyncPort` struct in crate `kawaii`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, AsyncPort">
+
+    <title>kawaii::gpio::AsyncPort - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../../rustdoc.css">
+    <link rel="stylesheet" type="text/css" href="../../main.css">
+    
+
+    
+    
+</head>
+<body class="rustdoc struct">
+    <!--[if lte IE 8]>
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+        This old browser is unsupported and will most likely display funky
+        things.
+    </div>
+    <![endif]-->
+
+    
+
+    <nav class="sidebar">
+        
+        <p class='location'>Struct AsyncPort</p><div class="block items"><ul><li><a href="#fields">Fields</a></li><li><a href="#methods">Methods</a></li><li><a href="#implementations">Trait Implementations</a></li></ul></div><p class='location'><a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a></p><script>window.sidebarCurrent = {name: 'AsyncPort', ty: 'struct', relpath: ''};</script><script defer src="sidebar-items.js"></script>
+    </nav>
+
+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Struct <a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a>::<wbr><a class="struct" href=''>AsyncPort</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../../src/kawaii/gpio.rs.html#116-122' title='goto source code'>[src]</a></span></h1>
+<pre class='rust struct'>pub struct AsyncPort {
+    pub port: <a class="struct" href="../../kawaii/gpio/struct.Port.html" title="struct kawaii::gpio::Port">Port</a>,
+    pub edge: <a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a>,
+    // some fields omitted
+}</pre><h2 id='fields' class='fields'>Fields</h2><span id='structfield.port' class="structfield">
+                           <span id='port.v' class='invisible'>
+                           <code>port: <a class="struct" href="../../kawaii/gpio/struct.Port.html" title="struct kawaii::gpio::Port">Port</a></code>
+                           </span></span><span id='structfield.edge' class="structfield">
+                           <span id='edge.v' class='invisible'>
+                           <code>edge: <a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a></code>
+                           </span></span><h2 id='methods'>Methods</h2><h3 class='impl'><span class='in-band'><code>impl <a class="struct" href="../../kawaii/gpio/struct.AsyncPort.html" title="struct kawaii::gpio::AsyncPort">AsyncPort</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#226-320' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.new' class="method"><span id='new.v' class='invisible'><code>fn <a href='#method.new' class='fnname'>new</a>(number: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u8.html">u8</a>, edge: <a class="enum" href="../../kawaii/gpio/enum.Edge.html" title="enum kawaii::gpio::Edge">Edge</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/std/io/error/type.Result.html" title="type std::io::error::Result">Result</a>&lt;<a class="struct" href="../../kawaii/gpio/struct.AsyncPort.html" title="struct kawaii::gpio::AsyncPort">AsyncPort</a>&gt;</code></span></h4>
+<div class='docblock'><p>Constructs a new asynchronous GPIO <code>Port</code>.</p>
+
+<h1 id='parameter' class='section-header'><a href='#parameter'>Parameter</a></h1>
+<ul>
+<li><code>number</code> GPIO Port number of pin.</li>
+<li><code>edge</code> GPIO Port edge detection setting.</li>
+</ul>
+</div><h4 id='method.poll' class="method"><span id='poll.v' class='invisible'><code>fn <a href='#method.poll' class='fnname'>poll</a>(&amp;mut self, timeout: <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;<a class="struct" href="https://doc.rust-lang.org/nightly/std/time/duration/struct.Duration.html" title="struct std::time::duration::Duration">Duration</a>&gt;) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/std/io/error/type.Result.html" title="type std::io::error::Result">Result</a>&lt;<a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;<a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a>&gt;&gt;</code></span></h4>
+<div class='docblock'><p>Read asynchronous from GPIO <code>AsyncPort</code> sysfs file</p>
+</div><h4 id='method.poll_measure' class="method"><span id='poll_measure.v' class='invisible'><code>fn <a href='#method.poll_measure' class='fnname'>poll_measure</a>(<br>&nbsp;&nbsp;&nbsp;&nbsp;&amp;mut self, <br>&nbsp;&nbsp;&nbsp;&nbsp;timeout: <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;<a class="struct" href="https://doc.rust-lang.org/nightly/std/time/duration/struct.Duration.html" title="struct std::time::duration::Duration">Duration</a>&gt;, <br>&nbsp;&nbsp;&nbsp;&nbsp;measure: &amp;mut <a class="struct" href="../../kawaii/struct.Measure.html" title="struct kawaii::Measure">Measure</a><br>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/std/io/error/type.Result.html" title="type std::io::error::Result">Result</a>&lt;<a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a>&lt;<a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a>&gt;&gt;</code></span></h4>
+<div class='docblock'><p>Read asynchronous from GPIO <code>AsyncPort</code> sysfs file with measure support (ignore poll time)</p>
+</div></div><h2 id='implementations'>Trait Implementations</h2><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html" title="trait core::fmt::Debug">Debug</a> for <a class="struct" href="../../kawaii/gpio/struct.AsyncPort.html" title="struct kawaii::gpio::AsyncPort">AsyncPort</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#124-133' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.fmt' class="method"><span id='fmt.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html#tymethod.fmt' class='fnname'>fmt</a>(&amp;self, f: &amp;mut <a class="struct" href="https://doc.rust-lang.org/nightly/core/fmt/struct.Formatter.html" title="struct core::fmt::Formatter">Formatter</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/core/fmt/type.Result.html" title="type core::fmt::Result">Result</a></code></span></h4>
+<div class='docblock'><p>Formats the value using the given formatter.</p>
+</div></div></section>
+    <section id='search' class="content hidden"></section>
+
+    <section class="footer"></section>
+
+    <aside id="help" class="hidden">
+        <div>
+            <h1 class="hidden">Help</h1>
+
+            <div class="shortcuts">
+                <h2>Keyboard Shortcuts</h2>
+
+                <dl>
+                    <dt>?</dt>
+                    <dd>Show this help dialog</dd>
+                    <dt>S</dt>
+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
+                    <dt>&#9166;</dt>
+                    <dd>Go to active search result</dd>
+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
+                </dl>
+            </div>
+
+            <div class="infos">
+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
+
+                <p>
+                    Accepted types are: <code>fn</code>, <code>mod</code>,
+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
+                <p>
+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
+                </p>
+            </div>
+        </div>
+    </aside>
+
+    
+
+    <script>
+        window.rootPath = "../../";
+        window.currentCrate = "kawaii";
+    </script>
+    <script src="../../main.js"></script>
+    <script defer src="../../search-index.js"></script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/struct.Port.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/struct.Port.html
@@ -0,0 +1,135 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `Port` struct in crate `kawaii`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, Port">
+
+    <title>kawaii::gpio::Port - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../../rustdoc.css">
+    <link rel="stylesheet" type="text/css" href="../../main.css">
+    
+
+    
+    
+</head>
+<body class="rustdoc struct">
+    <!--[if lte IE 8]>
+    <div class="warning">
+        This old browser is unsupported and will most likely display funky
+        things.
+    </div>
+    <![endif]-->
+
+    
+
+    <nav class="sidebar">
+        
+        <p class='location'>Struct Port</p><div class="block items"><ul><li><a href="#fields">Fields</a></li><li><a href="#methods">Methods</a></li><li><a href="#implementations">Trait Implementations</a></li></ul></div><p class='location'><a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a></p><script>window.sidebarCurrent = {name: 'Port', ty: 'struct', relpath: ''};</script><script defer src="sidebar-items.js"></script>
+    </nav>
+
+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Struct <a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a>::<wbr><a class="struct" href=''>Port</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../../src/kawaii/gpio.rs.html#105-108' title='goto source code'>[src]</a></span></h1>
+<pre class='rust struct'>pub struct Port {
+    pub number: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u8.html">u8</a>,
+    pub direction: <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a>,
+}</pre><h2 id='fields' class='fields'>Fields</h2><span id='structfield.number' class="structfield">
+                           <span id='number.v' class='invisible'>
+                           <code>number: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u8.html">u8</a></code>
+                           </span></span><span id='structfield.direction' class="structfield">
+                           <span id='direction.v' class='invisible'>
+                           <code>direction: <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a></code>
+                           </span></span><h2 id='methods'>Methods</h2><h3 class='impl'><span class='in-band'><code>impl <a class="struct" href="../../kawaii/gpio/struct.Port.html" title="struct kawaii::gpio::Port">Port</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#135-184' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.new' class="method"><span id='new.v' class='invisible'><code>fn <a href='#method.new' class='fnname'>new</a>(number: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u8.html">u8</a>, direction: <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/std/io/error/type.Result.html" title="type std::io::error::Result">Result</a>&lt;<a class="struct" href="../../kawaii/gpio/struct.Port.html" title="struct kawaii::gpio::Port">Port</a>&gt;</code></span></h4>
+<div class='docblock'><p>Constructs a new GPIO <code>Port</code>.</p>
+
+<h1 id='parameter' class='section-header'><a href='#parameter'>Parameter</a></h1>
+<ul>
+<li><code>number</code> GPIO Port number of pin.</li>
+<li><code>direction</code> GPIO Port direction.</li>
+</ul>
+</div><h4 id='method.drop' class="method"><span id='drop.v' class='invisible'><code>fn <a href='#method.drop' class='fnname'>drop</a>(&amp;mut self)</code></span></h4>
+<div class='docblock'><p>Drop GPIO <code>Port</code>: unexport</p>
+</div></div><h2 id='implementations'>Trait Implementations</h2><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html" title="trait core::fmt::Debug">Debug</a> for <a class="struct" href="../../kawaii/gpio/struct.Port.html" title="struct kawaii::gpio::Port">Port</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#104' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.fmt' class="method"><span id='fmt.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html#tymethod.fmt' class='fnname'>fmt</a>(&amp;self, __arg_0: &amp;mut <a class="struct" href="https://doc.rust-lang.org/nightly/core/fmt/struct.Formatter.html" title="struct core::fmt::Formatter">Formatter</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/core/fmt/type.Result.html" title="type core::fmt::Result">Result</a></code></span></h4>
+<div class='docblock'><p>Formats the value using the given formatter.</p>
+</div></div></section>
+    <section id='search' class="content hidden"></section>
+
+    <section class="footer"></section>
+
+    <aside id="help" class="hidden">
+        <div>
+            <h1 class="hidden">Help</h1>
+
+            <div class="shortcuts">
+                <h2>Keyboard Shortcuts</h2>
+
+                <dl>
+                    <dt>?</dt>
+                    <dd>Show this help dialog</dd>
+                    <dt>S</dt>
+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
+                    <dt>&#9166;</dt>
+                    <dd>Go to active search result</dd>
+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
+                </dl>
+            </div>
+
+            <div class="infos">
+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
+
+                <p>
+                    Accepted types are: <code>fn</code>, <code>mod</code>,
+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
+                <p>
+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
+                </p>
+            </div>
+        </div>
+    </aside>
+
+    
+
+    <script>
+        window.rootPath = "../../";
+        window.currentCrate = "kawaii";
+    </script>
+    <script src="../../main.js"></script>
+    <script defer src="../../search-index.js"></script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/gpio/struct.SyncPort.html
+++ b/kawaii/kawaii-rs/doc/kawaii/gpio/struct.SyncPort.html
@@ -0,0 +1,134 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `SyncPort` struct in crate `kawaii`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, SyncPort">
+
+    <title>kawaii::gpio::SyncPort - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../../rustdoc.css">
+    <link rel="stylesheet" type="text/css" href="../../main.css">
+    
+
+    
+    
+</head>
+<body class="rustdoc struct">
+    <!--[if lte IE 8]>
+    <div class="warning">
+        This old browser is unsupported and will most likely display funky
+        things.
+    </div>
+    <![endif]-->
+
+    
+
+    <nav class="sidebar">
+        
+        <p class='location'>Struct SyncPort</p><div class="block items"><ul><li><a href="#fields">Fields</a></li><li><a href="#methods">Methods</a></li><li><a href="#implementations">Trait Implementations</a></li></ul></div><p class='location'><a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a></p><script>window.sidebarCurrent = {name: 'SyncPort', ty: 'struct', relpath: ''};</script><script defer src="sidebar-items.js"></script>
+    </nav>
+
+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Struct <a href='../index.html'>kawaii</a>::<wbr><a href='index.html'>gpio</a>::<wbr><a class="struct" href=''>SyncPort</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../../src/kawaii/gpio.rs.html#111-115' title='goto source code'>[src]</a></span></h1>
+<pre class='rust struct'>pub struct SyncPort {
+    pub port: <a class="struct" href="../../kawaii/gpio/struct.Port.html" title="struct kawaii::gpio::Port">Port</a>,
+    // some fields omitted
+}</pre><h2 id='fields' class='fields'>Fields</h2><span id='structfield.port' class="structfield">
+                           <span id='port.v' class='invisible'>
+                           <code>port: <a class="struct" href="../../kawaii/gpio/struct.Port.html" title="struct kawaii::gpio::Port">Port</a></code>
+                           </span></span><h2 id='methods'>Methods</h2><h3 class='impl'><span class='in-band'><code>impl <a class="struct" href="../../kawaii/gpio/struct.SyncPort.html" title="struct kawaii::gpio::SyncPort">SyncPort</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#186-224' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.new' class="method"><span id='new.v' class='invisible'><code>fn <a href='#method.new' class='fnname'>new</a>(number: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u8.html">u8</a>, direction: <a class="enum" href="../../kawaii/gpio/enum.Direction.html" title="enum kawaii::gpio::Direction">Direction</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/std/io/error/type.Result.html" title="type std::io::error::Result">Result</a>&lt;<a class="struct" href="../../kawaii/gpio/struct.SyncPort.html" title="struct kawaii::gpio::SyncPort">SyncPort</a>&gt;</code></span></h4>
+<div class='docblock'><p>Constructs a new synchronised GPIO <code>Port</code>.</p>
+
+<h1 id='parameter' class='section-header'><a href='#parameter'>Parameter</a></h1>
+<ul>
+<li><code>number</code> GPIO Port number of pin.</li>
+<li><code>direction</code> GPIO Port direction.</li>
+</ul>
+</div><h4 id='method.read' class="method"><span id='read.v' class='invisible'><code>fn <a href='#method.read' class='fnname'>read</a>(&amp;mut self) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/std/io/error/type.Result.html" title="type std::io::error::Result">Result</a>&lt;<a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a>&gt;</code></span></h4>
+<div class='docblock'><p>Read from GPIO <code>SyncPort</code> sysfs file</p>
+</div><h4 id='method.write' class="method"><span id='write.v' class='invisible'><code>fn <a href='#method.write' class='fnname'>write</a>(&amp;mut self, value: <a class="enum" href="../../kawaii/gpio/enum.Value.html" title="enum kawaii::gpio::Value">Value</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/std/io/error/type.Result.html" title="type std::io::error::Result">Result</a>&lt;<a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.tuple.html">()</a>&gt;</code></span></h4>
+<div class='docblock'><p>Write to GPIO <code>SyncPort</code> sysfs file</p>
+</div></div><h2 id='implementations'>Trait Implementations</h2><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html" title="trait core::fmt::Debug">Debug</a> for <a class="struct" href="../../kawaii/gpio/struct.SyncPort.html" title="struct kawaii::gpio::SyncPort">SyncPort</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../../src/kawaii/gpio.rs.html#110' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.fmt' class="method"><span id='fmt.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html#tymethod.fmt' class='fnname'>fmt</a>(&amp;self, __arg_0: &amp;mut <a class="struct" href="https://doc.rust-lang.org/nightly/core/fmt/struct.Formatter.html" title="struct core::fmt::Formatter">Formatter</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/core/fmt/type.Result.html" title="type core::fmt::Result">Result</a></code></span></h4>
+<div class='docblock'><p>Formats the value using the given formatter.</p>
+</div></div></section>
+    <section id='search' class="content hidden"></section>
+
+    <section class="footer"></section>
+
+    <aside id="help" class="hidden">
+        <div>
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+                    <dt>&rarrb;</dt>
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+                    <dt>&#9166;</dt>
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+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
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+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
+
+                <p>
+                    Accepted types are: <code>fn</code>, <code>mod</code>,
+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
+                <p>
+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
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--- a/kawaii/kawaii-rs/doc/kawaii/index.html
+++ b/kawaii/kawaii-rs/doc/kawaii/index.html
@@ -0,0 +1,128 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `kawaii` crate.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, kawaii">
+
+    <title>kawaii - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../rustdoc.css">
+    <link rel="stylesheet" type="text/css" href="../main.css">
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+</head>
+<body class="rustdoc mod">
+    <!--[if lte IE 8]>
+    <div class="warning">
+        This old browser is unsupported and will most likely display funky
+        things.
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+    <![endif]-->
+
+    
+
+    <nav class="sidebar">
+        
+        <p class='location'>Crate kawaii</p><div class="block items"><ul><li><a href="#modules">Modules</a></li><li><a href="#structs">Structs</a></li></ul></div><p class='location'></p><script>window.sidebarCurrent = {name: 'kawaii', ty: 'mod', relpath: '../'};</script>
+    </nav>
+
+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Crate <a class="mod" href=''>kawaii</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../src/kawaii/lib.rs.html#1-7' title='goto source code'>[src]</a></span></h1>
+<h2 id='modules' class='section-header'><a href="#modules">Modules</a></h2>
+<table>
+                       <tr class=' module-item'>
+                           <td><a class="mod" href="gpio/index.html"
+                                  title='mod kawaii::gpio'>gpio</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr></table><h2 id='structs' class='section-header'><a href="#structs">Structs</a></h2>
+<table>
+                       <tr class=' module-item'>
+                           <td><a class="struct" href="struct.Measure.html"
+                                  title='struct kawaii::Measure'>Measure</a></td>
+                           <td class='docblock-short'>
+                                
+                           </td>
+                       </tr></table></section>
+    <section id='search' class="content hidden"></section>
+
+    <section class="footer"></section>
+
+    <aside id="help" class="hidden">
+        <div>
+            <h1 class="hidden">Help</h1>
+
+            <div class="shortcuts">
+                <h2>Keyboard Shortcuts</h2>
+
+                <dl>
+                    <dt>?</dt>
+                    <dd>Show this help dialog</dd>
+                    <dt>S</dt>
+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
+                    <dt>&#9166;</dt>
+                    <dd>Go to active search result</dd>
+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
+                </dl>
+            </div>
+
+            <div class="infos">
+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
+
+                <p>
+                    Accepted types are: <code>fn</code>, <code>mod</code>,
+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
+                <p>
+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
+                </p>
+            </div>
+        </div>
+    </aside>
+
+    
+
+    <script>
+        window.rootPath = "../";
+        window.currentCrate = "kawaii";
+    </script>
+    <script src="../main.js"></script>
+    <script defer src="../search-index.js"></script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/measure/Measure.t.html
+++ b/kawaii/kawaii-rs/doc/kawaii/measure/Measure.t.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=struct.Measure.html">
+</head>
+<body>
+    <p>Redirecting to <a href="struct.Measure.html">struct.Measure.html</a>...</p>
+    <script>location.replace("struct.Measure.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/measure/struct.Measure.html
+++ b/kawaii/kawaii-rs/doc/kawaii/measure/struct.Measure.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=../../kawaii/struct.Measure.html">
+</head>
+<body>
+    <p>Redirecting to <a href="../../kawaii/struct.Measure.html">../../kawaii/struct.Measure.html</a>...</p>
+    <script>location.replace("../../kawaii/struct.Measure.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii/sidebar-items.js
+++ b/kawaii/kawaii-rs/doc/kawaii/sidebar-items.js
@@ -0,0 +1 @@
+initSidebarItems({"mod":[["gpio",""]],"struct":[["Measure",""]]});
--- a/kawaii/kawaii-rs/doc/kawaii/struct.Measure.html
+++ b/kawaii/kawaii-rs/doc/kawaii/struct.Measure.html
@@ -0,0 +1,146 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="generator" content="rustdoc">
+    <meta name="description" content="API documentation for the Rust `Measure` struct in crate `kawaii`.">
+    <meta name="keywords" content="rust, rustlang, rust-lang, Measure">
+
+    <title>kawaii::Measure - Rust</title>
+
+    <link rel="stylesheet" type="text/css" href="../normalize.css">
+    <link rel="stylesheet" type="text/css" href="../rustdoc.css">
+    <link rel="stylesheet" type="text/css" href="../main.css">
+    
+
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+    
+</head>
+<body class="rustdoc struct">
+    <!--[if lte IE 8]>
+    <div class="warning">
+        This old browser is unsupported and will most likely display funky
+        things.
+    </div>
+    <![endif]-->
+
+    
+
+    <nav class="sidebar">
+        
+        <p class='location'>Struct Measure</p><div class="block items"><ul><li><a href="#fields">Fields</a></li><li><a href="#methods">Methods</a></li><li><a href="#implementations">Trait Implementations</a></li></ul></div><p class='location'><a href='index.html'>kawaii</a></p><script>window.sidebarCurrent = {name: 'Measure', ty: 'struct', relpath: ''};</script><script defer src="sidebar-items.js"></script>
+    </nav>
+
+    <nav class="sub">
+        <form class="search-form js-only">
+            <div class="search-container">
+                <input class="search-input" name="search"
+                       autocomplete="off"
+                       placeholder="Click or press ‘S’ to search, ‘?’ for more options…"
+                       type="search">
+            </div>
+        </form>
+    </nav>
+
+    <section id='main' class="content">
+<h1 class='fqn'><span class='in-band'>Struct <a href='index.html'>kawaii</a>::<wbr><a class="struct" href=''>Measure</a></span><span class='out-of-band'><span id='render-detail'>
+                   <a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">
+                       [<span class='inner'>&#x2212;</span>]
+                   </a>
+               </span><a class='srclink' href='../src/kawaii/measure.rs.html#15-22' title='goto source code'>[src]</a></span></h1>
+<pre class='rust struct'>pub struct Measure {
+    pub min: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u64.html">u64</a>,
+    pub max: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u64.html">u64</a>,
+    pub name: <a class="struct" href="https://doc.rust-lang.org/nightly/alloc/string/struct.String.html" title="struct alloc::string::String">String</a>,
+    // some fields omitted
+}</pre><h2 id='fields' class='fields'>Fields</h2><span id='structfield.min' class="structfield">
+                           <span id='min.v' class='invisible'>
+                           <code>min: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u64.html">u64</a></code>
+                           </span></span><span id='structfield.max' class="structfield">
+                           <span id='max.v' class='invisible'>
+                           <code>max: <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.u64.html">u64</a></code>
+                           </span></span><span id='structfield.name' class="structfield">
+                           <span id='name.v' class='invisible'>
+                           <code>name: <a class="struct" href="https://doc.rust-lang.org/nightly/alloc/string/struct.String.html" title="struct alloc::string::String">String</a></code>
+                           </span></span><h2 id='methods'>Methods</h2><h3 class='impl'><span class='in-band'><code>impl <a class="struct" href="../kawaii/struct.Measure.html" title="struct kawaii::Measure">Measure</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../src/kawaii/measure.rs.html#24-105' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.new' class="method"><span id='new.v' class='invisible'><code>fn <a href='#method.new' class='fnname'>new</a>(name: <a class="struct" href="https://doc.rust-lang.org/nightly/alloc/string/struct.String.html" title="struct alloc::string::String">String</a>) -&gt; Self</code></span></h4>
+<div class='docblock'><p>Constructs a new <code>Measure</code>.</p>
+
+<h1 id='parameter' class='section-header'><a href='#parameter'>Parameter</a></h1>
+<ul>
+<li><code>name</code> Name of measured component.</li>
+</ul>
+</div><h4 id='method.start' class="method"><span id='start.v' class='invisible'><code>fn <a href='#method.start' class='fnname'>start</a>(&amp;mut self)</code></span></h4>
+<div class='docblock'><p>Start measurement</p>
+</div><h4 id='method.pause' class="method"><span id='pause.v' class='invisible'><code>fn <a href='#method.pause' class='fnname'>pause</a>(&amp;mut self)</code></span></h4>
+<div class='docblock'><p>Pause measurement</p>
+</div><h4 id='method.stop' class="method"><span id='stop.v' class='invisible'><code>fn <a href='#method.stop' class='fnname'>stop</a>(&amp;mut self)</code></span></h4>
+<div class='docblock'><p>Stop measurement and calculate time difference</p>
+</div></div><h2 id='implementations'>Trait Implementations</h2><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html" title="trait core::fmt::Debug">Debug</a> for <a class="struct" href="../kawaii/struct.Measure.html" title="struct kawaii::Measure">Measure</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../src/kawaii/measure.rs.html#14' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.fmt' class="method"><span id='fmt.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/fmt/trait.Debug.html#tymethod.fmt' class='fnname'>fmt</a>(&amp;self, __arg_0: &amp;mut <a class="struct" href="https://doc.rust-lang.org/nightly/core/fmt/struct.Formatter.html" title="struct core::fmt::Formatter">Formatter</a>) -&gt; <a class="type" href="https://doc.rust-lang.org/nightly/core/fmt/type.Result.html" title="type core::fmt::Result">Result</a></code></span></h4>
+<div class='docblock'><p>Formats the value using the given formatter.</p>
+</div></div><h3 class='impl'><span class='in-band'><code>impl <a class="trait" href="https://doc.rust-lang.org/nightly/core/ops/drop/trait.Drop.html" title="trait core::ops::drop::Drop">Drop</a> for <a class="struct" href="../kawaii/struct.Measure.html" title="struct kawaii::Measure">Measure</a></code></span><span class='out-of-band'><div class='ghost'></div><a class='srclink' href='../src/kawaii/measure.rs.html#107-119' title='goto source code'>[src]</a></span></h3>
+<div class='impl-items'><h4 id='method.drop' class="method"><span id='drop.v' class='invisible'><code>fn <a href='https://doc.rust-lang.org/nightly/core/ops/drop/trait.Drop.html#tymethod.drop' class='fnname'>drop</a>(&amp;mut self)</code></span></h4>
+<div class='docblock'><p>Print measure results and write times to file</p>
+</div></div></section>
+    <section id='search' class="content hidden"></section>
+
+    <section class="footer"></section>
+
+    <aside id="help" class="hidden">
+        <div>
+            <h1 class="hidden">Help</h1>
+
+            <div class="shortcuts">
+                <h2>Keyboard Shortcuts</h2>
+
+                <dl>
+                    <dt>?</dt>
+                    <dd>Show this help dialog</dd>
+                    <dt>S</dt>
+                    <dd>Focus the search field</dd>
+                    <dt>&larrb;</dt>
+                    <dd>Move up in search results</dd>
+                    <dt>&rarrb;</dt>
+                    <dd>Move down in search results</dd>
+                    <dt>&#9166;</dt>
+                    <dd>Go to active search result</dd>
+                    <dt>+</dt>
+                    <dd>Collapse/expand all sections</dd>
+                </dl>
+            </div>
+
+            <div class="infos">
+                <h2>Search Tricks</h2>
+
+                <p>
+                    Prefix searches with a type followed by a colon (e.g.
+                    <code>fn:</code>) to restrict the search to a given type.
+                </p>
+
+                <p>
+                    Accepted types are: <code>fn</code>, <code>mod</code>,
+                    <code>struct</code>, <code>enum</code>,
+                    <code>trait</code>, <code>type</code>, <code>macro</code>,
+                    and <code>const</code>.
+                </p>
+
+                <p>
+                    Search functions by type signature (e.g.
+                    <code>vec -> usize</code> or <code>* -> vec</code>)
+                </p>
+            </div>
+        </div>
+    </aside>
+
+    
+
+    <script>
+        window.rootPath = "../";
+        window.currentCrate = "kawaii";
+    </script>
+    <script src="../main.js"></script>
+    <script defer src="../search-index.js"></script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/emergency_stop_clean.v.html
+++ b/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/emergency_stop_clean.v.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=fn.emergency_stop_clean.html">
+</head>
+<body>
+    <p>Redirecting to <a href="fn.emergency_stop_clean.html">fn.emergency_stop_clean.html</a>...</p>
+    <script>location.replace("fn.emergency_stop_clean.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/emergency_stop_get_state.v.html
+++ b/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/emergency_stop_get_state.v.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=fn.emergency_stop_get_state.html">
+</head>
+<body>
+    <p>Redirecting to <a href="fn.emergency_stop_get_state.html">fn.emergency_stop_get_state.html</a>...</p>
+    <script>location.replace("fn.emergency_stop_get_state.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/emergency_stop_init.v.html
+++ b/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/emergency_stop_init.v.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=fn.emergency_stop_init.html">
+</head>
+<body>
+    <p>Redirecting to <a href="fn.emergency_stop_init.html">fn.emergency_stop_init.html</a>...</p>
+    <script>location.replace("fn.emergency_stop_init.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/fn.emergency_stop_clean.html
+++ b/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/fn.emergency_stop_clean.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=../../kawaii_api/fn.emergency_stop_clean.html">
+</head>
+<body>
+    <p>Redirecting to <a href="../../kawaii_api/fn.emergency_stop_clean.html">../../kawaii_api/fn.emergency_stop_clean.html</a>...</p>
+    <script>location.replace("../../kawaii_api/fn.emergency_stop_clean.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/fn.emergency_stop_get_state.html
+++ b/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/fn.emergency_stop_get_state.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=../../kawaii_api/fn.emergency_stop_get_state.html">
+</head>
+<body>
+    <p>Redirecting to <a href="../../kawaii_api/fn.emergency_stop_get_state.html">../../kawaii_api/fn.emergency_stop_get_state.html</a>...</p>
+    <script>location.replace("../../kawaii_api/fn.emergency_stop_get_state.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/fn.emergency_stop_init.html
+++ b/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop/fn.emergency_stop_init.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=../../kawaii_api/fn.emergency_stop_init.html">
+</head>
+<body>
+    <p>Redirecting to <a href="../../kawaii_api/fn.emergency_stop_init.html">../../kawaii_api/fn.emergency_stop_init.html</a>...</p>
+    <script>location.replace("../../kawaii_api/fn.emergency_stop_init.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop_clean.v.html
+++ b/kawaii/kawaii-rs/doc/kawaii_api/emergency_stop_clean.v.html
@@ -0,0 +1,10 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta http-equiv="refresh" content="0;URL=fn.emergency_stop_clean.html">
+</head>
+<body>
+    <p>Redirecting to <a href="fn.emergency_stop_clean.html">fn.emergency_stop_clean.html</a>...</p>
+    <script>location.replace("fn.emergency_stop_clean.html" + location.search + location.hash);</script>
+</body>
+</html>
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Simon Wörner	5c5e1df435	added documentation, updated realzeitnachweis	2017-07-10 16:44:39 +02:00
Simon Wörner	fe8806a4d5	added rust documentation comments	2017-07-10 15:20:14 +02:00
Simon Wörner	088867352c	added rust doc output	2017-07-10 14:55:44 +02:00
Manuel Vögele	8d2b664149	Abgabe	2017-06-28 20:40:01 +02:00
Simon Wörner	76dd61f48b	fixed rustdoc tests	2017-05-02 22:30:24 +02:00
Simon Wörner	733068dc8d	fixed rustfmt warnings	2017-05-02 22:30:24 +02:00
Simon Wörner	cef96956a4	fixed ci	2017-05-02 22:30:24 +02:00
Michael Mächtel	6b08efc581	Merge pull request #1 from sikienzl/master V1 + V2: Abgabe	2017-04-06 15:21:35 +02:00
Simon Wörner	f6327fc45d	Merge pull request #10 from SWW13/travis-ci Travis CI	2017-04-06 14:07:51 +02:00
Simon Wörner	54937c0b0b	Merge pull request #9 from sikienzl/v2-delay-auswertung V2: added Auswertung.md	2017-04-06 13:58:22 +02:00
Simon Wörner	d11fbff4ac	added empty travis ci	2017-04-06 13:54:40 +02:00
Simon Wörner	e1aa450d6c	added Auswertung.md	2017-04-06 13:10:05 +02:00
Simon Wörner	c61a74947f	added render script and output png	2017-04-05 11:26:53 +02:00
kawaii	c796ca9d43	fixed led5 release build	2017-04-05 11:26:53 +02:00
Simon Wörner	beb8b2a987	Merge pull request #7 from SWW13/readme modified README.md	2017-04-03 20:00:04 +02:00
Siegfried Kienzle	7aa17ef2eb	modified README.md	2017-04-03 19:58:49 +02:00
Simon Wörner	2a086990df	Merge pull request #6 from SWW13/v2-loop-rust V2: loop (rust) + delay	2017-04-03 19:56:53 +02:00
Simon Wörner	e791c4fb6c	fixed realtime arg help	2017-04-03 19:55:44 +02:00
Simon Wörner	20f4698db7	use CLOCK_MONOTONIC from libc, added os x support	2017-04-03 19:46:55 +02:00
Simon Wörner	bb066d5ba8	added documentation	2017-04-03 19:15:43 +02:00
Simon Wörner	c112baa562	rustfmt	2017-04-03 19:15:43 +02:00
Simon Wörner	64558495b1	added plot script and measured delays	2017-04-03 19:15:43 +02:00
Simon Wörner	b49df99659	added realtime parameter	2017-04-03 19:15:43 +02:00
Simon Wörner	c8914f364c	moved sleep function to lib.rs	2017-04-03 19:15:42 +02:00
Simon Wörner	5f61004406	replace broken shuteye with libc	2017-04-03 19:15:33 +02:00
Simon Wörner	d4491f7dc1	fixed relativ delay with seconds	2017-04-03 19:10:51 +02:00
Simon Wörner	325ec5710f	fixed cargo test	2017-04-03 19:10:50 +02:00
Simon Wörner	2fc9c4874f	added argparser, multiple measurements and output	2017-04-03 19:10:34 +02:00
Manuel Vögele	28b4e62767	Remove unnecessary nanosleep	2017-04-03 17:49:25 +02:00
Manuel Vögele	22398b03aa	V1 switch.c: Move duplicate code into function	2017-04-03 17:49:25 +02:00
Manuel Vögele	ae5d5b638f	V1: switch.c	2017-04-03 17:49:25 +02:00
Simon Wörner	37d89632a7	Revert "V1: switch.c"	2017-04-03 17:48:55 +02:00
Simon Wörner	d63bd4f35b	measure sleep delay in loop	2017-04-02 11:04:51 +02:00
Siegfried Kienzle	1a7e62f5e2	Merge pull request #3 from sikienzl/v1-switch V1: switch.c	2017-04-02 09:01:35 +02:00
Siegfried Kienzle	2289644aec	Merge pull request #2 from SWW13/v1-led5 V1: led5	2017-04-01 15:38:10 +02:00
Siegfried Kienzle	fbbb82740a	Merge pull request #1 from SWW13/v1-led-sh V1: led.sh	2017-04-01 14:53:24 +02:00
				`@@ -0,0 +1 @@`
				`initSidebarItems({"struct":[["EmergencyStop",""]]});`
				`@@ -0,0 +1 @@`
				`initSidebarItems({"enum":[["Direction",""],["Edge",""],["Value",""]],"struct":[["AsyncPort",""],["Port",""],["SyncPort",""]]});`
				`@@ -0,0 +1 @@`
				`initSidebarItems({"mod":[["gpio",""]],"struct":[["Measure",""]]});`