diff options
Diffstat (limited to 'meta-facebook/meta-bletchley/recipes-bletchley/motor-ctrl/files/motor-ctrl')
-rwxr-xr-x | meta-facebook/meta-bletchley/recipes-bletchley/motor-ctrl/files/motor-ctrl | 101 |
1 files changed, 101 insertions, 0 deletions
diff --git a/meta-facebook/meta-bletchley/recipes-bletchley/motor-ctrl/files/motor-ctrl b/meta-facebook/meta-bletchley/recipes-bletchley/motor-ctrl/files/motor-ctrl new file mode 100755 index 000000000..3f8f2ca21 --- /dev/null +++ b/meta-facebook/meta-bletchley/recipes-bletchley/motor-ctrl/files/motor-ctrl @@ -0,0 +1,101 @@ +#!/bin/bash -e +# +# Control step motor rotate of sled + +function set_gpio() +{ + NET_NAME=$1 + OUT_VAL=$2 + mapfile -t -d " " GPIO_INFO < <(gpiofind "$NET_NAME") + if [ "${#GPIO_INFO[@]}" -ne 2 ]; then + echo "set_gpio: can not find gpio, $NET_NAME" + return 1 + fi + echo -n "set_gpio: set $NET_NAME = $OUT_VAL" + if ! gpioset "${GPIO_INFO[0]}" "${GPIO_INFO[1]%$'\n'}"="$OUT_VAL"; then + echo " failed" + return 1 + fi + echo " success" + return 0 +} + +#Get i2c bus number for sledN +function get_bus_num() { + SLED_NUM=$1 + local bus=0 + + if [[ "$SLED_NUM" = [0-5] ]]; then + bus="$SLED_NUM" + fi + echo "$bus" +} + +#Enable sledN Motor VRef +function open_vref() { + i2cset -f -y "${1}" 0x67 0x06 0x95 +} + +#Disable sledN Motor VRef +function close_vref() { + i2cset -f -y "${1}" 0x67 0x06 0x55 +} + +####################################### +# Setting step motor control pins to start/stop motor +# Arguments: +# 1. SLED NUMBER +# 2. Value of STBY RESET PIN +# 3. Value of ENABLE PIN +# 4. Value of DIRECTION PIN +####################################### +function set_motor() { + STBY_PIN="SLED${1}_MD_STBY_RESET" + EN_PIN="SLED${1}_MD_IOEXP_EN_FAULT" + DIR_PIN="SLED${1}_MD_DIR" + set_gpio "$STBY_PIN" "$2" + set_gpio "$EN_PIN" "$3" + set_gpio "$DIR_PIN" "$4" +} + +function show_usage(){ + echo "Usage: motor-ctrl [sled0 | sled1 | sled2 | sled3 | sled4 | sled5] [f r s]" + echo " f : Step Motor go forward" + echo " r : Step Motor go reverse" + echo " s : Step Motor stop " +} + +if [ $# -ne 2 ]; then + show_usage + exit 1; +fi + +if [[ "$1" =~ ^(slot[0-5]{1})$ ]] || [[ "$1" =~ ^(sled[0-5]{1})$ ]]; then + SLED=$1 + SLED_NUM=${SLED:4} + I2C_NUM=$(get_bus_num "$SLED_NUM") + ACTION=$2 +else + echo "invalid sled name: $1" + exit 1; +fi + +if [[ "$ACTION" == "s" ]]; then + echo "stop motor" + set_motor "$SLED_NUM" 1 0 0 + close_vref "$I2C_NUM" +elif [[ "$ACTION" == "f" ]];then + echo "start motor, direction:forward" + set_motor "$SLED_NUM" 1 1 0 + open_vref "$I2C_NUM" +elif [[ "$ACTION" == "r" ]];then + echo "start motor, direction:reverse" + set_motor "$SLED_NUM" 1 1 1 + open_vref "$I2C_NUM" +else + echo "Error: Unknown action!" + exit 1 +fi + +exit 0 + |