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wiki/en/device-ipg-53h20af.md

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# XiongMai IPG-53H20AF
2.0M Autofocal Module
![device_ipg-53h20af](/images/device-53h20af.jpg)
## 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](#motor-test) 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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