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

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>

config/generic-replicape.cfg

@@ -38,12 +38,6 @@ host_mcu: host
 #   This parameter controls the CFG6_ENN line on all stepper
 #   motors. True sets the enable lines to "open". The default is
 #   False.
-#servo0_enable: False
-#   This parameter controls whether end_stop_X_2 is used for endstops
-#   (via P9_11) or for servo_0 (via P9_14). The default is False.
-#servo1_enable: False
-#   This parameter controls whether end_stop_Y_2 is used for endstops
-#   (via P9_28) or for servo_1 (via P9_16). The default is False.
 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,
@@ -132,3 +126,11 @@ max_temp: 130
 
 [fan]
 pin: replicape:power_fan0
+
+# The alternative servo pins channels on the endstops x2 and y2 can be used
+# via the special relicape pins servo0 (P9_14) and servo1 (P9_16).
+#[servo servo_x2]
+#pin: replicape:servo0
+#   PWM output pin controlling the servo. This parameter must be
+#   provided.
+#...

klippy/extras/replicape.py

@@ -108,6 +108,32 @@ def set_digital(self, print_time, value):
         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 @@ def __init__(self, config):
             "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 @@ def __init__(self, config):
             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 @@ def __init__(self, config):
         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 @@ def note_pwm_enable(self, print_time, channel, value):
         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)