#!/bin/sh

# -d 'N': delay 'N' seconds during reset
# -n: don't kill stm32 process

usage() {
  echo "usage: reset_artoo [-d N] [-n]"
  echo "  -d N    delay N seconds with reset asserted"
  echo "  -n      don't kill the stm32 process (debug usage)"
}

delay=0
dokill=true
until [ -z "${1}" ]; do
  case ${1} in
    -d)
      if [ -z "${2}" ]; then
        usage
      fi
      delay="${2}"
      shift
      ;;
    -n)
      dokill=false
      ;;
  esac
  shift
done

pin_boot=45
pin_reset=46

set_pin() {
  pushd /sys/class/gpio > /dev/null
  if [ ! -e gpio${1} ]; then
    echo "${1}" > /sys/class/gpio/export
  fi
  echo "out" > /sys/class/gpio/gpio${1}/direction
  echo "${2}" > /sys/class/gpio/gpio${1}/value
  popd > /dev/null
}

if ${dokill}; then
  # stop it
  init 2
  # wait for it to be truly gone
  until ! killall -q -CONT stm32; do
    true
  done
fi

# deassert boot
set_pin ${pin_boot} 0

# pulse reset
set_pin ${pin_reset} 1
sleep ${delay}
set_pin ${pin_reset} 0

if ${dokill}; then
  # restart everything
  init 3
fi