PRU_STEPPER.sh

#!/bin/bash


PRU_STEPPER_link="$(readlink -f /home/debian/bin/bb_PRU_STEPPER.out)"





	fw0_link=${PRU_STEPPER_link}


	if [ ${fw0_link} ];
	then

		echo "stop the program if running"
		echo 'stop' > /sys/class/remoteproc/remoteproc1/state 2>/dev/null

		echo "remove existing PRU firmware link if it exists"
		rm /lib/firmware/am335x-pru0-fw &> /dev/null

		echo "link and load the firmware to PRU"
		ln -s ${fw0_link} /lib/firmware/am335x-pru0-fw
		echo 'am335x-pru0-fw' > /sys/class/remoteproc/remoteproc1/firmware
		
		echo "start the program"
		echo 'start' > /sys/class/remoteproc/remoteproc1/state

		echo ""
		echo "Firmware is running"
		echo ""


	else
		echo "Firmware .out files does not seem to exist. Did you place " ${PRU_STEPPER_link} "?"
		echo ""
	fi
		

	echo "sleep on"
	echo out > /sys/class/gpio/gpio30/direction
	echo 0 > /sys/class/gpio/gpio30/value
  
	echo "reset off"
	echo out > /sys/class/gpio/gpio31/direction
	echo 0 > /sys/class/gpio/gpio31/value

	echo "set pin 29 and 31 as PRU GPIO out"
	config-pin P9_31 pruout    
	config-pin P9_29 pruout    

	echo "initialise SPI"
	/home/debian/bin/bb_LINUX_STEPPER_SPI 
	
	echo "stepper motor control ready from PRU0"
	
while test $# -gt 0
do
    case "$1" in
        --test) 
		echo "test requested"
	
		echo "sleep off"  
		echo 1 > /sys/class/gpio/gpio30/value

		echo "motor move start"
		echo '1100' > /dev/rpmsg_pru30
		echo '0100' > /dev/rpmsg_pru30
		echo "motor move stop"
		echo "short pause before activating motor sleep..."
		sleep 2s
		

		echo "sleep on"
		echo 0 > /sys/class/gpio/gpio30/value
        
            ;;
    esac
    shift
done