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# Test code
Testing peripherals on the custom RP2350B servo controller PCB.
## Commands
> [!WARNING]
> The zephyr sdk has bug in the [rp2350 pinctrl](https://github.com/zephyrproject-rtos/zephyr/blob/main/include/zephyr/dt-bindings/pinctrl/rpi-pico-rp2350-pinctrl-common.h) file. The `RP2_PINCTRL_GPIO_FUNC_UART_AUX` macro is defind, but `RP2_PINCTRL_GPIO_FUNC_UART_ALT` macro is used.
> [!NOTE]
> While shell is over USB, the `adc scan_for` command uses uart. The UART uses spi1 pins, so the spi1 needs to be disabled and `extra_uart.overlay` needs to be used.
| Command | Parameters | Description |
| --------------------------- | ---------------------------- | --------------------------------------------------- |
| `led set <id> <on\|off>` | `id`: `0-1` | Set LED state |
| `led allon` | - | Turn all LEDs ON |
| `led alloff` | - | Turn all LEDs OFF |
| `servo set <id> <angle>` | Servo ID, angle in degrees | Set servo angle |
| `adc read <id>` | ADC channel ID | Read a single ADC channel |
| `adc read_for <id> <count>` | ADC channel ID, sample count | Read one ADC channel repeatedly |
| `adc scan` | - | Read all ADC channels once |
| `adc scan_for <count>` | `count ≤ 1024` | Read all ADC channels repeatedly and log timestamps |
### UART Output Formats
| Command | Output Format |
| -------------- | --------------------------------------------------- |
| `adc scan` | `ADC,<channel>,<value>` |
| `adc scan_for` | `<sample>,ADC,<channel>,<value>,<timestamp_cycles>` |