Servo

Description

To make the servo access more easy on the Beaglebone Blue, a servo kernel driver is created which currently only supports duty_cycle sysfs entry. User can input the duty-cycle ranging from 0-100 (0 means that the servo is disabled) and also obtain the current duty cycle. The sysfs entry is both read-write. Howevery, please build and load the kernel module only after you have build and installed the APIs.

Usage

The kernel driver for servo is not mainstreamed in the beagleboard kernel yet. To build this, please follow these steps on the Beaglebone Black:

$git clone https://github.com/kiran4399/bbb_pru_firmware

$cd bbb_pru_firmware/servo

$make

To load the Kernel module, modprobe the resultant .ko file to the kernel:

$sudo -s

$insmod servo_sysfs.ko

$dmesg

You should be able to see the init message of servo_sysfs. Then go to /dev/servo_sysfs where you must see 8 different servo entries, each belonging to a specific servo. You can input any value from 0-100 (duty-cycle) and should see the servo/ESC (if connected) working!