AMiRo-OS

void _wheelDirectionTest(BaseSequentialStream* stream, aos_test_a3906data_t* data, wheel_t wheel, direction_t direction, aos_testresult_t* result)

{

  // local variables

  bool qei_valid;

  apalQEICount_t qei_count[2];

  apalQEIDirection_t qei_direction;

  status = apalQEIGetPosition((wheel == WHEEL_LEFT) ? data->qei.left : data->qei.right, &qei_count[0]);

  // increase PWM incrementally and read QEI data

  for (apalPWMwidth_t pwm_width = APAL_PWM_WIDTH_MIN; pwm_width < APAL_PWM_WIDTH_MAX; ++pwm_width) {

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

                                  ((direction == DIRECTION_FORWARD) ? data->pwm.channel.right_forward : data->pwm.channel.right_backward),

                                pwm_width);

void _wheelSpeedTest(BaseSequentialStream* stream, aos_test_a3906data_t* data, wheel_t wheel, direction_t direction, aos_testresult_t* result)

{

  // local variables

  apalQEICount_t qei_range;

  apalQEICount_t qei_count[2] = {0};

  apalQEICount_t qei_increments[2] = {0};

  // local variables

  aos_testresult_t result = {0, 0};

  a3906_lld_power_t power_state;

  apalQEICount_t qei_count[2][2];

  uint32_t timeout_counter;