wip: trying to get a test working for PWMOutputDriver

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c

 #include "hw_impl_zybo.h"
 
-#define THROTTLE_PULSE_WIDTH_LOW 1000 // us
-#define THROTTLE_PULSE_WIDTH_HIGH 2000 // us
+#define THROTTLE_PULSE_WIDTH_LOW 100000 // 1us
+#define THROTTLE_PULSE_WIDTH_HIGH 200000 // 2us
 #define PERIOD_WIDTH 222222 // 100000000 ns / 450
 #define PULSE_WIDTH_ADDR_OFFSET 4
 

quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c

@@ -99,4 +99,37 @@ int test_zybo_pwm_inputs() {
   }
 }
 
+/**
+ * Test for the PWMInputDriver.
+ *
+ * Instructions:
+ * 1) Connect the quad Zybo board to computer using USB.
+ * 2) Move jump on Zybo board to use JTAG instead of SD.
+ * 3) Turn on Zybo board and turn on Spektrum handheld controller.
+ *   - Verify receiver on quad pairs with controller (orange LED should turn on)
+ * 3) Place breakpoint somewhere in the while loop of this function.
+ * 4) Set the RUN_TESTS macro in main.c
+ * 5) Uncomment only this test in main.c
+ * 6) Debug main.
+ * 7) Observe the values of pwm_inputs in debugger chaning as you use the
+ *    Spektrum RC controller.
+ */
+int test_zybo_pwm_outputs() {
+  struct PWMOutputDriver pwm_outputs = create_zybo_pwm_outputs();
+  pwm_outputs.reset(&pwm_outputs);
+
+  unsigned long pwms[4];
+  pwms[0] = 1000;
+  pwms[1] = 1000;
+  pwms[2] = 1000;
+  pwms[3] = 1000;
+  while (1) {
+    int i;
+    for (i = 0; i < 4; i += 1) {
+      pwm_outputs.write(&pwm_outputs, i, pwms[i]);
+    }
+    int temp = 0;
+  }
+}
+
 

quad/xsdk_workspace/modular_quad_pid/src/main.c

@@ -26,8 +26,8 @@ int main()
 #ifdef RUN_TESTS
   //test_zybo_mio7_led_and_system();
   //test_zybo_i2c();
-  test_zybo_pwm_inputs();
-  //test_zybo_pwm_outputs();
+  //test_zybo_pwm_inputs();
+  test_zybo_pwm_outputs();
   //test_zybo_uart();
   //test_zybo_axi_timer();
   return 0;