1 files changed, 89 insertions, 14 deletions
diff --git a/scripts/klipper-pru-start.sh b/scripts/klipper-pru-start.sh
index 747543a2..6e2cd96a 100755
--- a/scripts/klipper-pru-start.sh
+++ b/scripts/klipper-pru-start.sh
@@ -14,23 +14,98 @@
 PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
 DESC="klipper_pru startup"
 NAME="klipper_pru"
+KLIPPER_HOST_MCU=/usr/local/bin/klipper_mcu
+KLIPPER_HOST_ARGS="-w -r"
+PIDFILE=/var/run/klipper_mcu.pid
 
 . /lib/lsb/init-functions
 
+pru_stop()
+{
+    # Shutdown existing Klipper instance (if applicable). The goal is to
+    # put the GPIO pins in a safe state.
+    if [ -c /dev/rpmsg_pru30 ]; then
+        log_daemon_msg "Attempting to shutdown PRU..."
+        set -e
+        ( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
+        sleep 1
+        ( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
+        sleep 1
+        set +e
+    fi
+
+    log_daemon_msg "Stopping pru"
+    echo 4a334000.pru0 > /sys/bus/platform/drivers/pru-rproc/unbind
+    echo 4a338000.pru1 > /sys/bus/platform/drivers/pru-rproc/unbind
+}
+
+pru_start()
+{
+    if [ -c /dev/rpmsg_pru30 ]; then
+        pru_stop
+        sleep 1
+    fi
+
+    log_daemon_msg "Starting pru"
+    echo 4a334000.pru0 > /sys/bus/platform/drivers/pru-rproc/bind
+    echo 4a338000.pru1 > /sys/bus/platform/drivers/pru-rproc/bind
+}
+
+mcu_host_stop()
+{
+    # Shutdown existing Klipper instance (if applicable). The goal is to
+    # put the GPIO pins in a safe state.
+    if [ -c /tmp/klipper_host_mcu ]; then
+        log_daemon_msg "Attempting to shutdown host mcu..."
+        set -e
+        ( echo "FORCE_SHUTDOWN" > /tmp/klipper_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
+        sleep 1
+        ( echo "FORCE_SHUTDOWN" > /tmp/klipper_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
+        sleep 1
+        set +e
+    fi
+
+    log_daemon_msg "Stopping klipper host mcu" $NAME
+    killproc -p $PIDFILE $KLIPPER_HOST_MCU
+}
+
+mcu_host_start()
+{
+    [ -x $KLIPPER_HOST_MCU ] || return
+
+    if [ -c /tmp/klipper_host_mcu ]; then
+        mcu_host_stop
+    fi
+
+    log_daemon_msg "Starting klipper MCU" $NAME
+    start-stop-daemon --start --quiet --exec $KLIPPER_HOST_MCU \
+                      --background --pidfile $PIDFILE --make-pidfile \
+                      -- $KLIPPER_HOST_ARGS
+    log_end_msg $?
+}
+
 case "$1" in
-start)  log_daemon_msg "Starting klipper_pru" $NAME
-        # Enable ADC module
-        echo 'BB-ADC' > /sys/devices/platform/bone_capemgr/slots
-        # Start PRU firmware
-        if [ ! -c /dev/rpmsg_pru30 ]; then
-            rmmod -f pru_rproc
-            modprobe pru_rproc
-        fi
-        ;;
-stop|restart|reload|force-reload|status)
-        ;;
-*)      log_action_msg "Usage: /etc/init.d/klipper_pru {start|stop|status|restart|reload|force-reload}"
-        exit 2
-        ;;
+start)
+    pru_start
+    mcu_host_start
+    ;;
+stop)
+    pru_stop
+    mcu_host_stop
+    ;;
+restart)
+    $0 stop
+    $0 start
+    ;;
+reload|force-reload)
+    log_daemon_msg "Reloading configuration not supported" $NAME
+    log_end_msg 1
+    ;;
+status)
+    status_of_proc -p $PIDFILE $KLIPPER_HOST_MCU $NAME && exit 0 || exit $?
+    ;;
+*)  log_action_msg "Usage: /etc/init.d/klipper {start|stop|status|restart|reload|force-reload}"
+    exit 2
+    ;;
 esac
 exit 0