/unittests/periphery-lld/inc/ut_alld_a3906.h - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / unittests / periphery-lld / inc / ut_alld_a3906.h @ 6ff06bbf

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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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+Copyright (C) 2016..2019  Thomas Schöpping et al.
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+            Thomas Schöpping
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
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+#ifndef AMIROOS_UT_ALLD_A3906_H
 #define AMIROOS_UT_ALLD_A3906_H
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+            Thomas Schöpping
 #include <aos_unittest.h>
 #include <amiro-lld.h>
 #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906)) || defined(__DOXYGEN__)
 #include <alld_a3906.h>
 /**
  * @brief   Custom data structure for the unit test.
  */
 typedef struct {
   /**
    * @brief   Pointer to the driver to use.
    */
   A3906Driver* driver;
   /**
    * @brief   PWM driver information.
    */
   struct {
     /**
      * @brief   The PWM driver to use.
      */
     apalPWMDriver_t* driver;
     /**
      * @brief   PWM channel information.
      */
     struct {
       /**
      * @brief   PWM channel for the left wheel forward direction.
      */
       apalPWMchannel_t left_forward;
       /**
      * @brief   PWM channel for the left wheel backward direction.
      */
       apalPWMchannel_t left_backward;
       /**
      * @brief   PWM channel for the right wheel forward direction.
      */
       apalPWMchannel_t right_forward;
       /**
      * @brief   PWM channel for the right wheel backward direction.
      */
       apalPWMchannel_t right_backward;
     } channel;
   } pwm;
   /**
    * @brief   QEI driver information
    */
   struct {
     /**
      * @brief   QEI driver for the left wheel.
      */
     apalQEIDriver_t* left;
     /**
      * @brief   QEI driver for the right wheel.
      */
     apalQEIDriver_t* right;
     /**
      * @brief   QEI increments per wheel revolution.
      */
     apalQEICount_t increments_per_revolution;
   } qei;
   /**
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+   * @brief   Wheel diameter information.
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+   */
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+  struct {
     /**
      * @brief   Left wheel diameter in m.
      */
     float left;
     /**
      * @brief   Right wheel diameter in m.
      */
     float right;
   } wheel_diameter;
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+            Thomas Schöpping
   /**
    * @brief   Timeout value (in us).
    */
   apalTime_t timeout;
 } ut_a3906data_t;
 #ifdef __cplusplus
 extern "C" {
 #endif
   aos_utresult_t utAlldA3906Func(BaseSequentialStream* stream, aos_unittest_t* ut);
 #ifdef __cplusplus
+}
 #endif
 #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906) */
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+#endif /* AMIROOS_UT_ALLD_A3906_H */