amiro-os / unittests / periphery-lld / inc / ut_alld_a3906.h @ 960338cc
History | View | Annotate | Download (2.803 KB)
| 1 |
/*
|
|---|---|
| 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 |
* @brief Wheel diameter information.
|
| 95 |
*/
|
| 96 |
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 |
|
| 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_ */ |