1 files changed, 119 insertions, 0 deletions
diff --git a/scripts/kutter-pru-start.sh b/scripts/kutter-pru-start.sh
new file mode 100755
index 00000000..5ddc657c
--- /dev/null
+++ b/scripts/kutter-pru-start.sh
@@ -0,0 +1,119 @@
+#!/bin/sh
+# System startup script to start the PRU firmware
+
+### BEGIN INIT INFO
+# Provides:          kutter_pru
+# Required-Start:    $local_fs
+# Required-Stop:
+# Default-Start:     3 4 5
+# Default-Stop:      0 1 2 6
+# Short-Description: Kutter_PRU daemon
+# Description:       Starts the PRU for Kutter.
+### END INIT INFO
+
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+DESC="kutter_pru startup"
+NAME="kutter_pru"
+KUTTER_HOST_MCU=/usr/local/bin/kutter_mcu
+KUTTER_HOST_ARGS="-w -r"
+PIDFILE=/var/run/kutter_mcu.pid
+RPROC0=/sys/class/remoteproc/remoteproc1
+RPROC1=/sys/class/remoteproc/remoteproc2
+
+. /lib/lsb/init-functions
+
+pru_stop()
+{
+    # Shutdown existing Kutter 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 Kutter and then retry." && exit 1 )
+        sleep 1
+        ( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Kutter and then retry." && exit 1 )
+        sleep 1
+        set +e
+    fi
+
+    log_daemon_msg "Stopping pru"
+        echo 'stop' > $RPROC0/state
+        echo 'stop' > $RPROC1/state
+}
+
+pru_start()
+{
+    if [ -c /dev/rpmsg_pru30 ]; then
+        pru_stop
+    else
+        echo 'stop' > $RPROC0/state
+        echo 'stop' > $RPROC1/state
+    fi
+    sleep 1
+
+    log_daemon_msg "Starting pru"
+        echo 'start' > $RPROC0/state
+        echo 'start' > $RPROC1/state
+
+    # log_daemon_msg "Loading ADC module"
+    # echo 'BB-ADC' > /sys/devices/platform/bone_capemgr/slots
+}
+
+mcu_host_stop()
+{
+    # Shutdown existing Kutter instance (if applicable). The goal is to
+    # put the GPIO pins in a safe state.
+    if [ -c /tmp/kutter_host_mcu ]; then
+        log_daemon_msg "Attempting to shutdown host mcu..."
+        set -e
+        ( echo "FORCE_SHUTDOWN" > /tmp/kutter_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Kutter and then retry." && exit 1 )
+        sleep 1
+        ( echo "FORCE_SHUTDOWN" > /tmp/kutter_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Kutter and then retry." && exit 1 )
+        sleep 1
+        set +e
+    fi
+
+    log_daemon_msg "Stopping kutter host mcu" $NAME
+    killproc -p $PIDFILE $KUTTER_HOST_MCU
+}
+
+mcu_host_start()
+{
+    [ -x $KUTTER_HOST_MCU ] || return
+
+    if [ -c /tmp/kutter_host_mcu ]; then
+        mcu_host_stop
+    fi
+
+    log_daemon_msg "Starting kutter MCU" $NAME
+    start-stop-daemon --start --quiet --exec $KUTTER_HOST_MCU \
+                      --background --pidfile $PIDFILE --make-pidfile \
+                      -- $KUTTER_HOST_ARGS
+    log_end_msg $?
+}
+
+case "$1" in
+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 $KUTTER_HOST_MCU $NAME && exit 0 || exit $?
+    ;;
+*)  log_action_msg "Usage: /etc/init.d/kutter {start|stop|status|restart|reload|force-reload}"
+    exit 2
+    ;;
+esac
+exit 0