Include pca_pwm test.

ROMFS/cannode/init.d/rcS

@@ -65,8 +65,11 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+if [ $UCAN146 == none ]
+then
+	rgbled start -X -q
+	rgbled_ncp5623c start -X -q
+fi
 
 #
 # board sensors: rc.sensors
@@ -86,10 +89,16 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
+if [ $UCAN146 == none ]
 then
-	px4flow start -X &
+	if param compare SENS_EN_PX4FLOW 1
+	then
+		px4flow start -X &
+	fi
 fi
 
-uavcannode start
+if [ $UCAN146 == none ]
+then
+	uavcannode start
+fi
 unset R

boards/nxp/ucans32k146/init/rc.board_defaults

@@ -3,7 +3,9 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-pwm_out mode_pwm1 start
+set UCAN146 1
+
+pca9685_ucan start -X
 
 ifup can0
 cyphal start

boards/nxp/ucans32k146/pca9685.px4board

@@ -1 +1,3 @@
 CONFIG_DRIVERS_PCA9685_UCAN=y
+CONFIG_DRIVERS_GPS=n
+CONFIG_EXAMPLES_PCA_PWM_TEST=y

src/drivers/pca9685_ucan/pca9685_ucan.cpp

@@ -240,19 +240,15 @@ PCA9685::RunImpl()
 			    _pca_pwm.pwm_period <= PWM_PERIOD_MAX_US) {
 				_pwm_period_us = _pca_pwm.pwm_period;
 				_pwm_freq = 1000000.0f / (float)_pwm_period_us;
-				DEVICE_DEBUG("freq: %.2f, period: %u", (double)_pwm_freq, _pwm_period_us);
 			}
 			for (int i = 0; i < NUMBER_PWM_CHANNELS; i++) {
-				uint16_t new_value = (uint16_t)(((float)_pwm_period_us/(float)_pca_pwm.pulse_width[i])*4096.0f);
-				DEVICE_DEBUG("%d: current: %u, new: %u, pulse width: %u", i, _current_values[i], new_value, _pca_pwm.pulse_width[i]);
-
-				if (new_value != _current_values[i] && new_value < 4096) {
+				uint16_t new_value = (uint16_t)(4096.0f*(float)_pca_pwm.pulse_width[i]/
+							(float)_pwm_period_us);
+				/*PX4_INFO("PWM_%d: pulse_width: %u, new_value: %u, pwm_period: %u",
+						i, _pca_pwm.pulse_width[i], new_value, _pwm_period_us);*/
+				if (new_value != _current_values[i] && new_value <= 4096) {
 					setPin(i, new_value);
 					_current_values[i] = new_value;
-				} else {
-					if (new_value < 4096) {
-						DEVICE_DEBUG("pwm new value: %u is out of range [0, 4096]", new_value);
-					}
 				}
 			}
 		}

src/examples/pca_pwm_test/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE examples__pca_pwm_test
+	MAIN pca_pwm_test
+	COMPILE_FLAGS
+		#-DDEBUG_BUILD   # uncomment for PX4_DEBUG output
+		#-O0             # uncomment when debugging
+	SRCS
+		PCAPWMTest.cpp
+		PCAPWMTest.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/examples/pca_pwm_test/Kconfig

@@ -0,0 +1,5 @@
+menuconfig EXAMPLES_PCA_PWM_TEST
+	bool "pca_pwm_test"
+	default n
+	---help---
+		Enable support for pca_pwm_test

src/examples/pca_pwm_test/PCAPWMTest.cpp

@@ -0,0 +1,141 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "PCAPWMTest.hpp"
+
+PCAPWMTest::PCAPWMTest() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
+{
+}
+
+PCAPWMTest::~PCAPWMTest()
+{
+	perf_free(_loop_perf);
+	perf_free(_loop_interval_perf);
+}
+
+bool PCAPWMTest::init()
+{
+	ScheduleOnInterval(100_ms); // 2000 us interval, 200 Hz rate
+
+	return true;
+}
+
+void PCAPWMTest::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+	perf_count(_loop_interval_perf);
+
+	pca_pwm.pwm_period = period_us;
+
+	if(val > period_us) val = 0;
+
+
+	for(int i = 0; i < 16; i++) {
+		pca_pwm.pulse_width[i] = val;
+	}
+
+	pca_pwm.timestamp = hrt_absolute_time();
+	_pca_pwm_pub.publish(pca_pwm);
+
+	val += period_us/20;
+
+	perf_end(_loop_perf);
+}
+
+int PCAPWMTest::task_spawn(int argc, char *argv[])
+{
+	PCAPWMTest *instance = new PCAPWMTest();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int PCAPWMTest::print_status()
+{
+	perf_print_counter(_loop_perf);
+	perf_print_counter(_loop_interval_perf);
+	return 0;
+}
+
+int PCAPWMTest::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int PCAPWMTest::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Example of a simple module running out of a work queue.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("pca_pwm_test", "template");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int pca_pwm_test_main(int argc, char *argv[])
+{
+	return PCAPWMTest::main(argc, argv);
+}

src/examples/pca_pwm_test/PCAPWMTest.hpp

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
+
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/pca_pwm.h>
+
+using namespace time_literals;
+
+class PCAPWMTest : public ModuleBase<PCAPWMTest>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	PCAPWMTest();
+	~PCAPWMTest() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+	int print_status() override;
+
+private:
+	void Run() override;
+
+	// Publications
+	uORB::Publication<pca_pwm_s> _pca_pwm_pub{ORB_ID(pca_pwm)};
+
+	// Performance (perf) counters
+	perf_counter_t	_loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+	perf_counter_t	_loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
+
+
+	pca_pwm_s pca_pwm;
+	uint16_t val = 0;
+	uint16_t period_us =  10000;
+};