118 lines
3.3 KiB
Bash
Executable File
118 lines
3.3 KiB
Bash
Executable File
#!/bin/sh
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# System startup script to start the PRU firmware
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### BEGIN INIT INFO
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# Provides: klipper_pru
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# Required-Start: $local_fs
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# Required-Stop:
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# Default-Start: 3 4 5
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# Default-Stop: 0 1 2 6
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# Short-Description: Klipper_PRU daemon
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# Description: Starts the PRU for Klipper.
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### END INIT INFO
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PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
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DESC="klipper_pru startup"
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NAME="klipper_pru"
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KLIPPER_HOST_MCU=/usr/local/bin/klipper_mcu
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KLIPPER_HOST_ARGS="-w -r"
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PIDFILE=/var/run/klipper_mcu.pid
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. /lib/lsb/init-functions
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pru_stop()
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{
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# Shutdown existing Klipper instance (if applicable). The goal is to
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# put the GPIO pins in a safe state.
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if [ -c /dev/rpmsg_pru30 ]; then
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log_daemon_msg "Attempting to shutdown PRU..."
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set -e
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( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
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sleep 1
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( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
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sleep 1
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set +e
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fi
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log_daemon_msg "Stopping pru"
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echo 4a334000.pru0 > /sys/bus/platform/drivers/pru-rproc/unbind
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echo 4a338000.pru1 > /sys/bus/platform/drivers/pru-rproc/unbind
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}
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pru_start()
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{
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if [ -c /dev/rpmsg_pru30 ]; then
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pru_stop
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else
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echo 4a334000.pru0 > /sys/bus/platform/drivers/pru-rproc/unbind
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echo 4a338000.pru1 > /sys/bus/platform/drivers/pru-rproc/unbind
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fi
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sleep 1
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log_daemon_msg "Starting pru"
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echo 4a334000.pru0 > /sys/bus/platform/drivers/pru-rproc/bind
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echo 4a338000.pru1 > /sys/bus/platform/drivers/pru-rproc/bind
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log_daemon_msg "Loading ADC module"
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echo 'BB-ADC' > /sys/devices/platform/bone_capemgr/slots
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}
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mcu_host_stop()
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{
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# Shutdown existing Klipper instance (if applicable). The goal is to
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# put the GPIO pins in a safe state.
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if [ -c /tmp/klipper_host_mcu ]; then
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log_daemon_msg "Attempting to shutdown host mcu..."
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set -e
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( echo "FORCE_SHUTDOWN" > /tmp/klipper_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
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sleep 1
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( echo "FORCE_SHUTDOWN" > /tmp/klipper_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
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sleep 1
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set +e
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fi
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log_daemon_msg "Stopping klipper host mcu" $NAME
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killproc -p $PIDFILE $KLIPPER_HOST_MCU
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}
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mcu_host_start()
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{
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[ -x $KLIPPER_HOST_MCU ] || return
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if [ -c /tmp/klipper_host_mcu ]; then
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mcu_host_stop
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fi
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log_daemon_msg "Starting klipper MCU" $NAME
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start-stop-daemon --start --quiet --exec $KLIPPER_HOST_MCU \
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--background --pidfile $PIDFILE --make-pidfile \
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-- $KLIPPER_HOST_ARGS
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log_end_msg $?
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}
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case "$1" in
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start)
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pru_start
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mcu_host_start
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;;
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stop)
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pru_stop
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mcu_host_stop
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;;
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restart)
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$0 stop
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$0 start
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;;
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reload|force-reload)
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log_daemon_msg "Reloading configuration not supported" $NAME
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log_end_msg 1
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;;
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status)
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status_of_proc -p $PIDFILE $KLIPPER_HOST_MCU $NAME && exit 0 || exit $?
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;;
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*) log_action_msg "Usage: /etc/init.d/klipper {start|stop|status|restart|reload|force-reload}"
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exit 2
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;;
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esac
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exit 0
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