88 lines
2.8 KiB
Bash
88 lines
2.8 KiB
Bash
#!/bin/sh
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# SmartCar Framework 控制脚本
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# 用法: sh ctl.sh start | stop | init
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PWMCHIP=8
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PWMPERIOD=50000
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DIR="$(dirname "$0")"
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init_pins() {
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echo "[framework] 初始化引脚..."
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for pin in 73 12 13 66 67 75 72; do
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echo $pin > /sys/class/gpio/export 2>/dev/null
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done
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echo out > /sys/class/gpio/gpio73/direction 2>/dev/null
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echo out > /sys/class/gpio/gpio12/direction 2>/dev/null
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echo out > /sys/class/gpio/gpio13/direction 2>/dev/null
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echo out > /sys/class/gpio/gpio66/direction 2>/dev/null
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echo out > /sys/class/gpio/gpio67/direction 2>/dev/null
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echo out > /sys/class/gpio/gpio75/direction 2>/dev/null
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echo in > /sys/class/gpio/gpio72/direction 2>/dev/null
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echo 1 > /sys/class/gpio/gpio73/value 2>/dev/null
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echo 0 > /sys/class/gpio/gpio12/value 2>/dev/null
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echo 0 > /sys/class/gpio/gpio13/value 2>/dev/null
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echo 0 > /sys/class/gpio/gpio66/value 2>/dev/null
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echo 0 > /sys/class/gpio/gpio67/value 2>/dev/null
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for ch in 1 2; do
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echo $ch > /sys/class/pwm/pwmchip${PWMCHIP}/export 2>/dev/null
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echo ${PWMPERIOD} > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/period 2>/dev/null
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echo 1 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/enable 2>/dev/null
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echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/duty_cycle 2>/dev/null
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done
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echo 0 > /sys/class/pwm/pwmchip1/export 2>/dev/null
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echo 3000000 > /sys/class/pwm/pwmchip1/pwm0/period 2>/dev/null
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echo 1 > /sys/class/pwm/pwmchip1/pwm0/enable 2>/dev/null
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echo 1520000 > /sys/class/pwm/pwmchip1/pwm0/duty_cycle 2>/dev/null
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echo 11 > "$DIR/speed" 2>/dev/null
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echo 0.03 > "$DIR/deadband" 2>/dev/null
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echo 1.5 > "$DIR/steer_gain" 2>/dev/null
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echo 400000 > "$DIR/kp" 2>/dev/null
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echo 200000 > "$DIR/ki" 2>/dev/null
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echo 0 > "$DIR/kd" 2>/dev/null
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echo 0.6 > "$DIR/mortor_kp" 2>/dev/null
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echo 0.2 > "$DIR/mortor_ki" 2>/dev/null
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echo 0 > "$DIR/mortor_kd" 2>/dev/null
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echo 0 > "$DIR/start" 2>/dev/null
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echo 1 > "$DIR/showImg" 2>/dev/null
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echo "[framework] 引脚初始化完成"
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}
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do_start() {
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echo "[framework] 启动..."
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echo 1 > "$DIR/start"
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cd "$DIR"
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nohup ./smartcar_framework > "$DIR/out.log" 2>&1 &
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echo "[framework] PID=$!"
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}
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do_stop() {
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echo "[framework] 停止..."
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echo 0 > "$DIR/start" 2>/dev/null
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killall -9 smartcar_framework 2>/dev/null
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sleep 0.3
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echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm1/duty_cycle 2>/dev/null
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echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm2/duty_cycle 2>/dev/null
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echo 0 > /sys/class/gpio/gpio73/value 2>/dev/null
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echo "[framework] 已停止, PWM已归零"
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}
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case "${1}" in
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start)
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init_pins
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do_start
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;;
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stop)
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do_stop
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;;
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init)
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init_pins
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;;
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*)
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echo "用法: sh ctl.sh start | stop | init"
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exit 1
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;;
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esac
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