Add TP-Link Kasa KC110 (HI3518EV200 + OV2735) (#99)

* Add TP-Link Kasa KC110 (HI3518EV200 + OV2735) New device variant: hi3518ev200_ultimate_tplink-kasa-kc110. Contents: - kc110-board-support package: PTZ binary (mmap'd PL061), gpio-motors shim for the openipc web GUI, IR control script, and a boot-time pinmux init that writes 0x1 to the chip7/chip8 pads (0x200f00e8/ec/ f0/fc/100/104). The OpenIPC kernel pinctrl driver does not auto-set these for the KC110's pan motor / IR-cut / IR-LED pads — the vendor firmware writes them explicitly in hn_config.sh. Without this, PL061 GPIODATA writes succeed silently but the pads never drive the ULN2803 / solenoid / LED. - Device overlay: * etc/sensors/ov2735_i2c_1080p.ini — input_mode=0 (MIPI), 1-lane (was input_mode=4 / 4-lane in upstream cv200 osdrv, which is wrong for OV2735). * usr/bin/load_hisilicon — adds an "ov2735" case that mirrors ov2710_mipi (same MIPI pinmux + clock). * usr/share/openipc/customizer.sh — first-boot configuration: RTL8188FU wlandev, sensor config path, IR-cut pin 64, backlight pin 63, lightMonitor true (AE recovery after IR-cut toggle). - README.md row. Hardware notes: - SoC: Hi3518EV200; Sensor: OV2735 (MIPI 1-lane, RAW10); Wi-Fi: RTL8188FU (USB); Flash: W25Q128 16 MB NOR. - PTZ: 4-phase unipolar steppers via ULN2803 darlington array. Pan = vendor base-10 GPIO 81/74/73/72 = OpenIPC PL061 65/60/59/58; tilt = 0/1/2/44 = 0/1/2/36 (vendor's "44" is bank 4 pin 4 — i.e. pin 36 in OpenIPC's PL061 numbering, NOT 44). - IR-cut filter: GPIO 64 (vendor 80) active-low; IR-LED: GPIO 63 (vendor 77). Status: PTZ + GPIO + IR fully functional. Video pipeline currently needs an LD_PRELOAD shim around HI_MIPI_SET_DEV_ATTR because upstream majestic builds combo_dev_attr_t with enIntfMode=DC / raw_data_type=0 for MIPI sensors that need RAW10. The shim is downstream-only pending a real fix to majestic upstream; this PR delivers the rest of the KC110 board support and will produce a fully-functional camera once the majestic fix lands. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com> * tplink-kasa-kc110: use ov2735_mipi_1080p.ini Follow OpenIPC/firmware #2155, which ships the OV2735 MIPI config as a separate ov2735_mipi_1080p.ini and leaves ov2735_i2c_1080p.ini (the parallel/DVP config) untouched. - Rename the device's bundled sensor .ini to ov2735_mipi_1080p.ini and carry the full corrected MIPI config: input_mode=0 (MIPI), data_type=2 (RAW10), lane_id 2-lane, Input_mod=5 (MIPI), Mask_0=0xFFF00000. The previous bundled copy only had input_mode fixed (data_type/Input_mod/Mask_0 were still the wrong DVP defaults). - Point customizer.sh's isp.sensorConfig at the new file. - Exclude the unused parallel ov2735_i2c_1080p.ini from the image. Verified on a TP-Link Kasa KC110 (OV2735 2-lane MIPI RAW10): clean image, correct AE, RTSP H.264 1080p. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> --------- Co-authored-by: moontwister <moontwister@users.noreply.github.com> Co-authored-by: Claude Opus 4.7 <noreply@anthropic.com>
2026-06-13 22:37:11 +03:00
parent 21de4f7b92
commit e6d8822517
14 changed files with 1366 additions and 0 deletions
@@ -0,0 +1,28 @@
+config BR2_PACKAGE_KC110_BOARD_SUPPORT
+	bool "kc110-board-support"
+	depends on BR2_arm
+	help
+	  Board support for the TP-Link Kasa KC110 PTZ camera (HiSilicon
+	  Hi3518EV200 + OV2735 MIPI sensor + 24BYJ48 stepper motors via
+	  ULN2803 darlington array).
+
+	  Installs:
+	  - ptz: C binary driving pan/tilt steppers (mmap PL061) and IR-cut /
+	    IR-LED via vendor-base-10 GPIO numbering. Replaces the upstream
+	    gpio-motors sysfs approach which uses different pin numbers.
+	  - gpio-motors: small shell shim that forwards web-GUI calls
+	    (gpio-motors X Y N) to the ptz CLI.
+	  - ir-control.sh: convenience wrapper for IR-LED + IR-cut filter.
+	  - S94pinmux-pan-ir: boot-time init that writes 0x1 to pinmux
+	    registers 0x200f00e8/ec/f0/fc/100/104 for chip7/8 pads. OpenIPC
+	    kernel pinctrl doesn't auto-set this for the KC110's pan + IR-cut
+	    + IR-LED pads (vendor's hn_config.sh writes them explicitly).
+
+	  KC110 GPIO map (vendor base-10 numbering = OpenIPC PL061 pins):
+	    pan:    65 / 60 / 59 / 58   (vendor 81/74/73/72)
+	    tilt:   0 / 1 / 2 / 36      (vendor 0/1/2/44)
+	    ir-cut: 64                  (vendor 80)
+	    ir-led: 63                  (vendor 77)
+
+	  Conflicts with the upstream gpio-motors package — this provides a
+	  drop-in replacement at /usr/bin/gpio-motors that calls ptz.
@@ -0,0 +1,59 @@
+# kc110-board-support
+
+Buildroot package providing KC110-specific hardware support for OpenIPC. Delivers:
+
+| File | Purpose |
+|---|---|
+| `/usr/bin/ptz` | C binary (mmap PL061) for pan/tilt + IR-cut + IR-LED via vendor-base-10 GPIO numbering |
+| `/usr/bin/gpio-motors` | 451-byte shell shim that forwards calls to `ptz pan/tilt` (web-GUI compatible) |
+| `/usr/bin/ir-control.sh` | Wrapper for IR-LED + IR-cut filter control |
+| `/etc/init.d/S94pinmux-pan-ir` | Boot-time init that writes 0x1 to pinmux registers 0x200f00e8/ec/f0/fc/100/104 (KC110 chip7/8 pads) |
+
+## Layout
+
+```
+kc110-board-support/
+├── Config.in              # BR2_PACKAGE_KC110_BOARD_SUPPORT
+├── kc110-board-support.mk # generic-package build + install rules
+├── src/                   # source tree (compiled with target toolchain)
+│   ├── Makefile
+│   └── ptz.c              # ARM-static-stripped via cross-compile
+└── files/                 # installed as-is (no build step)
+    ├── etc/init.d/S94pinmux-pan-ir
+    └── usr/bin/{gpio-motors,ir-control.sh}
+```
+
+## Use from upstream openipc-firmware
+
+The package lives at the repo root (`kc110-board-support/`) but must be discoverable by Buildroot inside the upstream tree via a symlink:
+
+```
+openipc/openipc-firmware/general/package/kc110-board-support → ../../../../kc110-board-support
+```
+
+The symlink is reconstructed by the setup step (below).
+
+## Setup after `git pull` of upstream
+
+Because `openipc/` is gitignored, the wire-in edits in the upstream tree are lost on each pull. Re-apply them from `patches/openipc-wire-in-kc110.patch`:
+
+```bash
+cd openipc/openipc-firmware
+git apply ../../patches/openipc-wire-in-kc110.patch
+
+# Re-create the symlink if it disappeared:
+[ -L general/package/kc110-board-support ] || \
+  ln -s ../../../../kc110-board-support general/package/kc110-board-support
+```
+
+The patch adds:
+- A `source` statement for the package in `general/package/Config.in`
+- `BR2_PACKAGE_KC110_BOARD_SUPPORT=y` to `hi3518ev200_ultimate_defconfig` and removes `BR2_PACKAGE_GPIO_MOTORS=y` (our shim replaces upstream's gpio-motors binary)
+
+## Build
+
+Picked up automatically by `BOARD=hi3518ev200_ultimate make all` once the wire-in is applied. The `ptz` binary builds reproducibly — md5 `e70f78d73c91248ba044082e3f21c54b` across rebuilds.
+
+## Conflict with upstream gpio-motors
+
+`BR2_PACKAGE_GPIO_MOTORS` (upstream) and `BR2_PACKAGE_KC110_BOARD_SUPPORT` both install `/usr/bin/gpio-motors` and cannot be enabled simultaneously. The wire-in patch removes `BR2_PACKAGE_GPIO_MOTORS=y` from the defconfig to avoid the collision.
@@ -0,0 +1,26 @@
+#!/bin/sh
+# KC110 pad-pinmux: chip7/8 GPIOs used by pan motor + IR-cut + IR-LED
+# need function=0x1 (per vendor hn_config.sh comments "GPIO8_0", "GPIO8_1").
+# OpenIPC kernel pinctrl leaves them at default (0x0 = alternate peripheral)
+# which makes PL061 GPIODATA writes succeed silently — pad never toggles.
+# Stock-OpenIPC builds (and prior boot residue) can also leave wrong state
+# across soft-reboot, so we force-write here regardless of current value.
+
+start() {
+	# pan motor coils B/C/D (chip7 pin 2/3/4) + IR-LED (chip7 pin 7)
+	devmem 0x200f00e8 32 0x1
+	devmem 0x200f00ec 32 0x1
+	devmem 0x200f00f0 32 0x1
+	devmem 0x200f00fc 32 0x1
+	# IR-cut solenoid (chip8 pin 0) + pan motor coil A (chip8 pin 1)
+	devmem 0x200f0100 32 0x1
+	devmem 0x200f0104 32 0x1
+}
+
+case "$1" in
+	start|"") start ;;
+	stop) ;;
+	restart|reload) start ;;
+	*) echo "usage: $0 {start|stop|restart}"; exit 1 ;;
+esac
+exit 0
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Shim: OpenIPC motor.cgi calls "gpio-motors <pan> <tilt> <speed>"
+# Translate to our ptz binary which knows the correct PL061 mapping.
+pan="${1:-0}"
+tilt="${2:-0}"
+phase="${3:-3}"
+log() { logger -t gpio-motors "$@"; }
+log "called pan=$pan tilt=$tilt phase=$phase"
+[ "$pan" != "0" ] && /usr/bin/ptz pan "$pan" "$phase" 2>&1 | logger -t gpio-motors
+[ "$tilt" != "0" ] && /usr/bin/ptz tilt "$tilt" "$phase" 2>&1 | logger -t gpio-motors
+exit 0
@@ -0,0 +1,47 @@
+#!/bin/sh
+# KC110 IR-LED + IR-cut master via sysfs gpio export.
+# GPIO 77 = IR-LED (active-high, vendor UCI: ledOnValue=1, ledOffValue=0)
+# GPIO 80 = IR-cut master (active-low, vendor: set_ir_cut(1) writes 0)
+# Modes:
+#   day   - LED off, IR-cut filter IN  (sees IR as colour-cast — bad, so cut blocks it)
+#   night - LED on,  IR-cut filter OUT (lets IR illuminate the scene)
+
+GPIO_LED=77
+GPIO_CUT=80
+
+export_pin() {
+	[ -d /sys/class/gpio/gpio$1 ] || echo $1 > /sys/class/gpio/export 2>/dev/null
+	echo out > /sys/class/gpio/gpio$1/direction 2>/dev/null
+}
+
+set_pin() {
+	echo $2 > /sys/class/gpio/gpio$1/value
+}
+
+case "$1" in
+	day)
+		export_pin $GPIO_LED
+		export_pin $GPIO_CUT
+		set_pin $GPIO_LED 0
+		set_pin $GPIO_CUT 0   # active-low: 0 = filter IN
+		;;
+	night)
+		export_pin $GPIO_LED
+		export_pin $GPIO_CUT
+		set_pin $GPIO_CUT 1   # active-low: 1 = filter OUT
+		sleep 1               # let mechanical filter settle
+		set_pin $GPIO_LED 1
+		;;
+	off)
+		set_pin $GPIO_LED 0 2>/dev/null
+		set_pin $GPIO_CUT 0 2>/dev/null
+		;;
+	status)
+		echo "led:    $(cat /sys/class/gpio/gpio$GPIO_LED/value 2>/dev/null || echo unset)"
+		echo "ircut:  $(cat /sys/class/gpio/gpio$GPIO_CUT/value 2>/dev/null || echo unset)"
+		;;
+	*)
+		echo "usage: $0 {day|night|off|status}" >&2
+		exit 1
+		;;
+esac
@@ -0,0 +1,19 @@
+################################################################################
+#
+# kc110-board-support
+#
+################################################################################
+
+KC110_BOARD_SUPPORT_SITE_METHOD = local
+KC110_BOARD_SUPPORT_SITE = $(KC110_BOARD_SUPPORT_PKGDIR)/src
+
+define KC110_BOARD_SUPPORT_BUILD_CMDS
+	$(MAKE) CC="$(TARGET_CC)" CFLAGS="$(TARGET_CFLAGS)" -C $(@D)
+endef
+
+define KC110_BOARD_SUPPORT_INSTALL_TARGET_CMDS
+	$(INSTALL) -D -m 0755 $(@D)/ptz $(TARGET_DIR)/usr/bin/ptz
+	cp -a $(KC110_BOARD_SUPPORT_PKGDIR)/files/. $(TARGET_DIR)/
+endef
+
+$(eval $(generic-package))
@@ -0,0 +1,12 @@
+CC ?= gcc
+CFLAGS ?= -O2
+
+all: ptz
+
+ptz: ptz.c
+	$(CC) $(CFLAGS) -o $@ $<
+
+clean:
+	rm -f ptz
+
+.PHONY: all clean
@@ -0,0 +1,281 @@
+/* ptz — KC110 pan/tilt/IR controller via PL061 /dev/mem (no sysfs overhead).
+ *
+ * Pin map (OpenIPC numbering on Hi3518EV200 PL061 chips 0-8).
+ * Derived from vendor kernel disasm of gpio_set_value @ 0xc01b854c:
+ *   bank = vendor_gpio / 10, pin = vendor_gpio % 10
+ *   PL061_phys = 0x20140000 + (bank << 16) + (1 << (pin + 2))
+ *
+ *   pan   A=8/1  B=7/4  C=7/3  D=7/2     (vendor 81 / 74 / 73 / 72)
+ *   tilt  A=0/0  B=0/1  C=0/2  D=4/4     (vendor  0 /  1 /  2 / 44)
+ *   IR-LED  bank 7 pin 7                  (vendor 77, active-high)
+ *   IR-cut  bank 8 pin 0                  (vendor 80, edge-triggers solenoid)
+ *
+ * State persisted in /etc/ptz_state across invocations so phase continuity
+ * across CLI calls keeps the motor smooth.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <errno.h>
+
+#define PL061_BASE  0x20140000u
+#define PL061_STRIDE 0x10000u
+#define GPIODIR_OFF 0x400u
+#define STATE_PATH  "/etc/ptz_state"
+
+#define PAN_STEPS_MAX  1934
+#define PAN_DEG        170
+#define TILT_STEPS_MAX 387
+#define TILT_DEG       68
+
+struct pin { uint8_t bank, pin; };
+
+static const struct pin PAN[4]  = { {8,1}, {7,4}, {7,3}, {7,2} };  /* A B C D */
+static const struct pin TILT[4] = { {0,0}, {0,1}, {0,2}, {4,4} };
+static const struct pin IRLED   = {7,7};
+static const struct pin IRCUT   = {8,0};
+
+/* Full-step (2-phase-on) sequence: AB, BC, CD, DA. */
+static const uint8_t SEQ[4][4] = {
+    {1,1,0,0}, {0,1,1,0}, {0,0,1,1}, {1,0,0,1},
+};
+
+static void *bank_map[9];
+
+static void *map_bank(uint8_t bank) {
+    if (bank_map[bank]) return bank_map[bank];
+    int fd = open("/dev/mem", O_RDWR | O_SYNC);
+    if (fd < 0) { perror("/dev/mem"); exit(1); }
+    off_t phys = PL061_BASE + (off_t)bank * PL061_STRIDE;
+    void *p = mmap(NULL, 4096, PROT_READ | PROT_WRITE, MAP_SHARED, fd, phys);
+    close(fd);
+    if (p == MAP_FAILED) { fprintf(stderr,"mmap bank %u: %s\n",bank,strerror(errno)); exit(1); }
+    bank_map[bank] = p;
+    return p;
+}
+
+static void pin_set_output(struct pin p) {
+    volatile uint32_t *dir = (uint32_t *)((uint8_t *)map_bank(p.bank) + GPIODIR_OFF);
+    *dir |= (1u << p.pin);
+}
+
+static void pin_write(struct pin p, int v) {
+    /* PL061 GPIODATA: address = base + (mask << 2). Only bits in mask change. */
+    uint8_t *base = (uint8_t *)map_bank(p.bank);
+    uint32_t mask = 1u << p.pin;
+    volatile uint32_t *reg = (uint32_t *)(base + (mask << 2));
+    *reg = v ? mask : 0;
+}
+
+static void msleep(long ms) {
+    struct timespec ts = { ms / 1000, (ms % 1000) * 1000000L };
+    nanosleep(&ts, NULL);
+}
+
+/* State -------------------------------------------------------------------- */
+
+struct state {
+    int pan_pos;     /* 0 .. PAN_STEPS_MAX */
+    int tilt_pos;    /* 0 .. TILT_STEPS_MAX */
+    int pan_phase;   /* 0..3 — last SEQ index applied */
+    int tilt_phase;
+    int ircut;       /* 0 or 1 */
+    int irled;       /* 0 or 1 */
+};
+
+static void state_load(struct state *s) {
+    memset(s, 0, sizeof(*s));
+    FILE *f = fopen(STATE_PATH, "r");
+    if (!f) return;
+    fscanf(f, "pan_pos=%d tilt_pos=%d pan_phase=%d tilt_phase=%d ircut=%d irled=%d",
+           &s->pan_pos, &s->tilt_pos, &s->pan_phase, &s->tilt_phase,
+           &s->ircut, &s->irled);
+    fclose(f);
+}
+
+static void state_save(const struct state *s) {
+    FILE *f = fopen(STATE_PATH, "w");
+    if (!f) { perror(STATE_PATH); return; }
+    fprintf(f, "pan_pos=%d tilt_pos=%d pan_phase=%d tilt_phase=%d ircut=%d irled=%d\n",
+            s->pan_pos, s->tilt_pos, s->pan_phase, s->tilt_phase, s->ircut, s->irled);
+    fclose(f);
+}
+
+/* Motor drive -------------------------------------------------------------- */
+
+static void apply_phase(const struct pin coils[4], int phase) {
+    const uint8_t *row = SEQ[phase & 3];
+    for (int i = 0; i < 4; i++) pin_write(coils[i], row[i]);
+}
+
+static void park(const struct pin coils[4]) {
+    for (int i = 0; i < 4; i++) pin_write(coils[i], 0);
+}
+
+static void prep_motor(const struct pin coils[4]) {
+    for (int i = 0; i < 4; i++) pin_set_output(coils[i]);
+}
+
+/* Drive `delta` steps. Positive = forward sequence direction. Returns new phase. */
+static int drive(const struct pin coils[4], int start_phase, int delta, long phase_ms) {
+    int phase = start_phase;
+    int dir = (delta > 0) ? 1 : -1;
+    int n = delta * dir;
+    while (n--) {
+        phase = (phase + dir + 4) & 3;
+        apply_phase(coils, phase);
+        msleep(phase_ms);
+    }
+    return phase;
+}
+
+/* Commands ----------------------------------------------------------------- */
+
+static int clamp(int v, int lo, int hi) {
+    return v < lo ? lo : (v > hi ? hi : v);
+}
+
+static int cmd_pan(struct state *s, int delta, long phase_ms) {
+    int target = clamp(s->pan_pos + delta, 0, PAN_STEPS_MAX);
+    int real = target - s->pan_pos;
+    prep_motor(PAN);
+    s->pan_phase = drive(PAN, s->pan_phase, real, phase_ms);
+    park(PAN);
+    s->pan_pos = target;
+    return real;
+}
+
+static int cmd_tilt(struct state *s, int delta, long phase_ms) {
+    int target = clamp(s->tilt_pos + delta, 0, TILT_STEPS_MAX);
+    int real = target - s->tilt_pos;
+    prep_motor(TILT);
+    s->tilt_phase = drive(TILT, s->tilt_phase, real, phase_ms);
+    park(TILT);
+    s->tilt_pos = target;
+    return real;
+}
+
+/* Home: drive backwards beyond max range, hit mechanical stop, mark as 0. */
+static void cmd_home(struct state *s, long phase_ms) {
+    prep_motor(PAN);
+    drive(PAN, s->pan_phase, -(PAN_STEPS_MAX + 200), phase_ms);
+    park(PAN);
+    s->pan_phase = 0;
+    s->pan_pos = 0;
+
+    prep_motor(TILT);
+    drive(TILT, s->tilt_phase, -(TILT_STEPS_MAX + 50), phase_ms);
+    park(TILT);
+    s->tilt_phase = 0;
+    s->tilt_pos = 0;
+}
+
+static void cmd_irled(struct state *s, int on) {
+    pin_set_output(IRLED);
+    pin_write(IRLED, on ? 1 : 0);
+    s->irled = on ? 1 : 0;
+}
+
+/* IR-cut: edge-triggered solenoid. Pulse the master GPIO to flip filter state. */
+static void cmd_daynight(struct state *s) {
+    pin_set_output(IRCUT);
+    int new_state = !s->ircut;
+    pin_write(IRCUT, new_state);
+    /* hold long enough for solenoid to actuate */
+    msleep(80);
+    /* leave the pin in the new state; vendor pattern is to keep the bit set */
+    s->ircut = new_state;
+}
+
+static void cmd_status(const struct state *s) {
+    printf("pan_pos=%d/%d   tilt_pos=%d/%d   ircut=%d   irled=%d\n",
+           s->pan_pos, PAN_STEPS_MAX, s->tilt_pos, TILT_STEPS_MAX,
+           s->ircut, s->irled);
+}
+
+/* Argument parsing --------------------------------------------------------- */
+
+static int parse_int(const char *s) {
+    char *end; long v = strtol(s, &end, 10);
+    if (*end) { fprintf(stderr,"bad integer: %s\n",s); exit(2); }
+    return (int)v;
+}
+
+static void usage(void) {
+    fprintf(stderr,
+        "usage:\n"
+        "  ptz pan <+N|-N|abs N> [phase_ms]\n"
+        "  ptz tilt <+N|-N|abs N> [phase_ms]\n"
+        "  ptz home [phase_ms]\n"
+        "  ptz ir on|off\n"
+        "  ptz daynight\n"
+        "  ptz status\n"
+        "  ptz raw set <bank> <pin> <0|1>     (debug)\n"
+        "default phase_ms = 3\n");
+    exit(2);
+}
+
+int main(int argc, char **argv) {
+    if (argc < 2) usage();
+    struct state s; state_load(&s);
+
+    if (!strcmp(argv[1], "pan")) {
+        if (argc < 3) usage();
+        long pms = (argc >= 4 && strcmp(argv[2],"abs")) ? parse_int(argv[3]) : 3;
+        int delta;
+        if (!strcmp(argv[2], "abs")) {
+            if (argc < 4) usage();
+            delta = parse_int(argv[3]) - s.pan_pos;
+            pms = (argc >= 5) ? parse_int(argv[4]) : 3;
+        } else delta = parse_int(argv[2]);
+        int real = cmd_pan(&s, delta, pms);
+        printf("pan: %d steps (requested %d, clamped) → pos=%d\n", real, delta, s.pan_pos);
+    }
+    else if (!strcmp(argv[1], "tilt")) {
+        if (argc < 3) usage();
+        long pms = (argc >= 4 && strcmp(argv[2],"abs")) ? parse_int(argv[3]) : 3;
+        int delta;
+        if (!strcmp(argv[2], "abs")) {
+            if (argc < 4) usage();
+            delta = parse_int(argv[3]) - s.tilt_pos;
+            pms = (argc >= 5) ? parse_int(argv[4]) : 3;
+        } else delta = parse_int(argv[2]);
+        int real = cmd_tilt(&s, delta, pms);
+        printf("tilt: %d steps (requested %d, clamped) → pos=%d\n", real, delta, s.tilt_pos);
+    }
+    else if (!strcmp(argv[1], "home")) {
+        long pms = (argc >= 3) ? parse_int(argv[2]) : 4;
+        cmd_home(&s, pms);
+        puts("home: reset to (0,0)");
+    }
+    else if (!strcmp(argv[1], "ir")) {
+        if (argc < 3) usage();
+        cmd_irled(&s, !strcmp(argv[2], "on"));
+        printf("ir: %s\n", s.irled ? "on" : "off");
+    }
+    else if (!strcmp(argv[1], "daynight")) {
+        cmd_daynight(&s);
+        printf("daynight: ircut=%d\n", s.ircut);
+    }
+    else if (!strcmp(argv[1], "status")) {
+        cmd_status(&s);
+    }
+    else if (!strcmp(argv[1], "raw") && argc >= 6 && !strcmp(argv[2],"set")) {
+        struct pin p = { (uint8_t)parse_int(argv[3]), (uint8_t)parse_int(argv[4]) };
+        pin_set_output(p);
+        pin_write(p, parse_int(argv[5]));
+        printf("raw: bank=%u pin=%u val=%s\n", p.bank, p.pin, argv[5]);
+    }
+    else usage();
+
+    state_save(&s);
+    return 0;
+}