amiro-os / test / periphery-lld / A3906_v1 / aos_test_A3906.h @ 4c72a54c
History | View | Annotate | Download (4.431 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
#ifndef AMIROOS_TEST_A3906_H
|
| 20 |
#define AMIROOS_TEST_A3906_H
|
| 21 |
|
| 22 |
#include <amiroos.h> |
| 23 |
|
| 24 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 25 |
|
| 26 |
#include <alld_A3906.h> |
| 27 |
|
| 28 |
/******************************************************************************/
|
| 29 |
/* CONSTANTS */
|
| 30 |
/******************************************************************************/
|
| 31 |
|
| 32 |
/******************************************************************************/
|
| 33 |
/* SETTINGS */
|
| 34 |
/******************************************************************************/
|
| 35 |
|
| 36 |
/******************************************************************************/
|
| 37 |
/* CHECKS */
|
| 38 |
/******************************************************************************/
|
| 39 |
|
| 40 |
/******************************************************************************/
|
| 41 |
/* DATA STRUCTURES AND TYPES */
|
| 42 |
/******************************************************************************/
|
| 43 |
|
| 44 |
/**
|
| 45 |
* @brief Custom data structure for the test.
|
| 46 |
*/
|
| 47 |
typedef struct { |
| 48 |
/**
|
| 49 |
* @brief Pointer to the driver to use.
|
| 50 |
*/
|
| 51 |
A3906Driver* driver; |
| 52 |
|
| 53 |
/**
|
| 54 |
* @brief PWM driver information.
|
| 55 |
*/
|
| 56 |
struct {
|
| 57 |
/**
|
| 58 |
* @brief The PWM driver to use.
|
| 59 |
*/
|
| 60 |
apalPWMDriver_t* driver; |
| 61 |
|
| 62 |
/**
|
| 63 |
* @brief PWM channel information.
|
| 64 |
*/
|
| 65 |
struct {
|
| 66 |
/**
|
| 67 |
* @brief PWM channel for the left wheel forward direction.
|
| 68 |
*/
|
| 69 |
apalPWMchannel_t left_forward; |
| 70 |
|
| 71 |
/**
|
| 72 |
* @brief PWM channel for the left wheel backward direction.
|
| 73 |
*/
|
| 74 |
apalPWMchannel_t left_backward; |
| 75 |
|
| 76 |
/**
|
| 77 |
* @brief PWM channel for the right wheel forward direction.
|
| 78 |
*/
|
| 79 |
apalPWMchannel_t right_forward; |
| 80 |
|
| 81 |
/**
|
| 82 |
* @brief PWM channel for the right wheel backward direction.
|
| 83 |
*/
|
| 84 |
apalPWMchannel_t right_backward; |
| 85 |
} channel; |
| 86 |
} pwm; |
| 87 |
|
| 88 |
/**
|
| 89 |
* @brief QEI driver information
|
| 90 |
*/
|
| 91 |
struct {
|
| 92 |
/**
|
| 93 |
* @brief QEI driver for the left wheel.
|
| 94 |
*/
|
| 95 |
apalQEIDriver_t* left; |
| 96 |
|
| 97 |
/**
|
| 98 |
* @brief QEI driver for the right wheel.
|
| 99 |
*/
|
| 100 |
apalQEIDriver_t* right; |
| 101 |
|
| 102 |
/**
|
| 103 |
* @brief QEI increments per wheel revolution.
|
| 104 |
*/
|
| 105 |
apalQEICount_t increments_per_revolution; |
| 106 |
} qei; |
| 107 |
|
| 108 |
/**
|
| 109 |
* @brief Wheel diameter information.
|
| 110 |
*/
|
| 111 |
struct {
|
| 112 |
/**
|
| 113 |
* @brief Left wheel diameter in m.
|
| 114 |
*/
|
| 115 |
float left;
|
| 116 |
|
| 117 |
/**
|
| 118 |
* @brief Right wheel diameter in m.
|
| 119 |
*/
|
| 120 |
float right;
|
| 121 |
} wheel_diameter; |
| 122 |
|
| 123 |
/**
|
| 124 |
* @brief Timeout value (in us).
|
| 125 |
*/
|
| 126 |
apalTime_t timeout; |
| 127 |
} aos_test_a3906data_t; |
| 128 |
|
| 129 |
/******************************************************************************/
|
| 130 |
/* MACROS */
|
| 131 |
/******************************************************************************/
|
| 132 |
|
| 133 |
/******************************************************************************/
|
| 134 |
/* EXTERN DECLARATIONS */
|
| 135 |
/******************************************************************************/
|
| 136 |
|
| 137 |
#if defined(__cplusplus)
|
| 138 |
extern "C" { |
| 139 |
#endif /* defined(__cplusplus) */ |
| 140 |
aos_testresult_t aosTestA3906Func(BaseSequentialStream* stream, const aos_test_t* test);
|
| 141 |
#if defined(__cplusplus)
|
| 142 |
} |
| 143 |
#endif /* defined(__cplusplus) */ |
| 144 |
|
| 145 |
/******************************************************************************/
|
| 146 |
/* INLINE FUNCTIONS */
|
| 147 |
/******************************************************************************/
|
| 148 |
|
| 149 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 150 |
|
| 151 |
#endif /* AMIROOS_TEST_A3906_H */ |