public void LoopPinTest()
{
Stopwatch timer = new Stopwatch();
long expectedTime;
if (FX3.ActiveFX3.BoardType < FX3BoardType.iSensorFX3Board_C)
{
Console.WriteLine("The connected boards do not have loop back pins");
return;
}
for (double freq = 100; freq < 2000; freq += 100)
{
Console.WriteLine("Setting " + freq.ToString() + "Hz PWM on loop pin 1");
FX3.StartPWM(freq, 0.5, FX3.FX3_LOOPBACK1);
Assert.AreEqual(freq, FX3.MeasurePinFreq(FX3.FX3_LOOPBACK2, 1, 1000, 100), 0.02 * freq, "ERROR: Invalid value measured on loop pin 2");
FX3.StopPWM(FX3.FX3_LOOPBACK1);
Console.WriteLine("Setting " + freq.ToString() + "Hz PWM on loop pin 2");
FX3.StartPWM(freq, 0.5, FX3.FX3_LOOPBACK2);
Assert.AreEqual(freq, FX3.MeasurePinFreq(FX3.FX3_LOOPBACK1, 1, 1000, 100), 0.02 * freq, "ERROR: Invalid value measured on loop pin 1");
FX3.StopPWM(FX3.FX3_LOOPBACK2);
}
Console.WriteLine("Testing SPI triggering with loop back pins...");
FX3.StartPWM(100, 0.5, FX3.FX3_LOOPBACK1);
FX3.DrPin = FX3.FX3_LOOPBACK2;
FX3.DrActive = true;
expectedTime = 1000 * 1000 / 100;
timer.Start();
FX3.TransferArray(new uint[1], 1, 1000);
timer.Stop();
Console.WriteLine("Elapsed stream time " + timer.ElapsedMilliseconds.ToString() + "ms");
Assert.AreEqual(expectedTime, timer.ElapsedMilliseconds, 0.05 * expectedTime, "ERROR: Invalid stream time");
}
public void PinFunctionTimeoutTest()
{
Console.WriteLine("Starting pin functions timeout functionality test...");
/* Timer for measuring elapsed time */
Stopwatch timer = new Stopwatch();
for (uint timeout = 100; timeout <= 800; timeout += 100)
{
Console.WriteLine("Testing timeout of " + timeout.ToString() + "ms...");
FX3.SetPin(FX3.DIO4, 1);
/* Pulse wait */
timer.Restart();
FX3.PulseWait(FX3.DIO3, 0, 0, timeout);
timer.Stop();
Console.WriteLine("Pulse wait time: " + timer.ElapsedMilliseconds.ToString() + "ms");
Assert.GreaterOrEqual(timer.ElapsedMilliseconds, timeout, "ERROR: Function returned in less than timeout period");
Assert.LessOrEqual(timer.ElapsedMilliseconds, timeout + 100, "ERROR: Function returned in over 100ms more than timeout period");
CheckFirmwareResponsiveness();
/* Measure pin freq */
timer.Restart();
Assert.AreEqual(double.PositiveInfinity, FX3.MeasurePinFreq(FX3.DIO4, 0, timeout, 1), "ERROR: Invalid pin freq. Expected timeout");
timer.Stop();
Console.WriteLine("Measure pin freq time: " + timer.ElapsedMilliseconds.ToString() + "ms");
Assert.GreaterOrEqual(timer.ElapsedMilliseconds, timeout, "ERROR: Function returned in less than timeout period");
Assert.LessOrEqual(timer.ElapsedMilliseconds, timeout + 100, "ERROR: Function returned in over 100ms more than timeout period");
CheckFirmwareResponsiveness();
/* Measure pin delay */
timer.Restart();
FX3.MeasurePinDelay(FX3.DIO4, 0, FX3.DIO1, timeout);
timer.Stop();
Console.WriteLine("Measure pin delay time: " + timer.ElapsedMilliseconds.ToString() + "ms");
Assert.GreaterOrEqual(timer.ElapsedMilliseconds, timeout, "ERROR: Function returned in less than timeout period");
Assert.LessOrEqual(timer.ElapsedMilliseconds, timeout + 100, "ERROR: Function returned in over 100ms more than timeout period");
CheckFirmwareResponsiveness();
/* Measure busy pulse */
timer.Restart();
Assert.AreEqual(double.PositiveInfinity, FX3.MeasureBusyPulse(FX3.DIO4, 1, 1, FX3.DIO1, 0, timeout), "ERROR: Expected measure busy pulse to return timeout");
timer.Stop();
Console.WriteLine("Measure busy pulse time: " + timer.ElapsedMilliseconds.ToString() + "ms");
Assert.GreaterOrEqual(timer.ElapsedMilliseconds, timeout, "ERROR: Function returned in less than timeout period");
Assert.LessOrEqual(timer.ElapsedMilliseconds, timeout + 100, "ERROR: Function returned in over 100ms more than timeout period");
CheckFirmwareResponsiveness();
}
}
public void PinFreqMeasureTest()
{
Console.WriteLine("Starting pin frequency measure test...");
const double MIN_FREQ = 5;
const double MAX_FREQ = 10000;
double measuredFreq, expectedFreq;
Console.WriteLine("Sweeping PWM duty cycle with fixed frequency...");
expectedFreq = 4000;
for (double dutyCycle = 0.02; dutyCycle < 0.98; dutyCycle += 0.01)
{
Console.WriteLine("Testing duty cycle of " + dutyCycle.ToString());
FX3.StartPWM(4000, dutyCycle, FX3.DIO3);
measuredFreq = FX3.MeasurePinFreq(FX3.DIO4, 1, 500, 5);
Console.WriteLine("Pin freq measured on DIO2: " + measuredFreq.ToString() + "Hz");
Assert.AreEqual(expectedFreq, measuredFreq, 0.02 * expectedFreq, "ERROR: Invalid freq read back on DIO2");
}
FX3.StopPWM(FX3.DIO3);
Console.WriteLine("Sweeping freq range...");
for (expectedFreq = MIN_FREQ; expectedFreq < MAX_FREQ; expectedFreq = expectedFreq * 1.08)
{
Console.WriteLine("Testing PWM freq of " + expectedFreq.ToString() + "Hz");
FX3.StartPWM(expectedFreq, 0.5, FX3.DIO3);
measuredFreq = FX3.MeasurePinFreq(FX3.DIO4, 1, 2000, 3);
Console.WriteLine("Pin freq measured on DIO4: " + measuredFreq.ToString() + "Hz");
Assert.AreEqual(expectedFreq, measuredFreq, 0.02 * expectedFreq, "ERROR: Invalid freq read back on DIO4");
FX3.StopPWM(FX3.DIO3);
FX3.StartPWM(expectedFreq, 0.5, FX3.DIO4);
measuredFreq = FX3.MeasurePinFreq(FX3.DIO3, 1, 2000, 3);
Console.WriteLine("Pin freq measured on DIO3: " + measuredFreq.ToString() + "Hz");
Assert.AreEqual(expectedFreq, measuredFreq, 0.02 * expectedFreq, "ERROR: Invalid freq read back on DIO3");
FX3.StopPWM(FX3.DIO4);
}
Console.WriteLine("Testing averaging...");
expectedFreq = 4000;
FX3.StartPWM(expectedFreq, 0.5, FX3.DIO3);
for (ushort average = 1; average < 1000; average += 2)
{
Console.WriteLine("Testing pin freq measure with " + average.ToString() + " averages...");
measuredFreq = FX3.MeasurePinFreq(FX3.DIO4, 1, 1000, average);
Console.WriteLine("Pin freq measured on DIO4: " + measuredFreq.ToString() + "Hz");
Assert.AreEqual(expectedFreq, measuredFreq, 0.02 * expectedFreq, "ERROR: Invalid freq read back on DIO4");
}
}
