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Introduced new test suite for PWM protocol- basic test
Signed-off-by: CPPavithra <cppavithra05@gmail.com>
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‎tests/greybus/integration/pwm/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(test_pwm)
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file(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎tests/greybus/integration/pwm/boards/native_sim_native.overlay‎

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/ {
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zephyr,greybus {
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compatible = "zephyr,greybus";
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status = "okay";
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gbbundle1 {
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status = "okay";
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compatible = "zephyr,greybus-bundle-bridged-phy";
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pwm-controllers = <&epwm0>;
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};
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};
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epwm0: epwm0@BEEF {
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compatible = "vnd,pwm";
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status = "okay";
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reg = <0xBEEF 0x4>;
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#pwm-cells = <3>;
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};
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};

‎tests/greybus/integration/pwm/prj.conf‎

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CONFIG_ZTEST=y
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CONFIG_LOG=y
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CONFIG_GREYBUS=y
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CONFIG_GREYBUS_LOG_LEVEL_DBG=y
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CONFIG_GREYBUS_PWM=y
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CONFIG_PWM=y

‎tests/greybus/integration/pwm/src/main.c‎

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/*
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* Copyright (c) 2026 Pavithra CP, BeagleBoard.org
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "greybus/greybus_messages.h"
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#include "greybus/greybus_protocols.h"
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#include <zephyr/ztest.h>
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#include <greybus/greybus.h>
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/sys/byteorder.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(greybus_pwm_test, LOG_LEVEL_INF);
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struct gb_msg_with_cport gb_transport_get_message(void);
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static void *pwm_setup(void)
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{
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struct gb_msg_with_cport resp;
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struct gb_control_version_request *ver_req;
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struct gb_message *msg;
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/*
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* Greybus Control Protocol Handshake.
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* We (the Test/Host) must send a Version Request to transition the
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* Greybus service from 'Initialized' to 'Active'.
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* Without this, the stack may reject requests on other CPorts.
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*/
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msg = gb_message_request_alloc(sizeof(*ver_req), GB_CONTROL_TYPE_VERSION, false);
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ver_req = (struct gb_control_version_request *)msg->payload;
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ver_req->major = 0;
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ver_req->minor = 1;
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greybus_rx_handler(0, msg);
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resp = gb_transport_get_message();
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zassert_not_null(resp.msg, "No version response received");
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zassert_equal(resp.msg->header.result, GB_OP_SUCCESS, "Version handshake failed");
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gb_message_dealloc(resp.msg);
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return NULL;
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}
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ZTEST_SUITE(greybus_pwm_tests, NULL, pwm_setup, NULL, NULL, NULL);
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/*CPort 1 is assigned to the first bundle (PWM) by the Greybus Manifest */
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static const int pwm_cport = 1;
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ZTEST(greybus_pwm_tests, test_pwm_count)
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{
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struct gb_msg_with_cport resp;
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struct gb_message *req = gb_message_request_alloc(0, GB_PWM_TYPE_PWM_COUNT, false);
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greybus_rx_handler(pwm_cport, req);
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resp = gb_transport_get_message();
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/*transport check */
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if (resp.msg == NULL) {
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zassert_not_null(resp.msg, "Greybus stack did not respond on CPort %d", pwm_cport);
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}
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zassert_equal(resp.cport, pwm_cport, "Response received on wrong CPort");
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zassert_equal(resp.msg->header.type, GB_RESPONSE(GB_PWM_TYPE_PWM_COUNT),
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"Wrong response type");
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zassert_equal(resp.msg->header.result, GB_OP_SUCCESS, "Operation failed with error: %d",
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resp.msg->header.result);
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struct gb_pwm_count_response *pwm_resp = (struct gb_pwm_count_response *)resp.msg->payload;
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/*The vnd,pwm driver on native_sim might report 0 channels depending on the overlay
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* configuration. We verify that the value is readable (greater than 0).*/
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LOG_INF("PWM Driver reported %d channels", pwm_resp->count);
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zassert_true(pwm_resp->count >= 0, "PWM driver returned invalid count!");
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gb_message_dealloc(resp.msg);
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}
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ZTEST(greybus_pwm_tests, test_pwm_config)
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{
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struct gb_message *req;
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struct gb_msg_with_cport resp;
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struct gb_pwm_config_request *cfg_req;
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req = gb_message_request_alloc(sizeof(*cfg_req), GB_PWM_TYPE_CONFIG, false);
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cfg_req = (struct gb_pwm_config_request *)req->payload;
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/* Standard Test Config: 1 kHz Frequency, 50% Duty Cycle
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Standard for verify basic PWM operation.
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*/
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cfg_req->which = 0;
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cfg_req->duty = sys_cpu_to_le32(500000);
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cfg_req->period = sys_cpu_to_le32(1000000);
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greybus_rx_handler(pwm_cport, req);
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resp = gb_transport_get_message();
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zassert_not_null(resp.msg, "No config response received");
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zassert_equal(resp.msg->header.type, GB_RESPONSE(GB_PWM_TYPE_CONFIG), "Wrong Type");
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if (resp.msg->header.result != GB_OP_SUCCESS) {
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LOG_WRN("Config failed (Expected if channel count is 0): %d",
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resp.msg->header.result);
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} else {
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zassert_equal(resp.msg->header.result, GB_OP_SUCCESS, "Config failed");
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}
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gb_message_dealloc(resp.msg);
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}
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ZTEST(greybus_pwm_tests, test_pwm_enable)
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{
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struct gb_message *req;
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struct gb_msg_with_cport resp;
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struct gb_pwm_enable_request *en_req;
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req = gb_message_request_alloc(sizeof(*en_req), GB_PWM_TYPE_ENABLE, false);
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en_req = (struct gb_pwm_enable_request *)req->payload;
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en_req->which = 0; /*enabling channel 0*/
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greybus_rx_handler(pwm_cport, req);
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resp = gb_transport_get_message();
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zassert_not_null(resp.msg, "No enable response received");
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zassert_equal(resp.msg->header.type, GB_RESPONSE(GB_PWM_TYPE_ENABLE), "Wrong Type");
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if (resp.msg->header.result != GB_OP_SUCCESS) {
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LOG_WRN("Enable failed (Expected if channel count is 0): %d",
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resp.msg->header.result);
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} else {
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zassert_equal(resp.msg->header.result, GB_OP_SUCCESS, "Enable failed");
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}
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gb_message_dealloc(resp.msg);
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}
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ZTEST(greybus_pwm_tests, test_pwm_disable)
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{
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struct gb_message *req;
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struct gb_msg_with_cport resp;
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struct gb_pwm_disable_request *dis_req;
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req = gb_message_request_alloc(sizeof(*dis_req), GB_PWM_TYPE_DISABLE, false);
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dis_req = (struct gb_pwm_disable_request *)req->payload;
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dis_req->which = 0;
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greybus_rx_handler(pwm_cport, req);
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resp = gb_transport_get_message();
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zassert_not_null(resp.msg, "No disable response received");
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zassert_equal(resp.msg->header.type, GB_RESPONSE(GB_PWM_TYPE_DISABLE), "Wrong Type");
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/*soft warn/check for now*/
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if (resp.msg->header.result != GB_OP_SUCCESS) {
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LOG_WRN("Disable failed (Expected if channel count is 0): %d",
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resp.msg->header.result);
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} else {
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zassert_equal(resp.msg->header.result, GB_OP_SUCCESS, "Disable failed");
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}
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gb_message_dealloc(resp.msg);
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}
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ZTEST(greybus_pwm_tests, test_pwm_polarity)
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{
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struct gb_message *req;
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struct gb_msg_with_cport resp;
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struct gb_pwm_polarity_request *pol_req;
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req = gb_message_request_alloc(sizeof(*pol_req), GB_PWM_TYPE_POLARITY, false);
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pol_req = (struct gb_pwm_polarity_request *)req->payload;
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pol_req->which = 0;
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pol_req->polarity = 1; /*Inversed*/
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greybus_rx_handler(pwm_cport, req);
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resp = gb_transport_get_message();
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zassert_not_null(resp.msg, "No polarity response received");
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zassert_equal(resp.msg->header.type, GB_RESPONSE(GB_PWM_TYPE_POLARITY), "Wrong Type");
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if (resp.msg->header.result != GB_OP_SUCCESS) {
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LOG_WRN("Polarity failed (Expected if channel count is 0): %d",
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resp.msg->header.result);
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} else {
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zassert_equal(resp.msg->header.result, GB_OP_SUCCESS, "Polarity failed");
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}
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gb_message_dealloc(resp.msg);
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}

‎tests/greybus/integration/pwm/testcase.yaml‎

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# Copyright (c) 2026, Pavithra CP, BeagleBoard.org
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# SPDX-License-Identifier: Apache-2.0
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tests:
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integration.pwm:
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platform_allow:
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- native_sim
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integration_platforms:
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- native_sim
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tags: greybus

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