amiro-os / unittests / periphery-lld / inc / ut_alld_a3906.h @ 8376530c
History | View | Annotate | Download (2.803 KB)
| 1 | e545e620 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | Copyright (C) 2016..2018 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_UT_ALLD_A3906_H_
|
||
| 20 | #define _AMIROOS_UT_ALLD_A3906_H_
|
||
| 21 | |||
| 22 | #include <aos_unittest.h> |
||
| 23 | #include <amiro-lld.h> |
||
| 24 | |||
| 25 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906)) || defined(__DOXYGEN__) |
||
| 26 | |||
| 27 | #include <alld_a3906.h> |
||
| 28 | |||
| 29 | /**
|
||
| 30 | * @brief Custom data structure for the unit test.
|
||
| 31 | */
|
||
| 32 | typedef struct { |
||
| 33 | /**
|
||
| 34 | * @brief Pointer to the driver to use.
|
||
| 35 | */
|
||
| 36 | A3906Driver* driver; |
||
| 37 | |||
| 38 | /**
|
||
| 39 | * @brief PWM driver information.
|
||
| 40 | */
|
||
| 41 | struct {
|
||
| 42 | /**
|
||
| 43 | * @brief The PWM driver to use.
|
||
| 44 | */
|
||
| 45 | apalPWMDriver_t* driver; |
||
| 46 | |||
| 47 | /**
|
||
| 48 | * @brief PWM channel information.
|
||
| 49 | */
|
||
| 50 | struct {
|
||
| 51 | /**
|
||
| 52 | * @brief PWM channel for the left wheel forward direction.
|
||
| 53 | */
|
||
| 54 | apalPWMchannel_t left_forward; |
||
| 55 | |||
| 56 | /**
|
||
| 57 | * @brief PWM channel for the left wheel backward direction.
|
||
| 58 | */
|
||
| 59 | apalPWMchannel_t left_backward; |
||
| 60 | |||
| 61 | /**
|
||
| 62 | * @brief PWM channel for the right wheel forward direction.
|
||
| 63 | */
|
||
| 64 | apalPWMchannel_t right_forward; |
||
| 65 | |||
| 66 | /**
|
||
| 67 | * @brief PWM channel for the right wheel backward direction.
|
||
| 68 | */
|
||
| 69 | apalPWMchannel_t right_backward; |
||
| 70 | } channel; |
||
| 71 | } pwm; |
||
| 72 | |||
| 73 | /**
|
||
| 74 | * @brief QEI driver information
|
||
| 75 | */
|
||
| 76 | struct {
|
||
| 77 | /**
|
||
| 78 | * @brief QEI driver for the left wheel.
|
||
| 79 | */
|
||
| 80 | apalQEIDriver_t* left; |
||
| 81 | |||
| 82 | /**
|
||
| 83 | * @brief QEI driver for the right wheel.
|
||
| 84 | */
|
||
| 85 | apalQEIDriver_t* right; |
||
| 86 | |||
| 87 | /**
|
||
| 88 | * @brief QEI increments per wheel revolution.
|
||
| 89 | */
|
||
| 90 | apalQEICount_t increments_per_revolution; |
||
| 91 | } qei; |
||
| 92 | |||
| 93 | /**
|
||
| 94 | 47680f67 | Thomas Schöpping | * @brief Wheel diameter information.
|
| 95 | e545e620 | Thomas Schöpping | */
|
| 96 | 47680f67 | Thomas Schöpping | struct {
|
| 97 | /**
|
||
| 98 | * @brief Left wheel diameter in m.
|
||
| 99 | */
|
||
| 100 | float left;
|
||
| 101 | |||
| 102 | /**
|
||
| 103 | * @brief Right wheel diameter in m.
|
||
| 104 | */
|
||
| 105 | float right;
|
||
| 106 | } wheel_diameter; |
||
| 107 | e545e620 | Thomas Schöpping | |
| 108 | /**
|
||
| 109 | * @brief Timeout value (in us).
|
||
| 110 | */
|
||
| 111 | apalTime_t timeout; |
||
| 112 | } ut_a3906data_t; |
||
| 113 | |||
| 114 | #ifdef __cplusplus
|
||
| 115 | extern "C" { |
||
| 116 | #endif
|
||
| 117 | aos_utresult_t utAlldA3906Func(BaseSequentialStream* stream, aos_unittest_t* ut); |
||
| 118 | #ifdef __cplusplus
|
||
| 119 | } |
||
| 120 | #endif
|
||
| 121 | |||
| 122 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906) */ |
||
| 123 | |||
| 124 | #endif /* _AMIROOS_UT_ALLD_A3906_H_ */ |