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#!/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
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