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

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