diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/replicape.py | 20 |
1 files changed, 17 insertions, 3 deletions
diff --git a/klippy/extras/replicape.py b/klippy/extras/replicape.py index 6817a051..5938502e 100644 --- a/klippy/extras/replicape.py +++ b/klippy/extras/replicape.py @@ -108,16 +108,30 @@ class ReplicapeDACEnable: 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 + "servo0": ("/pwm0", "gpio0_30", "gpio1_18"), # P9_11, P9_14 + "servo1": ("/pwm1", "gpio3_17", "gpio1_19"), # P9_28, P9_16 } class servo_pwm: def __init__(self, replicape, pin_params): config_name = pin_params['pin'] + pwmchip = 'pwmchip0' + if not replicape.host_mcu.is_fileoutput(): + try: + # Determine the pwmchip number for the servo channels + # /sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm + # should be stable on the beagle bone black. + # It contains only a "pwmchipX" directory. The entry in + # /sys/class/pwm/ used by the Linux MCU should be a symlink + # to this directory. + pwmdev = os.listdir( + '/sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm/') + pwmchip = [pc for pc in pwmdev if pc.startswith('pwmchip')][0] + except: + raise pins.error("Replicape unable to determine pwmchip") pwm_pin, resv1, resv2 = SERVO_PINS[config_name] pin_params = dict(pin_params) - pin_params['pin'] = pwm_pin + pin_params['pin'] = pwmchip + 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 |