amiro-os / unittests / periphery-lld / inc / ut_alld_a3906.h @ bffb3465
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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 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
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_ */ |