add lidar camera gpio and fix a motor gpio bug.

init_gpio.sh

@@ -117,6 +117,27 @@ echo " GPIO42 pinmux: $(cat /sys/kernel/debug/gpio_debug/gpio42/current_pinmux)
 echo " GPIO42 direction: $(cat /sys/kernel/debug/gpio_debug/gpio42/current_direction)"
 echo " GPIO42 pullmode: $(cat /sys/kernel/debug/gpio_debug/gpio42/current_pullmode)"
 
+if [[ ! -e /sys/class/gpio/gpio77 ]]; then
+ echo 77 > /sys/class/gpio/export
+fi
+echo "mode0" > /sys/kernel/debug/gpio_debug/gpio77/current_pinmux
+echo "out" > /sys/kernel/debug/gpio_debug/gpio77/current_direction
+echo "pullup" > /sys/kernel/debug/gpio_debug/gpio77/current_pullmode
+echo "high" > /sys/kernel/debug/gpio_debug/gpio77/current_value
+echo " GPIO77 pinmux: $(cat /sys/kernel/debug/gpio_debug/gpio77/current_pinmux)"
+echo " GPIO77 direction: $(cat /sys/kernel/debug/gpio_debug/gpio77/current_direction)"
+echo " GPIO77 pullmode: $(cat /sys/kernel/debug/gpio_debug/gpio77/current_pullmode)"
+
+if [[ ! -e /sys/class/gpio/gpio82 ]]; then
+ echo 82 > /sys/class/gpio/export
+fi
+echo "mode0" > /sys/kernel/debug/gpio_debug/gpio82/current_pinmux
+echo "in" > /sys/kernel/debug/gpio_debug/gpio82/current_direction
+echo "pullup" > /sys/kernel/debug/gpio_debug/gpio82/current_pullmode
+echo " GPIO82 pinmux: $(cat /sys/kernel/debug/gpio_debug/gpio82/current_pinmux)"
+echo " GPIO82 direction: $(cat /sys/kernel/debug/gpio_debug/gpio82/current_direction)"
+echo " GPIO82 pullmode: $(cat /sys/kernel/debug/gpio_debug/gpio82/current_pullmode)"
+
 
 motors="MTRPAN MTRTILTL MTRTILTU MTRROTATE"
 motor_wires="IN1 IN2 IN3 IN4"
@@ -133,10 +154,10 @@ declare -A motor_gpio_pin=(
  [MTRTILTU-IN2]="46"
  [MTRTILTU-IN3]="48"
  [MTRTILTU-IN4]="14"
- [MTRTITLL-IN1]="84"
+ [MTRTILTL-IN1]="84"
  [MTRTILTL-IN2]="45"
  [MTRTILTL-IN3]="47"
- [MTRTLTL-IN4]="49"
+ [MTRTILTL-IN4]="49"
 )
 declare -A motor_gpio_direction=(
  [MTRPAN-IN1]="out"

tools/gpio_map.sh

@@ -7,32 +7,32 @@ J17-3 NC
 J17-4 VIN - PSU12V-VOUT
 J17-5 UART2-TX -
 J17-6 RCVR-MODE -
-J17-7 GP27 I2C6-SCL LVL33L-7 IMUCAMD-SCL
-J17-8 GP20 I2C1-SDA LVL33U-8 IMUFRAME-SDA LVL50A-2 ADC50 JOY3D-BXYZ
-J17-9 GP28 I2C6-SDA LVL33L-6 IMUCAMD-SDA
-J17-10 GP111 SPI5-CS1 LVL33L-5 OLEDFRAME-CS
-J17-11 GP109 SPI5-CLK LVL33L-2 OLEDFRAME-CLK OLEDCAMD-CLK
-J17-12 GP115 SPI5-TX LVL33L-1 OLEDFRAME-DIN OLEDCAMD-DIN
+J17-7 GP27 I2C6-SCL LVL33B-7 IMUCAMD THERMCAM
+J17-8 GP20 I2C1-SDA LVL33A-8 IMUFRAME LVL50A-2 ADC50 JOY3D-BXYZ LIDARCAM
+J17-9 GP28 I2C6-SDA LVL33B-6 IMUCAMD THERMCAM
+J17-10 GP111 SPI5-CS1 LVL33B-5 OLEDFRAME
+J17-11 GP109 SPI5-CLK LVL33B-2 OLEDFRAME OLEDCAMD
+J17-12 GP115 SPI5-TX LVL33B-1 OLEDFRAME OLEDCAMD
 J17-13 OSCCLK-OUT -
-J17-14 GP128 UART1-CTS LVL33L-4 OLEDFRAME-DC OLEDCAMD-DC
+J17-14 GP128 UART1-CTS LVL33B-4 SPI-DC OLEDFRAME OLEDCAMD
 
 J18-1 GP13 PWM1 MTRPAN-IN1
 J18-2 GP165 - MTRPAN-IN2
 J18-3 PWRBTN -
 J18-4 MSIC-SLPCLK -
 J18-5 VBAT-BKUP -
-J18-6 GP19 I2C1-SCL LVL33U-7 IMUFRAME-SCL LVL50A-1 ADC50 JOY3D-BXYZ
+J18-6 GP19 I2C1-SCL LVL33A-7 IMUFRAME LVL50A-1 ADC50 JOY3D-BXYZ LIDARCAM
 J18-7 GP12 PWM0 MTRPAN-IN3
 J18-8 GP183 PWM3 MTRPAN-IN4
 J18-9 NC -
-J18-10 GP110 SPI5-FS0
+J18-10 GP110 SPI5-FS0 OLEDCAMD
 J18-11 GP114 SPI5-RXD MTRROTATE-IN2
 J18-12 GP129 UART1-RTS MTRROTATE-IN3
-J18-13 GP130 UART1-RX LVL33U-3 OLEDFRAME-RST
+J18-13 GP130 UART1-RX LVL33A-3 OLEDFRAME-RST
 J18-14 FW-RCVR -
 
 J19-1 NC -
-J19-2 V1P80 - LVL33U LVL33L LVL50
+J19-2 V1P80 - LVL33A LVL33B LVL50
 J19-3 GND - PSU12V-GND
 J19-4 GP44 - MTRTILTU-IN1
 J19-5 GP46 - MTRTILTU-IN2
@@ -42,13 +42,13 @@ J19-8 GP131 UART1-TX MTRROTATE-IN4
 J19-9 GP14 - MTRTILTU-IN4
 J19-10 GP40 I2S2-CLK MICARRAY-SCK
 J19-11 GP43 I2S2-TXD MICARRAY-TXD
-J19-12 GP77 SD-CDN
-J19-13 GP82 SD-DAT2
+J19-12 GP77 SD-CDN LIDARCAM-XSHUT
+J19-13 GP82 SD-DAT2 LIDARCAM-INT
 J19-14 GP83 SD-DAT3
 
 J20-1 VSYS -
 J20-2 V3P30 -
-J20-3 UART2-RX  -
+J20-3 UART2-RX -
 J20-4 GP45 - MTRTILTL-IN2
 J20-5 GP47 - MTRTILTL-IN3
 J20-6 GP49 - MTRTILTL-IN4