chipmisc: Add support for Replicape board

Add support for configuring and controlling the hardware specific to
the revision "B3" Replicape board.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

config/example-extras.cfg

@@ -122,3 +122,8 @@
 #   its highest resistance, and then the 'channel_x' parameters can be
 #   specified using the desired amperage value for the stepper. The
 #   default is to not scale the 'channel_x' parameters.
+
+
+# Replicape support - see the generic-replicape.cfg file for further
+# details.
+#[replicape]

config/generic-replicape.cfg

@@ -1,14 +1,15 @@
-# This file contains an example configuration for the Beaglebone PRU
-# micro-controller.
-
-# THIS FILE HAS NOT BEEN TESTED - PROCEED WITH CAUTION!
+# This file contains an example configuration for the Replicape rev B3
+# board. To use this config, one must compile and install the
+# micro-controller code for the "Beaglebone PRU", and then compile and
+# install the micro-controller code a second time for a "Linux
+# process".
 
 # See the example.cfg file for a description of available parameters.
 
 [stepper_x]
 step_pin: P8_17
 dir_pin: P8_26
-enable_pin: !P9_41
+enable_pin: replicape:stepper_x_enable
 step_distance: .0125
 endstop_pin: ^P9_25
 position_endstop: 0
@@ -18,7 +19,7 @@ homing_speed: 50
 [stepper_y]
 step_pin: P8_12
 dir_pin: P8_19
-enable_pin: !P9_41
+enable_pin: replicape:stepper_y_enable
 step_distance: .0125
 endstop_pin: ^P9_23
 position_endstop: 0
@@ -28,42 +29,39 @@ homing_speed: 50
 [stepper_z]
 step_pin: P8_13
 dir_pin: P8_14
-enable_pin: !P9_41
+enable_pin: replicape:stepper_z_enable
 step_distance: 0.00025
 endstop_pin: ^P9_13
 position_endstop: 0
 position_max: 200
 
-# XXX - Extruder heater hooked up to i2c mosfet
-#[extruder]
-#step_pin: P9_12
-#dir_pin: P8_15
-#enable_pin: !P9_41
-#step_distance: .002
-#nozzle_diameter: 0.400
-#filament_diameter: 1.750
-#heater_pin: ?
-#sensor_type: EPCOS 100K B57560G104F
-#sensor_pin: P9_39
-#control: pid
-#pid_Kp: 22.2
-#pid_Ki: 1.08
-#pid_Kd: 114
-#min_temp: 0
-#max_temp: 250
+[extruder]
+step_pin: P9_12
+dir_pin: P8_15
+enable_pin: replicape:stepper_e_enable
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: replicape:power_e
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: host:analog4
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
 
-# XXX - Bed heater hooked up to i2c mosfet
-#[heater_bed]
-#heater_pin: ?
-#sensor_type: EPCOS 100K B57560G104F
-#sensor_pin: P9_40
-#control: watermark
-#min_temp: 0
-#max_temp: 130
+[heater_bed]
+heater_pin: replicape:power_hotbed
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: host:analog6
+control: watermark
+min_temp: 0
+max_temp: 130
 
-# XXX - Fan power hooked up to i2c mosfet
-#[fan]
-#pin: ?
+[fan]
+pin: replicape:power_fan0
 
 [mcu]
 serial: /dev/rpmsg_pru30
@@ -73,5 +71,47 @@ pin_map: beaglebone
 kinematics: cartesian
 max_velocity: 300
 max_accel: 3000
-max_z_velocity: 5
-max_z_accel: 100
+max_z_velocity: 25
+max_z_accel: 30
+
+[mcu host]
+serial: /tmp/klipper_host_mcu
+
+# The "replicape" config section adds "replicape:stepper_x_enable"
+# virtual stepper enable pins (for steppers x, y, z, e, and h) and
+# "replicape:power_x" PWM output pins (for hotbed, e, h, fan0, fan1,
+# fan2, and fan3) that may then be used elsewhere in the config file.
+[replicape]
+revision: B3
+#   The replicape hardware revision. Currently only revision "B3" is
+#   supported. This parameter must be provided.
+#enable_pin: !P9_41
+#   The replicape global enable pin. The default is !P9_41.
+host_mcu: host
+#   The name of the mcu config section that communicates with the
+#   Klipper "linux process" mcu instance. This parameter must be
+#   provided.
+stepper_x_microstep_mode: spread16
+#   This parameter controls the CFG1 and CFG2 pins of the given
+#   stepper motor driver. Available options are: disable, 1, 2,
+#   spread2, 4, 16, spread4, spread16, stealth4, and stealth16. The
+#   default is disable.
+stepper_x_current: 0.5
+#   The configured maximum current (in Amps) of the stepper motor
+#   driver. This parameter must be provided if the stepper is not in a
+#   disable mode.
+#stepper_x_chopper_off_time_high: False
+#   This parameter controls the CFG0 pin of the stepper motor driver
+#   (True sets CFG0 high, False sets it low). The default is False.
+#stepper_x_chopper_hysteresis_high: False
+#   This parameter controls the CFG4 pin of the stepper motor driver
+#   (True sets CFG4 high, False sets it low). The default is False.
+#stepper_x_chopper_blank_time_high: True
+#   This parameter controls the CFG5 pin of the stepper motor driver
+#   (True sets CFG5 high, False sets it low). The default is True.
+stepper_y_microstep_mode: spread16
+stepper_y_current: 0.5
+stepper_z_microstep_mode: spread16
+stepper_z_current: 0.5
+stepper_e_microstep_mode: 16
+stepper_e_current: 0.5