Add shell command for direct PWM control

Minor cleanup

kestrel/src/kestrel.c

@@ -3457,7 +3457,7 @@ int kestrel_init(void)
     initialize_i2c_master((uint8_t *)I2CMASTER4_BASE, 100000);
 
 #ifdef SIMPLEPWM_BASE
-    initialize_pwm_controller(SIMPLEPWM_BASE);
+    initialize_pwm_controller((uint8_t*)SIMPLEPWM_BASE);
 #endif
 
     // Check for Aquila core presence

kestrel/src/shell.c

@@ -12,8 +12,11 @@
 #define WITH_ZEPHYR 1
 
 #include "kestrel.h"
+#include "simple_pwm.h"
 #include "flash_filesystem.h"
 
+#include <generated/mem.h>
+
 #define KESTREL_CONSOLE_THREAD_PRIORITY	K_PRIO_PREEMPT(CONFIG_NUM_PREEMPT_PRIORITIES - 1)
 static K_THREAD_STACK_DEFINE(kestrel_console_thread_stack, 16384);
 static struct k_thread kestrel_console_thread_data;
@@ -102,6 +105,10 @@ static void print_kestrel_memdump_command_usage(const struct shell *shell, char*
 	shell_print(shell, "Usage: %s <address> [length]", command_name);
 }
 
+static void print_kestrel_pwmcontrol_command_usage(const struct shell *shell, char* command_name) {
+	shell_print(shell, "Usage: %s <channel> <value>", command_name);
+}
+
 static int kestrel_shell_cmd_utility(const struct shell *shell, size_t argc, char **argv)
 {
 	if (argc < 2) {
@@ -183,6 +190,30 @@ static int kestrel_shell_cmd_memdump(const struct shell *shell, size_t argc, cha
 	return 0;
 }
 
+static int kestrel_shell_cmd_pwmcontrol(const struct shell *shell, size_t argc, char **argv)
+{
+	int channel;
+	int value;
+
+	if (argc < 3) {
+		print_kestrel_pwmcontrol_command_usage(shell, argv[0]);
+		return -1;
+	}
+
+	channel = strtoul(argv[1], NULL, 16);
+	value = strtoul(argv[2], NULL, 16);
+
+#ifdef SIMPLEPWM_BASE
+	set_pwm_value((uint8_t*)SIMPLEPWM_BASE, channel, value);
+
+	shell_print(shell, "");
+#else
+	shell_print(shell, "[ERROR] No PWM controller available!");
+#endif
+
+	return 0;
+}
+
 static int kestrel_shell_cmd_console(const struct shell *shell, size_t argc, char **argv)
 {
 	const void *active_log_backend = NULL;
@@ -222,6 +253,8 @@ SHELL_STATIC_SUBCMD_SET_CREATE(sub_kestrel,
 	SHELL_CMD(reflash, NULL, "Simple Flash utility", kestrel_shell_cmd_reflash),
 	// Arbitrary memory dump command
 	SHELL_CMD(memdump, NULL, "Memory dump tool", kestrel_shell_cmd_memdump),
+	// PWM commands
+	SHELL_CMD(pwmcontrol, NULL, "PWM controller", kestrel_shell_cmd_pwmcontrol),
 	// Command list array terminator
 	SHELL_SUBCMD_SET_END
 );