amiro-os / unittests / periphery-lld / inc / ut_alld_a3906.h @ 959f302e
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #ifndef _AMIROOS_UT_ALLD_A3906_H_
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| 20 | #define _AMIROOS_UT_ALLD_A3906_H_
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| 21 | |||
| 22 | #include <aos_unittest.h> |
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| 23 | #include <amiro-lld.h> |
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| 24 | |||
| 25 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906)) || defined(__DOXYGEN__) |
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| 26 | |||
| 27 | #include <alld_a3906.h> |
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| 28 | |||
| 29 | /**
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| 30 | * @brief Custom data structure for the unit test.
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| 31 | */
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| 32 | typedef struct { |
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| 33 | /**
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| 34 | * @brief Pointer to the driver to use.
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| 35 | */
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| 36 | A3906Driver* driver; |
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| 37 | |||
| 38 | /**
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| 39 | * @brief PWM driver information.
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| 40 | */
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| 41 | struct {
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| 42 | /**
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| 43 | * @brief The PWM driver to use.
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| 44 | */
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| 45 | apalPWMDriver_t* driver; |
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| 46 | |||
| 47 | /**
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| 48 | * @brief PWM channel information.
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| 49 | */
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| 50 | struct {
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| 51 | /**
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| 52 | * @brief PWM channel for the left wheel forward direction.
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| 53 | */
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| 54 | apalPWMchannel_t left_forward; |
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| 55 | |||
| 56 | /**
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| 57 | * @brief PWM channel for the left wheel backward direction.
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| 58 | */
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| 59 | apalPWMchannel_t left_backward; |
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| 60 | |||
| 61 | /**
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| 62 | * @brief PWM channel for the right wheel forward direction.
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| 63 | */
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| 64 | apalPWMchannel_t right_forward; |
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| 65 | |||
| 66 | /**
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| 67 | * @brief PWM channel for the right wheel backward direction.
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| 68 | */
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| 69 | apalPWMchannel_t right_backward; |
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| 70 | } channel; |
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| 71 | } pwm; |
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| 72 | |||
| 73 | /**
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| 74 | * @brief QEI driver information
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| 75 | */
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| 76 | struct {
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| 77 | /**
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| 78 | * @brief QEI driver for the left wheel.
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| 79 | */
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| 80 | apalQEIDriver_t* left; |
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| 81 | |||
| 82 | /**
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| 83 | * @brief QEI driver for the right wheel.
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| 84 | */
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| 85 | apalQEIDriver_t* right; |
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| 86 | |||
| 87 | /**
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| 88 | * @brief QEI increments per wheel revolution.
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| 89 | */
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| 90 | apalQEICount_t increments_per_revolution; |
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| 91 | } qei; |
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| 92 | |||
| 93 | /**
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| 94 | 47680f67 | Thomas Schöpping | * @brief Wheel diameter information.
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| 95 | e545e620 | Thomas Schöpping | */
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| 96 | 47680f67 | Thomas Schöpping | struct {
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| 97 | /**
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| 98 | * @brief Left wheel diameter in m.
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| 99 | */
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| 100 | float left;
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| 101 | |||
| 102 | /**
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| 103 | * @brief Right wheel diameter in m.
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| 104 | */
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| 105 | float right;
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| 106 | } wheel_diameter; |
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| 107 | e545e620 | Thomas Schöpping | |
| 108 | /**
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| 109 | * @brief Timeout value (in us).
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| 110 | */
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| 111 | apalTime_t timeout; |
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| 112 | } ut_a3906data_t; |
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| 113 | |||
| 114 | #ifdef __cplusplus
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| 115 | extern "C" { |
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| 116 | #endif
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| 117 | aos_utresult_t utAlldA3906Func(BaseSequentialStream* stream, aos_unittest_t* ut); |
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| 118 | #ifdef __cplusplus
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| 119 | } |
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| 120 | #endif
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| 121 | |||
| 122 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906) */ |
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| 123 | |||
| 124 | #endif /* _AMIROOS_UT_ALLD_A3906_H_ */ |