pbio/test/pwm: Implement led array pwm for tests.

This is used for light matrix tests, which now require this.

Author: laurensvalk

lib/pbio/drv/pwm/pwm_test.c

@@ -5,6 +5,8 @@
 
 #if PBDRV_CONFIG_PWM_TEST
 
+#include <math.h>
+#include <stdint.h>
 #include <stdio.h>
 
 #include <tinytest.h>
@@ -16,6 +18,10 @@
 
 #include "../drv/pwm/pwm.h"
 
+#define MATRIX_SIZE (3)
+
+uint8_t test_light_matrix_set_pixel_last_brightness[MATRIX_SIZE][MATRIX_SIZE];
+
 typedef struct {
     uint32_t duty_channel;
     uint32_t duty_value;
@@ -27,6 +33,13 @@ static pbio_error_t test_set_duty(pbdrv_pwm_dev_t *dev, uint32_t ch, uint32_t va
     test_private_data_t *priv = dev->priv;
     priv->duty_channel = ch;
     priv->duty_value = value;
+
+    // The value we get from the LED PWM driver is squared for gamma correction, so undo here.
+    float val = (value * 10000.0f) / UINT16_MAX;
+    uint8_t brightness = sqrt(val) + 0.5;
+
+    test_light_matrix_set_pixel_last_brightness[ch / MATRIX_SIZE][ch % MATRIX_SIZE] = brightness;
+
     return PBIO_SUCCESS;
 }
 

lib/pbio/platform/test/pbdrvconfig.h

@@ -26,7 +26,9 @@
 #define PBDRV_CONFIG_LED_NUM_DEV                            (0)
 
 #define PBDRV_CONFIG_LED_ARRAY                              (1)
-#define PBDRV_CONFIG_LED_ARRAY_NUM_DEV                      (0)
+#define PBDRV_CONFIG_LED_ARRAY_NUM_DEV                      (1)
+#define PBDRV_CONFIG_LED_ARRAY_PWM                          (1)
+#define PBDRV_CONFIG_LED_ARRAY_PWM_NUM_DEV                  (1)
 
 #define PBDRV_CONFIG_MOTOR_DRIVER                           (1)
 #define PBDRV_CONFIG_MOTOR_DRIVER_NUM_DEV                   (6)

lib/pbio/platform/test/pbioconfig.h

@@ -8,6 +8,7 @@
 #define PBIO_CONFIG_LIGHT                   (1)
 #define PBIO_CONFIG_LOGGER                  (1)
 #define PBIO_CONFIG_LIGHT_MATRIX            (1)
+#define PBIO_CONFIG_LIGHT_MATRIX_NUM_DEV    (1)
 #define PBIO_CONFIG_MOTOR_PROCESS           (1)
 #define PBIO_CONFIG_PORT                    (1)
 #define PBIO_CONFIG_PORT_NUM_DEV            (6)

lib/pbio/platform/test/platform.c

@@ -5,6 +5,7 @@
 #include <pbio/port_interface.h>
 
 #include "../../drv/motor_driver/motor_driver_virtual_simulation.h"
+#include "../../drv/led/led_array_pwm.h"
 
 const pbdrv_gpio_t pbdrv_ioport_platform_data_vcc_pin = {
     .bank = NULL,
@@ -128,3 +129,16 @@ const pbdrv_motor_driver_virtual_simulation_platform_data_t
         .endstop_angle_positive = INFINITY,
     },
 };
+
+const pbdrv_led_array_pwm_platform_data_t pbdrv_led_array_pwm_platform_data[PBDRV_CONFIG_LED_ARRAY_PWM_NUM_DEV] = {
+    {
+        .pwm_chs = (const uint8_t[]) {
+            0, 1, 2,
+            3, 4, 5,
+            6, 7, 8
+        },
+        .num_pwm_chs = 9,
+        .pwm_id = 0,
+        .id = 0,
+    },
+};

lib/pbio/test/src/test_light_matrix.c

@@ -15,6 +15,8 @@
 
 #include "../src/light/light_matrix.h"
 #include "../drv/clock/clock_test.h"
+#include "../drv/pwm/pwm.h"
+#include "../drv/led/led_array.h"
 
 #define MATRIX_SIZE 3
 #define INTERVAL 10
@@ -32,60 +34,55 @@ static const uint8_t test_animation[] = {
     11, 12, 13, 14, 15, 16, 17, 18, 19,
 };
 
-static uint8_t test_light_matrix_set_pixel_last_brightness[MATRIX_SIZE][MATRIX_SIZE];
+// Buffer in the led_array pwm driver.
+extern uint8_t test_light_matrix_set_pixel_last_brightness[MATRIX_SIZE][MATRIX_SIZE];
 
 static void test_light_matrix_reset(void) {
     memset(test_light_matrix_set_pixel_last_brightness, 0, DATA_SIZE);
 }
 
-static pbio_error_t test_light_matrix_set_pixel(pbio_light_matrix_t *light_matrix, uint8_t row, uint8_t col, uint8_t brightness) {
-    test_light_matrix_set_pixel_last_brightness[row][col] = brightness;
-    return PBIO_SUCCESS;
-}
-
-static const pbio_light_matrix_funcs_t test_light_matrix_funcs = {
-    .set_pixel = test_light_matrix_set_pixel,
-};
-
 static PT_THREAD(test_light_matrix(struct pt *pt)) {
     PT_BEGIN(pt);
 
-    static pbio_light_matrix_t test_light_matrix;
-    pbio_light_matrix_init(&test_light_matrix, MATRIX_SIZE, &test_light_matrix_funcs);
+    pbdrv_pwm_init();
+    pbdrv_led_array_init();
+
+    static pbio_light_matrix_t *test_light_matrix;
+    pbio_light_matrix_get_dev(0, MATRIX_SIZE, &test_light_matrix);
 
     // ensure get size works
-    tt_want_uint_op(pbio_light_matrix_get_size(&test_light_matrix), ==, MATRIX_SIZE);
+    tt_want_uint_op(pbio_light_matrix_get_size(test_light_matrix), ==, MATRIX_SIZE);
 
     // set pixel should only set one pixel
     test_light_matrix_reset();
-    tt_want_uint_op(pbio_light_matrix_set_pixel(&test_light_matrix, 0, 0, 100, true), ==, PBIO_SUCCESS);
+    tt_want_uint_op(pbio_light_matrix_set_pixel(test_light_matrix, 0, 0, 100, true), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(100, 0, 0, 0, 0, 0, 0, 0, 0);
 
-    tt_want_uint_op(pbio_light_matrix_set_pixel(&test_light_matrix,
+    tt_want_uint_op(pbio_light_matrix_set_pixel(test_light_matrix,
         MATRIX_SIZE - 1, MATRIX_SIZE - 1, 100, true), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(100, 0, 0, 0, 0, 0, 0, 0, 100);
 
     // out of bounds checking
-    tt_want_uint_op(pbio_light_matrix_set_pixel(&test_light_matrix, MATRIX_SIZE, 0, 100, true), ==, PBIO_SUCCESS);
+    tt_want_uint_op(pbio_light_matrix_set_pixel(test_light_matrix, MATRIX_SIZE, 0, 100, true), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(100, 0, 0, 0, 0, 0, 0, 0, 100);
-    tt_want_uint_op(pbio_light_matrix_set_pixel(&test_light_matrix, 0, MATRIX_SIZE, 100, true), ==, PBIO_SUCCESS);
+    tt_want_uint_op(pbio_light_matrix_set_pixel(test_light_matrix, 0, MATRIX_SIZE, 100, true), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(100, 0, 0, 0, 0, 0, 0, 0, 100);
 
     // bitwise mapping
     test_light_matrix_reset();
-    tt_want_uint_op(pbio_light_matrix_set_rows(&test_light_matrix, ROW_DATA(0b100, 0b010, 0b001)), ==, PBIO_SUCCESS);
+    tt_want_uint_op(pbio_light_matrix_set_rows(test_light_matrix, ROW_DATA(0b100, 0b010, 0b001)), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(100, 0, 0, 0, 100, 0, 0, 0, 100);
 
     // bytewise mapping
     test_light_matrix_reset();
-    tt_want_uint_op(pbio_light_matrix_set_image(&test_light_matrix,
+    tt_want_uint_op(pbio_light_matrix_set_image(test_light_matrix,
         IMAGE_DATA(1, 2, 3, 4, 5, 6, 7, 8, 9)), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(1, 2, 3, 4, 5, 6, 7, 8, 9);
 
     // starting animation should schedule timer event at 0 ms to call
     // set_pixel() after handling pending events.
     test_light_matrix_reset();
-    pbio_light_matrix_start_animation(&test_light_matrix, test_animation, 2, INTERVAL);
+    pbio_light_matrix_start_animation(test_light_matrix, test_animation, 2, INTERVAL);
     pbio_handle_pending_events();
     tt_want_light_matrix_data(1, 2, 3, 4, 5, 6, 7, 8, 9);
 
@@ -110,7 +107,7 @@ static PT_THREAD(test_light_matrix(struct pt *pt)) {
 
     // stopping the animation should not change any pixels
     test_light_matrix_reset();
-    pbio_light_matrix_stop_animation(&test_light_matrix);
+    pbio_light_matrix_stop_animation(test_light_matrix);
     pbio_test_clock_tick(INTERVAL * 2);
     PT_YIELD(pt);
     tt_want_light_matrix_data(0);
@@ -119,12 +116,16 @@ static PT_THREAD(test_light_matrix(struct pt *pt)) {
 }
 
 static void test_light_matrix_rotation(void *env) {
-    static pbio_light_matrix_t test_light_matrix;
-    pbio_light_matrix_init(&test_light_matrix, MATRIX_SIZE, &test_light_matrix_funcs);
+
+    pbdrv_pwm_init();
+    pbdrv_led_array_init();
+
+    static pbio_light_matrix_t *test_light_matrix;
+    pbio_light_matrix_get_dev(0, MATRIX_SIZE, &test_light_matrix);
 
     // Default orientation has pixels in same order as underlying light array
     test_light_matrix_reset();
-    tt_want_uint_op(pbio_light_matrix_set_image(&test_light_matrix,
+    tt_want_uint_op(pbio_light_matrix_set_image(test_light_matrix,
         IMAGE_DATA(1, 2, 3, 4, 5, 6, 7, 8, 9)), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(
         1, 2, 3,
@@ -134,26 +135,26 @@ static void test_light_matrix_rotation(void *env) {
     // Check that other orientations work
 
     test_light_matrix_reset();
-    pbio_light_matrix_set_orientation(&test_light_matrix, PBIO_GEOMETRY_SIDE_LEFT);
-    tt_want_uint_op(pbio_light_matrix_set_image(&test_light_matrix,
+    pbio_light_matrix_set_orientation(test_light_matrix, PBIO_GEOMETRY_SIDE_LEFT);
+    tt_want_uint_op(pbio_light_matrix_set_image(test_light_matrix,
         IMAGE_DATA(1, 2, 3, 4, 5, 6, 7, 8, 9)), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(
         3, 6, 9,
         2, 5, 8,
         1, 4, 7);
 
     test_light_matrix_reset();
-    pbio_light_matrix_set_orientation(&test_light_matrix, PBIO_GEOMETRY_SIDE_BOTTOM);
-    tt_want_uint_op(pbio_light_matrix_set_image(&test_light_matrix,
+    pbio_light_matrix_set_orientation(test_light_matrix, PBIO_GEOMETRY_SIDE_BOTTOM);
+    tt_want_uint_op(pbio_light_matrix_set_image(test_light_matrix,
         IMAGE_DATA(1, 2, 3, 4, 5, 6, 7, 8, 9)), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(
         9, 8, 7,
         6, 5, 4,
         3, 2, 1);
 
     test_light_matrix_reset();
-    pbio_light_matrix_set_orientation(&test_light_matrix, PBIO_GEOMETRY_SIDE_RIGHT);
-    tt_want_uint_op(pbio_light_matrix_set_image(&test_light_matrix,
+    pbio_light_matrix_set_orientation(test_light_matrix, PBIO_GEOMETRY_SIDE_RIGHT);
+    tt_want_uint_op(pbio_light_matrix_set_image(test_light_matrix,
         IMAGE_DATA(1, 2, 3, 4, 5, 6, 7, 8, 9)), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(
         7, 4, 1,
@@ -162,8 +163,8 @@ static void test_light_matrix_rotation(void *env) {
 
     // front is same as top
     test_light_matrix_reset();
-    pbio_light_matrix_set_orientation(&test_light_matrix, PBIO_GEOMETRY_SIDE_FRONT);
-    tt_want_uint_op(pbio_light_matrix_set_image(&test_light_matrix,
+    pbio_light_matrix_set_orientation(test_light_matrix, PBIO_GEOMETRY_SIDE_FRONT);
+    tt_want_uint_op(pbio_light_matrix_set_image(test_light_matrix,
         IMAGE_DATA(1, 2, 3, 4, 5, 6, 7, 8, 9)), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(
         1, 2, 3,
@@ -172,8 +173,8 @@ static void test_light_matrix_rotation(void *env) {
 
     // back is same as bottom
     test_light_matrix_reset();
-    pbio_light_matrix_set_orientation(&test_light_matrix, PBIO_GEOMETRY_SIDE_BACK);
-    tt_want_uint_op(pbio_light_matrix_set_image(&test_light_matrix,
+    pbio_light_matrix_set_orientation(test_light_matrix, PBIO_GEOMETRY_SIDE_BACK);
+    tt_want_uint_op(pbio_light_matrix_set_image(test_light_matrix,
         IMAGE_DATA(1, 2, 3, 4, 5, 6, 7, 8, 9)), ==, PBIO_SUCCESS);
     tt_want_light_matrix_data(
         9, 8, 7,