amiro-os / unittests / periphery-lld / inc / ut_alld_a3906.h @ 83ca1b95
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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_ */ |