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replicape: add support for Linux hardware PWM (#1443)

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The servo pins (P9_14/P9_16) are muxed to the SOCs hardware PWM unit
driven by a 13MHz GP timer. They have to be driven by the linux host
mcu. This commits adds hardware PWM support using the linux sysfs
user space interface.

The servo pins can be specified as "replicape:servo0" and
"replicape:servo1". Removes the "servo0_enable", "servo1_enable"
configuration parameters.
Fixes #1105.

Signed-off-by: Janne Grunau <janne-3d@jannau.net>
This commit is contained in:
Janne Grunau 2019-04-06 19:51:51 +02:00 • committed by KevinOConnor
parent 8c54fc8753
commit 478a916f51
2 changed files with 49 additions and 16 deletions
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51
klippy/extras/replicape.py
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@ -108,6 +108,32 @@ class ReplicapeDACEnable:
else:
self.pwm.set_pwm(print_time, 0.)
SERVO_PINS = {
"servo0": ("pwmchip0/pwm0", "gpio0_30", "gpio1_18"), # P9_11, P9_14
"servo1": ("pwmchip0/pwm1", "gpio3_17", "gpio1_19"), # P9_28, P9_16
}
class servo_pwm:
def __init__(self, replicape, pin_params):
config_name = pin_params['pin']
pwm_pin, resv1, resv2 = SERVO_PINS[config_name]
pin_params = dict(pin_params)
pin_params['pin'] = pwm_pin
# Setup actual pwm pin using linux hardware pwm on host
self.mcu_pwm = replicape.host_mcu.setup_pin("pwm", pin_params)
self.get_mcu = self.mcu_pwm.get_mcu
self.setup_max_duration = self.mcu_pwm.setup_max_duration
self.setup_start_value = self.mcu_pwm.setup_start_value
self.set_pwm = self.mcu_pwm.set_pwm
# Reserve pins to warn user of conflicts
pru_mcu = replicape.mcu_pwm_enable.get_mcu()
printer = pru_mcu.get_printer()
ppins = printer.lookup_object('pins')
ppins.reserve_pin(pru_mcu.get_name(), resv1, config_name)
ppins.reserve_pin(pru_mcu.get_name(), resv2, config_name)
def setup_cycle_time(self, cycle_time, hardware_pwm=False):
self.mcu_pwm.setup_cycle_time(cycle_time, True);
ReplicapeStepConfig = {
'disable': None,
'1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
@ -135,6 +161,8 @@ class Replicape:
"power_hotbed": (pca9685_pwm, 4),
"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
self.servo_pins = {
"servo0": 3, "servo1": 2 }
# Setup stepper config
self.last_stepper_time = 0.
self.stepper_dacs = {}
@ -159,11 +187,7 @@ class Replicape:
self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
if config.getboolean('servo0_enable', False):
shift_registers[1] |= 1
if config.getboolean('servo1_enable', False):
shift_registers[2] |= 1
self.sr_disabled = tuple(reversed(shift_registers))
self.sr_disabled = list(reversed(shift_registers))
if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
# Enable xyz steppers
shift_registers[0] &= ~1
@ -173,7 +197,7 @@ class Replicape:
if (config.getboolean('standstill_power_down', False)
and self.stepper_dacs):
shift_registers[4] &= ~1
self.sr_enabled = tuple(reversed(shift_registers))
self.sr_enabled = list(reversed(shift_registers))
self.sr_spi = bus.MCU_SPI(self.host_mcu, REPLICAPE_SHIFT_REGISTER_BUS,
None, 0, 50000000, self.sr_disabled)
self.sr_spi.spi_send(self.sr_disabled)
@ -211,10 +235,17 @@ class Replicape:
self.sr_spi.spi_send(sr, minclock=clock, reqclock=clock)
def setup_pin(self, pin_type, pin_params):
pin = pin_params['pin']
if pin not in self.pins:
raise pins.error("Unknown replicape pin %s" % (pin,))
pclass, channel = self.pins[pin]
return pclass(self, channel, pin_type, pin_params)
if pin in self.pins:
pclass, channel = self.pins[pin]
return pclass(self, channel, pin_type, pin_params)
elif pin in self.servo_pins:
# enable servo pins via shift registers
index = self.servo_pins[pin]
self.sr_enabled[index] |= 1
self.sr_disabled[index] |= 1
self.sr_spi.spi_send(self.sr_disabled)
return servo_pwm(self, pin_params)
raise pins.error("Unknown replicape pin %s" % (pin,))
def load_config(config):
return Replicape(config)