Revision b033b3ae

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unittests/periphery-lld/src/ut_alld_a3906.c
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/**


  		




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 * @brief   Threshold for QEI differences.


  		




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 * @details Differences smaller tahn or equal to this value are neglected (interpreted as zero).


  		




  
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 * @details Differences smaller than or equal to this value are neglected (interpreted as zero).


  		




  
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 *          The value can be interpreted as encoder ticks per second (tps).


  		




  
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 * @note    The expected value is about 7000 tps and a jitter of up to ±2% is ok.


  		




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 */


  		




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#define QEI_DIFF_THRESHOLD            4


  		




  
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#define QEI_DIFF_THRESHOLD            (apalQEICount_t)(7000 * 0.02f)


  		




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/**


  		




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 * @brief   Enumerator to distinguish between left and right wheel.


  		




  ......




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    qei_increments[1] = (direction == DIRECTION_FORWARD) ?


  		




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                          ((qei_count[1] > qei_count[0]) ? (qei_count[1] - qei_count[0]) : (qei_count[1] + (qei_range - qei_count[0]))) :


  		




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                          ((qei_count[0] > qei_count[1]) ? (qei_count[0] - qei_count[1]) : (qei_count[0] + (qei_range - qei_count[1])));


  		




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    qei_increments_diff = abs((int32_t)qei_increments[0] - (int32_t)qei_increments[1]);


  		




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    stable_counter = (qei_increments[1] != 0 && qei_increments_diff <= QEI_DIFF_THRESHOLD) ? stable_counter+1 : 0;


  		




  
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    qei_increments_diff = abs((int32_t)qei_increments[0] - (int32_t)qei_increments[1]) * ((float)MILLISECONDS_PER_SECOND / (float)QEI_POLL_INTERVAL_MS);


  		




  
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    stable_counter = ((qei_increments[0] != 0 || qei_increments[1] != 0) && qei_increments_diff <= QEI_DIFF_THRESHOLD) ? stable_counter+1 : 0;


  		




  
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    if (qei_increments[0] != 0 && stable_counter == 0) {


  		




  
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      chprintf(stream, "\tunstable speed? jitter of %u tps is above threshold (%u tps).\n", qei_increments_diff, QEI_DIFF_THRESHOLD);


  		




  
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    }


  		




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  } while ((stable_counter* QEI_POLL_INTERVAL_MS < MILLISECONDS_PER_SECOND) && (timeout_counter * MICROSECONDS_PER_MILLISECOND <= data->timeout));


  		




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  status |= a3906_lld_set_pwm(data->pwm.driver, (wheel == WHEEL_LEFT) ?


  		




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                               ((direction == DIRECTION_FORWARD) ? data->pwm.channel.left_forward : data->pwm.channel.left_backward) :


  		












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