XiongMai IPG-53H20AF

2.0M Autofocal Module

Hardware

System	Description
SoC	HI3516CV100
Sensor	IMX322
Flash	16Mb (MX25L12835F)

Network

Ethernet working only with these parameters

    setenv phyaddru 1
    setenv phyaddrd 2
    setenv mdio_intf rmii
    saveenv

GPIOs

WARNING!!! Motor gpio pin states incorrect after boot, motor windings may burn out, init with these asap, or unplug motors connector before powering up.

Nr	Description	Color
38	irCut_1
39	irCut_2
9	Zoom motor A1	Green
48	Zoom motor A2	Orange
51	Zoom motor B1	Yellow
43	Zoom motor B2	Violet
52	Foc motor A1	Black
55	Foc motor A2	Blue
53	Foc motor B1	White
54	Foc motor B2	Red

Motor test

Very slow movement due sysfs gpio manipulation

#!/bin/sh

# motor test for ipg-53h20af

gpio_WT_Am=9
gpio_WT_Ap=48
gpio_WT_Bm=51
gpio_WT_Bp=43

gpio_FN_Am=52
gpio_FN_Ap=55
gpio_FN_Bm=53
gpio_FN_Bp=54


sleep_time=100

mux() {
  ipctool gpio mux $gpio_WT_Am
  ipctool gpio mux $gpio_WT_Ap
  ipctool gpio mux $gpio_WT_Bm
  ipctool gpio mux $gpio_WT_Bp
  ipctool gpio mux $gpio_FN_Am
  ipctool gpio mux $gpio_FN_Ap
  ipctool gpio mux $gpio_FN_Bp
  ipctool gpio mux $gpio_FN_Bm
}

unexport() {
  echo "$gpio_WT_Am" >/sys/class/gpio/unexport
  echo "$gpio_WT_Ap" >/sys/class/gpio/unexport
  echo "$gpio_WT_Bm" >/sys/class/gpio/unexport
  echo "$gpio_WT_Bp" >/sys/class/gpio/unexport
  echo "$gpio_FN_Am" >/sys/class/gpio/unexport
  echo "$gpio_FN_Ap" >/sys/class/gpio/unexport
  echo "$gpio_FN_Bp" >/sys/class/gpio/unexport
  echo "$gpio_FN_Bm" >/sys/class/gpio/unexport
}

export_() {
  echo "$gpio_WT_Am" >/sys/class/gpio/export
  echo "$gpio_WT_Ap" >/sys/class/gpio/export
  echo "$gpio_WT_Bm" >/sys/class/gpio/export
  echo "$gpio_WT_Bp" >/sys/class/gpio/export
  echo "$gpio_FN_Am" >/sys/class/gpio/export
  echo "$gpio_FN_Ap" >/sys/class/gpio/export
  echo "$gpio_FN_Bp" >/sys/class/gpio/export
  echo "$gpio_FN_Bm" >/sys/class/gpio/export
}

dir() {
  echo "out" >/sys/class/gpio/gpio$gpio_WT_Am/direction
  echo "out" >/sys/class/gpio/gpio$gpio_WT_Ap/direction
  echo "out" >/sys/class/gpio/gpio$gpio_WT_Bm/direction
  echo "out" >/sys/class/gpio/gpio$gpio_WT_Bp/direction
  echo "out" >/sys/class/gpio/gpio$gpio_FN_Am/direction
  echo "out" >/sys/class/gpio/gpio$gpio_FN_Ap/direction
  echo "out" >/sys/class/gpio/gpio$gpio_FN_Bp/direction
  echo "out" >/sys/class/gpio/gpio$gpio_FN_Bm/direction
}

init() {
  mux
  unexport
  export_
  dir
}

set_zero_FN() {
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
}
set_zero_WT() {
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
}
set_zero() {
  set_zero_FN
  set_zero_WT
}

far() {
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time
  
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time
}

near() {
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time
  
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time

  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time
}

tele() {
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time
  
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

}

wide() {
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time
  
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time

  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time
}

if [ $# -lt 1 ]; then
  echo "usage : ./motor <direction> [step]"
  echo "        -i init gpio"
  echo "        -f far"
  echo "        -n near"
  echo "        -w wide"
  echo "        -t tele"
  
  exit
fi

if [ $1 = "-i" ]; then
  init 
  set_zero
  exit
fi

if [ $1 = "-f" ]; then
  direction="far"
  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
elif [ $1 = "-w" ]; then
  direction="wide"
  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
elif [ $1 = "-n" ]; then
  direction="near"
  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
elif [ $1 = "-t" ]; then
  direction="tele"
  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
fi

if [ $# -eq 2 ]; then
  max=$2
else
  max=10
fi

echo $max

i=0
while [ $i -lt $max ]
do
  $direction >/dev/null
  true $(( i++ ))
done


# turn to full step and disable motor
if [ $1 = "-f" ]; then
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
  usleep $sleep_time
  set_zero_FN
elif [ $1 = "-w" ]; then
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
  usleep $sleep_time
  set_zero_WT
elif [ $1 = "-n" ]; then
  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
  usleep $sleep_time
  set_zero_FN
elif [ $1 = "-t" ]; then
  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
  usleep $sleep_time
  set_zero_WT
fi

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XiongMai IPG-53H20AF

Hardware

Network

GPIOs

Motor test

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XiongMai IPG-53H20AF

Hardware

Network

GPIOs

Motor test