57 lines
1.1 KiB
Bash
57 lines
1.1 KiB
Bash
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#!/bin/sh
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#
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# Initialize power to the Jibo body boards
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#
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GPIO_PK1=81 # Body board recovery pin
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GPIO_PK2=82 # GPIO_PK2 Torso & pelvis power
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GPIO_PR4=140 # GPIO_PR4 Head power
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export_gpios() {
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for gpio in $GPIO_PK1 $GPIO_PK2 $GPIO_PR4; do
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if [ ! -d /sys/class/gpio/gpio$gpio ]; then
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echo "$gpio" > /sys/class/gpio/export
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echo "out" > /sys/class/gpio/gpio$gpio/direction
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fi
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done
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}
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power_on_boards() {
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echo "0" > /sys/class/gpio/gpio$GPIO_PK1/value
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echo "1" > /sys/class/gpio/gpio$GPIO_PK2/value
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echo "1" > /sys/class/gpio/gpio$GPIO_PR4/value
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}
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power_off_boards() {
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echo "0" > /sys/class/gpio/gpio$GPIO_PK2/value
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echo "0" > /sys/class/gpio/gpio$GPIO_PR4/value
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}
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start() {
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echo -n "Enabling body boards... "
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export_gpios
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power_on_boards
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echo "Done."
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}
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stop() {
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echo -n "Disabling body boards... "
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export_gpios
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power_off_boards
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echo "Done."
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}
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case "$1" in
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start)
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start
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;;
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stop)
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stop
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;;
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*)
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echo "Usage: $0 {start|stop}" >&2
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exit 1
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;;
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esac
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