amiro-os / unittests / periphery-lld / inc / ut_alld_a3906.h @ f3ac1c96
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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 | 6ff06bbf | Thomas Schöpping | #ifndef AMIROOS_UT_ALLD_A3906_H
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20 | #define AMIROOS_UT_ALLD_A3906_H
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21 | e545e620 | Thomas Schöpping | |
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 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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30 | /* CONSTANTS */
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31 | /******************************************************************************/
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32 | |||
33 | /******************************************************************************/
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34 | /* SETTINGS */
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35 | /******************************************************************************/
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36 | |||
37 | /******************************************************************************/
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38 | /* CHECKS */
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39 | /******************************************************************************/
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40 | |||
41 | /******************************************************************************/
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42 | /* DATA STRUCTURES AND TYPES */
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43 | /******************************************************************************/
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44 | |||
45 | e545e620 | Thomas Schöpping | /**
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46 | * @brief Custom data structure for the unit test.
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47 | */
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48 | typedef struct { |
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49 | /**
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50 | * @brief Pointer to the driver to use.
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51 | */
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52 | A3906Driver* driver; |
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53 | |||
54 | /**
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55 | * @brief PWM driver information.
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56 | */
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57 | struct {
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58 | /**
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59 | * @brief The PWM driver to use.
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60 | */
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61 | apalPWMDriver_t* driver; |
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62 | |||
63 | /**
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64 | * @brief PWM channel information.
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65 | */
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66 | struct {
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67 | /**
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68 | * @brief PWM channel for the left wheel forward direction.
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69 | */
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70 | apalPWMchannel_t left_forward; |
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71 | |||
72 | /**
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73 | * @brief PWM channel for the left wheel backward direction.
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74 | */
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75 | apalPWMchannel_t left_backward; |
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76 | |||
77 | /**
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78 | * @brief PWM channel for the right wheel forward direction.
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79 | */
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80 | apalPWMchannel_t right_forward; |
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81 | |||
82 | /**
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83 | * @brief PWM channel for the right wheel backward direction.
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84 | */
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85 | apalPWMchannel_t right_backward; |
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86 | } channel; |
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87 | } pwm; |
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88 | |||
89 | /**
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90 | * @brief QEI driver information
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91 | */
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92 | struct {
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93 | /**
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94 | * @brief QEI driver for the left wheel.
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95 | */
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96 | apalQEIDriver_t* left; |
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97 | |||
98 | /**
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99 | * @brief QEI driver for the right wheel.
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100 | */
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101 | apalQEIDriver_t* right; |
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102 | |||
103 | /**
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104 | * @brief QEI increments per wheel revolution.
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105 | */
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106 | apalQEICount_t increments_per_revolution; |
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107 | } qei; |
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108 | |||
109 | /**
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110 | 47680f67 | Thomas Schöpping | * @brief Wheel diameter information.
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111 | e545e620 | Thomas Schöpping | */
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112 | 47680f67 | Thomas Schöpping | struct {
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113 | /**
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114 | * @brief Left wheel diameter in m.
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115 | */
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116 | float left;
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117 | |||
118 | /**
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119 | * @brief Right wheel diameter in m.
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120 | */
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121 | float right;
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122 | } wheel_diameter; |
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123 | e545e620 | Thomas Schöpping | |
124 | /**
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125 | * @brief Timeout value (in us).
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126 | */
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127 | apalTime_t timeout; |
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128 | } ut_a3906data_t; |
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129 | |||
130 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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131 | /* MACROS */
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132 | /******************************************************************************/
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133 | |||
134 | /******************************************************************************/
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135 | /* EXTERN DECLARATIONS */
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136 | /******************************************************************************/
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137 | |||
138 | e545e620 | Thomas Schöpping | #ifdef __cplusplus
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139 | extern "C" { |
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140 | #endif
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141 | aos_utresult_t utAlldA3906Func(BaseSequentialStream* stream, aos_unittest_t* ut); |
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142 | #ifdef __cplusplus
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143 | } |
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144 | #endif
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145 | |||
146 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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147 | /* INLINE FUNCTIONS */
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148 | /******************************************************************************/
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149 | |||
150 | e545e620 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_A3906) */ |
151 | |||
152 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_UT_ALLD_A3906_H */ |