Driver updates for varible length array.

boards/nxp/ucans32k146/pca9685.px4board

@@ -1,8 +1,7 @@
 CONFIG_DRIVERS_GPS=n
 CONFIG_CYPHAL_CANFD_SUPPORT=y
-CONFIG_DRIVERS_PCA9685_UCAN=y
 CONFIG_CYPHAL_UORB_PCA_PWM_SUBSCRIBER=y
-CONFIG_DRIVERS_SPI_LED=y
 CONFIG_CYPHAL_UORB_SPI_LED_SUBSCRIBER=y
+CONFIG_DRIVERS_PCA9685_UCAN=y
+CONFIG_DRIVERS_SPI_LED=y
 CONFIG_SYSTEMCMDS_UORB=y
-

msg/spi_led.msg

@@ -2,9 +2,9 @@
 
 uint64 timestamp                # time since system start (microseconds)
 
-uint16 number_leds              #total number of leds [0,1001]
-uint8 offset_group              #offset group (multiple of 13) of leds to control [0,77]
-uint32[13] led_values           #follows spi 32 bit LED schema for apa102
+uint16 number_leds              #total number of leds [0,1000]
+uint8 offset_group              #offset group (multiple of 10) of leds to control [0,100]
+uint32[10] led_values           #follows spi 32 bit LED schema for apa102
 
 # [  PAD 1's  ][ BRIGHT 0:31 ][ BLU 0:255 ][ GRN 0:255 ][ RED 0:255 ]
 # [ 31 ... 29 ][ 28  ...  24 ][ 23 ... 16 ][ 15 ...  8 ][ 7  ...  0 ]

src/drivers/spi_led/spi_led.cpp

@@ -44,6 +44,8 @@ spi_led::~spi_led()
 {
 	perf_free(_loop_perf);
 	perf_free(_loop_interval_perf);
+	delete _buf;
+	delete _rbuf;
 }
 
 int spi_led::init()
@@ -55,22 +57,23 @@ int spi_led::init()
 	}
 
 	// execute Run() on every spi_led publication
+	/*
 	if (!_spi_led_sub.registerCallback()) {
 		PX4_ERR("callback registration failed");
 		return false;
 	}
-
+	*/
 	// alternatively, Run on fixed interval
-	// ScheduleOnInterval(5000_us); // 2000 us interval, 200 Hz rate
+	ScheduleOnInterval(100_ms); // 2000 us interval, 200 Hz rate
 
 	return true;
 }
 
 void spi_led::Run()
 {
+	//printf("made it into run()\n");
+
 	if (should_exit()) {
-		delete _buf;
-		delete _rbuf;
 		ScheduleClear();
 		exit_and_cleanup();
 		return;
@@ -80,26 +83,41 @@ void spi_led::Run()
 	perf_count(_loop_interval_perf);
 
 	if (_spi_led_sub.updated()) {
-		spi_led_s led_struct;
+		//printf("spi led sub updated\n");
+		struct spi_led_s led_struct;
 
 		if (_spi_led_sub.copy(&led_struct)) {
+			//printf("copied\n");
 			// DO WORK
-			uint32_t size = led_struct.number_leds + 2;
+			uint32_t size = led_struct.number_leds + (led_struct.number_leds % 10) + 2;
 			if(size != _size) {
 				_size = size;
 				delete _buf;
 				delete _rbuf;
 				_buf = new uint32_t[size];
 				_rbuf = new uint32_t[size];
+				printf("created buffers\n");
 				for(uint32_t i = 0; i < size; i++) {
 					_buf[i] = 0x00000000;
 				}
 				_buf[size-1] = 0xFFFFFFFF;
 			}
 
-			memcpy(_buf + (led_struct.offset_group*13)+1, &led_struct.led_values, 13);
+			for(uint32_t i = 0; i < 10; i++) {
+				_buf[i + (led_struct.offset_group*10) + 1] = led_struct.led_values[i];
+			}
+
+			printf("%p \n", _buf);
+			//memcpy(_buf + (led_struct.offset_group*10)+1, &led_struct.led_values, 10);
+			//printf("buf: ");
+			for(uint32_t i = 0; i < size; i++) {
+				//printf("0x%08" PRIx32 " ", _buf[i]);
+			}
+			//printf("\n");
+			//printf("copied data\n");
 
 			transfer((uint8_t *)_buf, (uint8_t *)_rbuf, _size*4);
+			printf("transferred\n");
 		}
 	}
 

src/drivers/spi_led/spi_led.hpp

@@ -31,6 +31,10 @@
  *
  ****************************************************************************/
 
+/* Authors: Landon Haugh (landon.haugh@nxp.com)
+ *	    Benjamin Perseghetti (benjamin.perseghetti@nxp.com)
+ */
+
 #pragma once
 
 #include <px4_platform_common/defines.h>
@@ -84,7 +88,7 @@ private:
 		(ParamInt<px4::params::SYS_AUTOCONFIG>) _param_sys_autoconfig  /**< another parameter */
 	)
 
-	uint32_t *_buf;
-	uint32_t *_rbuf;
-	uint32_t _size;
+	uint32_t *_buf = new uint32_t[10];
+	uint32_t *_rbuf = new uint32_t[10];
+	uint32_t _size = 0;
 };