#!/bin/sh
#
# Initialize power to the Jibo body boards
#

GPIO_PK1=81     # Body board recovery pin
GPIO_PK2=82     # GPIO_PK2 Torso & pelvis power
GPIO_PR4=140    # GPIO_PR4 Head power

export_gpios() {
    for gpio in $GPIO_PK1 $GPIO_PK2 $GPIO_PR4; do
        if [ ! -d /sys/class/gpio/gpio$gpio ]; then
            echo "$gpio" > /sys/class/gpio/export
            echo "out" > /sys/class/gpio/gpio$gpio/direction
        fi
    done
}

power_on_boards() {
    echo "0" > /sys/class/gpio/gpio$GPIO_PK1/value
    echo "1" > /sys/class/gpio/gpio$GPIO_PK2/value
    echo "1" > /sys/class/gpio/gpio$GPIO_PR4/value
}

power_off_boards() {
    echo "0" > /sys/class/gpio/gpio$GPIO_PK2/value
    echo "0" > /sys/class/gpio/gpio$GPIO_PR4/value
}

start() {
    echo -n "Enabling body boards... "
    export_gpios
    power_on_boards
    echo "Done."
}

stop() {
    echo -n "Disabling body boards... "
    export_gpios
    power_off_boards
    echo "Done."
}


case "$1" in
    start)
        start
        ;;
    stop)
        stop
        ;;
    *)
        echo "Usage: $0 {start|stop}" >&2
        exit 1
        ;;
esac