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The Pi does not support multi-master mode. There is no requirement for the I2C clock to be a square wave.


No. The information is held internally within the DMA blocks but there is no method to get that information.


The JP command jumps on greater than or equal to zero. It's of no use in checking a GPIO level as 0 and 1 are treated the same. Change JP to JNZ.


I will assume you are using the pigpio Python module. You are correct to say that hardware_PWM can not be used at the same time as wave_chain. I suggest you use the set_servo_pulsewidth method instead. This method can be used at the same time as wave_chain and is stable enough for servo operation.

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