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 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"); } }
public void ADcmXLStreamCancelTest() { Console.WriteLine("Starting ADcmXL stream cancel test..."); long firstCount; FX3.DrActive = true; FX3.SensorType = DeviceType.ADcmXL; FX3.PartType = DUTType.ADcmXL3021; FX3.DrPin = FX3.DIO3; /* Start 6KHz DR signal on DIO4 */ FX3.StartPWM(6000, 0.1, FX3.DIO4); for (int trial = 0; trial < 4; trial++) { Console.WriteLine("Starting trial " + trial.ToString()); /* Start stream */ FX3.StartRealTimeStreaming(1000000); firstCount = FX3.GetNumBuffersRead; System.Threading.Thread.Sleep(50); Assert.Greater(FX3.GetNumBuffersRead, firstCount, "ERROR: Expected to have read buffers"); /* Cancel stream (stop stream) */ FX3.StopStream(); System.Threading.Thread.Sleep(50); /* Check SPI functionality */ TestSpiFunctionality(); /* Start stream */ FX3.StartRealTimeStreaming(1000000); firstCount = FX3.GetNumBuffersRead; System.Threading.Thread.Sleep(50); Assert.Greater(FX3.GetNumBuffersRead, firstCount, "ERROR: Expected to have read buffers"); /* Cancel stream (cancel stream) */ FX3.CancelStreamAsync(); System.Threading.Thread.Sleep(50); /* Check SPI functionality */ TestSpiFunctionality(); } }
public void PWMGenerationTest() { Console.WriteLine("Starting PWM generation test..."); double posWidth, negWidth; double measuredFreq, measuredDutyCycle; for (double freq = 20; freq < 40000; freq *= 1.2) { for (double dutyCycle = 0.02; dutyCycle <= 0.98; dutyCycle += 0.02) { Console.WriteLine("Starting PWM with freq " + freq.ToString("f2") + "Hz, " + dutyCycle.ToString("f2") + " duty cycle..."); FX3.StartPWM(freq, dutyCycle, FX3.DIO3); posWidth = FX3.MeasureBusyPulse(FX3.DIO2, 1, 0, FX3.DIO4, 1, 1000); negWidth = FX3.MeasureBusyPulse(FX3.DIO2, 1, 0, FX3.DIO4, 0, 1000); measuredFreq = 1000 / (posWidth + negWidth); measuredDutyCycle = posWidth / (posWidth + negWidth); Console.WriteLine("Measured freq: " + measuredFreq.ToString("f2") + "Hz, measured duty cycle: " + measuredDutyCycle.ToString("f2")); Assert.AreEqual(freq, measuredFreq, 0.01 * freq, "ERROR: Invalid freq measured"); Assert.AreEqual(dutyCycle, measuredDutyCycle, 0.01, "ERROR: Invalid duty cycle measured"); } } }
public void PWMPinInfoTest() { Console.WriteLine("Starting pin PWM info test..."); int exCount; PinPWMInfo info; Console.WriteLine("Testing default PWM pin info for each pin..."); foreach (PropertyInfo prop in FX3.GetType().GetProperties()) { if (prop.PropertyType == typeof(AdisApi.IPinObject)) { Assert.AreEqual(0, FX3.GetPinPWMInfo((AdisApi.IPinObject)prop.GetValue(FX3)).IdealFrequency, "ERROR: Expected PWM pins to be disabled for all pins initially"); } } Console.WriteLine("Testing PWM pin info for each pin..."); foreach (PropertyInfo prop in FX3.GetType().GetProperties()) { if (prop.PropertyType == typeof(AdisApi.IPinObject)) { if (((AdisApi.IPinObject)prop.GetValue(FX3)).pinConfig % 8 != 0) { FX3.StartPWM(2000, 0.5, (AdisApi.IPinObject)prop.GetValue(FX3)); info = FX3.GetPinPWMInfo((AdisApi.IPinObject)prop.GetValue(FX3)); Assert.AreEqual(((AdisApi.IPinObject)prop.GetValue(FX3)).pinConfig, info.FX3GPIONumber, "ERROR: Invalid GPIO Number"); Assert.AreEqual(info.FX3GPIONumber % 8, info.FX3TimerBlock, "ERROR: Invalid FX3 timer block"); Assert.AreEqual(2000, info.IdealFrequency, "ERROR: Invalid frequency"); Assert.AreEqual(0.5, info.IdealDutyCycle, "ERROR: Invalid duty cycle"); FX3.StopPWM((AdisApi.IPinObject)prop.GetValue(FX3)); } else { exCount = 0; try { FX3.StartPWM(2000, 0.5, (AdisApi.IPinObject)prop.GetValue(FX3)); } catch (Exception e) { Console.WriteLine(e.Message); exCount = 1; } Assert.AreEqual(1, exCount, "ERROR: Expected exception to be thrown for pins which cannot run PWM"); } } } Console.WriteLine("Sweeping PWM freq..."); { for (double freq = 0.5; freq < 100000; freq = freq * 1.1) { FX3.StartPWM(freq, 0.5, FX3.DIO1); Assert.AreEqual(freq, FX3.GetPinPWMInfo(FX3.DIO1).IdealFrequency, "ERROR: Invalid IdealFrequency"); Assert.AreEqual(freq, FX3.GetPinPWMInfo(FX3.DIO1).RealFrequency, 0.001 * freq, "ERROR: Invalid RealFrequency"); } } Console.WriteLine("Sweeping PWM duty cycle at 1KHz..."); for (double dutyCycle = 0.01; dutyCycle < 1.0; dutyCycle += 0.01) { FX3.StartPWM(1000, dutyCycle, FX3.DIO1); Assert.AreEqual(dutyCycle, FX3.GetPinPWMInfo(FX3.DIO1).IdealDutyCycle, "ERROR: Invalid ideal duty cycle"); Assert.AreEqual(dutyCycle, FX3.GetPinPWMInfo(FX3.DIO1).RealDutyCycle, 0.001 * dutyCycle, "ERROR: Invalid real duty cycle"); } }
public void MeasureBusyPulseTest() { double period; double pwmPeriod = 1000; double measuredPeriodPin, measuredPeriodSpi; List <byte> SpiData = new List <byte>(); SpiData.Add(0); SpiData.Add(0); /* Test small period measurements (0.5us - 500us) */ for (period = 0.5; period < 500; period += 0.5) { FX3.StartPWM(1000, (pwmPeriod - period) / pwmPeriod, FX3.DIO4); measuredPeriodPin = 1000 * FX3.MeasureBusyPulse(FX3.DIO2, 1, 0, FX3.DIO3, 0, 100); measuredPeriodSpi = 1000 * FX3.MeasureBusyPulse(SpiData.ToArray(), FX3.DIO3, 0, 100); Console.WriteLine("Negative PWM Period: " + period.ToString() + "us.\t Error: " + (period - measuredPeriodPin).ToString() + "us"); Console.WriteLine("Measured period: " + measuredPeriodPin.ToString() + "us"); /* Assert with 0.2us margin of error */ Assert.AreEqual(period, measuredPeriodSpi, 0.2, "ERROR: Invalid period measured"); Assert.AreEqual(period, measuredPeriodSpi, 0.2, "ERROR: Invalid period measured"); /* Measure positive period */ FX3.StartPWM(1000, period / pwmPeriod, FX3.DIO4); measuredPeriodPin = 1000 * FX3.MeasureBusyPulse(FX3.DIO2, 1, 0, FX3.DIO3, 1, 100); measuredPeriodSpi = 1000 * FX3.MeasureBusyPulse(SpiData.ToArray(), FX3.DIO3, 1, 100); Console.WriteLine("Positive PWM Period: " + period.ToString() + "us.\t Error: " + (period - measuredPeriodPin).ToString() + "us"); Console.WriteLine("Measured period: " + measuredPeriodPin.ToString() + "us"); /* Assert with 0.2us margin of error */ Assert.AreEqual(period, measuredPeriodSpi, 0.2, "ERROR: Invalid period measured"); Assert.AreEqual(period, measuredPeriodSpi, 0.2, "ERROR: Invalid period measured"); } /* Test large period measurements (2ms - 50ms) */ pwmPeriod = 100; for (period = 2; period < 50; period += 2) { FX3.StartPWM(10, (pwmPeriod - period) / pwmPeriod, FX3.DIO4); measuredPeriodPin = FX3.MeasureBusyPulse(FX3.DIO2, 1, 0, FX3.DIO3, 0, 200); measuredPeriodSpi = FX3.MeasureBusyPulse(SpiData.ToArray(), FX3.DIO3, 0, 200); Console.WriteLine("Negative PWM Period: " + period.ToString() + "ms.\t Error: " + (period - measuredPeriodPin).ToString() + "ms"); /* Assert with 1% margin of error */ Assert.AreEqual(period, measuredPeriodSpi, period * 0.1, "ERROR: Invalid period measured"); Assert.AreEqual(period, measuredPeriodSpi, period * 0.1, "ERROR: Invalid period measured"); /* Measure positive period */ FX3.StartPWM(10, period / pwmPeriod, FX3.DIO4); measuredPeriodPin = FX3.MeasureBusyPulse(FX3.DIO2, 1, 0, FX3.DIO3, 1, 200); measuredPeriodSpi = FX3.MeasureBusyPulse(SpiData.ToArray(), FX3.DIO3, 1, 200); Console.WriteLine("Positive PWM Period: " + period.ToString() + "ms.\t Error: " + (period - measuredPeriodPin).ToString() + "ms"); /* Assert with 1% margin of error */ Assert.AreEqual(period, measuredPeriodSpi, period * 0.1, "ERROR: Invalid period measured"); Assert.AreEqual(period, measuredPeriodSpi, period * 0.1, "ERROR: Invalid period measured"); } /* Test very large period measurements (1 sec) */ Console.WriteLine("Testing 1 second period signal measurements..."); period = 1000; FX3.StartPWM(0.5, 0.5, FX3.DIO4); measuredPeriodPin = FX3.MeasureBusyPulse(FX3.DIO2, 1, 0, FX3.DIO3, 0, 5000); measuredPeriodSpi = FX3.MeasureBusyPulse(SpiData.ToArray(), FX3.DIO3, 0, 5000); Assert.AreEqual(period, measuredPeriodSpi, period * 0.1, "ERROR: Invalid period measured"); Assert.AreEqual(period, measuredPeriodSpi, period * 0.1, "ERROR: Invalid period measured"); measuredPeriodPin = FX3.MeasureBusyPulse(FX3.DIO2, 1, 0, FX3.DIO3, 1, 5000); measuredPeriodSpi = FX3.MeasureBusyPulse(SpiData.ToArray(), FX3.DIO3, 1, 5000); Assert.AreEqual(period, measuredPeriodSpi, period * 0.1, "ERROR: Invalid period measured"); Assert.AreEqual(period, measuredPeriodSpi, period * 0.1, "ERROR: Invalid period measured"); }
public void ADcmXLRealTimeStreamTest() { Console.WriteLine("Starting ADcmXL data stream test..."); double expectedTime; double realTime; double baseTime; uint numBuffers = 13600; Stopwatch timer = new Stopwatch(); FX3.DrActive = true; FX3.SensorType = DeviceType.ADcmXL; FX3.PartType = DUTType.ADcmXL3021; FX3.DrPin = FX3.DIO3; /* Start 6.8KHz, 80% duty cycle DR signal on DIO4 */ FX3.StartPWM(6800, 0.8, FX3.DIO4); Console.WriteLine("Measuring base stream time..."); baseTime = 0; for (int trial = 0; trial < 5; trial++) { timer.Restart(); FX3.StartRealTimeStreaming(1000); System.Threading.Thread.Sleep(5); FX3.WaitForStreamCompletion(1000); baseTime += (timer.ElapsedMilliseconds - (1000.0 / 6.8)); } baseTime /= 5; Console.WriteLine("Base stream overhead time: " + baseTime.ToString() + "ms"); for (int trial = 0; trial < 4; trial++) { Console.WriteLine("Starting trial " + trial.ToString()); /* Start stream */ timer.Restart(); FX3.StartRealTimeStreaming(numBuffers); System.Threading.Thread.Sleep(100); FX3.WaitForStreamCompletion((int)(numBuffers / 6.0) + 1000); timer.Stop(); Assert.AreEqual(FX3.GetNumBuffersRead, numBuffers, "ERROR: Invalid number of buffers read"); realTime = timer.ElapsedMilliseconds; /* Take off a base time */ realTime -= baseTime; expectedTime = numBuffers / 6.8; Console.WriteLine("Expected time: " + expectedTime.ToString() + "ms, Real time: " + realTime.ToString() + "ms"); Assert.AreEqual(expectedTime, realTime, 0.01 * expectedTime, "ERROR: Invalid stream time"); /* Check SPI functionality */ FX3.WordLength = 16; TestSpiFunctionality(); } Console.WriteLine("Verifying that when the DR edge is missed the stream waits until the following edge to start..."); FX3.SclkFrequency = 8000000; timer.Restart(); FX3.StartRealTimeStreaming(numBuffers); System.Threading.Thread.Sleep(100); FX3.WaitForStreamCompletion((int)(2 * numBuffers / 6.0) + 1000); timer.Stop(); Assert.AreEqual(FX3.GetNumBuffersRead, numBuffers, "ERROR: Invalid number of buffers read"); realTime = timer.ElapsedMilliseconds; /* Take off a base time */ realTime -= baseTime; /* Twice the time because we read every other data ready */ expectedTime = 2 * numBuffers / 6.8; Console.WriteLine("Expected time: " + expectedTime.ToString() + "ms, Real time: " + realTime.ToString() + "ms"); Assert.AreEqual(expectedTime, realTime, 0.01 * expectedTime, "ERROR: Invalid stream time"); }
public void BurstSpiTest() { Console.WriteLine("Starting SPI burst read test..."); List <byte> BurstTxData = new List <byte>(); ushort[] BurstData; int index; RegMapClasses.RegClass triggerReg = new RegMapClasses.RegClass(); triggerReg.NumBytes = 2; triggerReg.Address = 0x12; FX3.DrActive = false; for (int byteCount = 4; byteCount < 400; byteCount += 2) { Console.WriteLine("Testing burst read of " + byteCount.ToString() + " bytes..."); FX3.BurstByteCount = byteCount; Assert.AreEqual(byteCount, FX3.BurstByteCount, "ERROR; Byte count not applied correctly"); Assert.AreEqual((byteCount - 2) / 2, FX3.WordCount, "ERROR: FX3 burst word count not set correctly"); /* Burst trigger reg */ FX3.TriggerReg = triggerReg; /* strip header */ Console.WriteLine("Testing burst read with trigger reg and header stripped..."); FX3.StripBurstTriggerWord = true; FX3.SetupBurstMode(); FX3.StartBurstStream(1, FX3.BurstMOSIData); FX3.WaitForStreamCompletion(50); BurstData = FX3.GetBuffer(); Assert.AreEqual((byteCount / 2) - 1, BurstData.Count(), "ERROR: Invalid burst data count"); for (int i = 0; i < BurstData.Count(); i++) { Assert.AreEqual(0, BurstData[i], "ERROR: Expected all burst data to be 0"); } /* No strip header */ Console.WriteLine("Testing burst read with trigger reg and header not stripped..."); FX3.StripBurstTriggerWord = false; FX3.SetupBurstMode(); FX3.StartBurstStream(1, FX3.BurstMOSIData); FX3.WaitForStreamCompletion(50); BurstData = FX3.GetBuffer(); Assert.AreEqual((byteCount / 2), BurstData.Count(), "ERROR: Invalid burst data count"); Assert.AreEqual(0x1200, BurstData[0], "ERROR: Invalid burst data echoed"); for (int i = 1; i < BurstData.Count(); i++) { Assert.AreEqual(0, BurstData[i], "ERROR: Expected remainder of burst data to be 0"); } /* Burst transmit data */ BurstTxData.Clear(); for (int i = 0; i < byteCount; i++) { BurstTxData.Add((byte)(i & 0xFFU)); } FX3.BurstMOSIData = BurstTxData.ToArray(); for (int i = 0; i < BurstTxData.Count; i++) { Assert.AreEqual(BurstTxData[i], FX3.BurstMOSIData[i], "ERROR: Burst MOSI data not applied correctly"); } /* strip header */ Console.WriteLine("Testing burst read with MOSI byte array and header stripped..."); FX3.StripBurstTriggerWord = true; FX3.SetupBurstMode(); FX3.StartBurstStream(1, FX3.BurstMOSIData); FX3.WaitForStreamCompletion(50); BurstData = FX3.GetBuffer(); Assert.AreEqual((byteCount / 2) - 1, BurstData.Count(), "ERROR: Invalid burst data count"); index = 2; for (int i = 0; i < BurstData.Count(); i++) { Assert.AreEqual(BurstTxData[index], BurstData[i] >> 8, "ERROR: Invalid burst data echoed"); Assert.AreEqual(BurstTxData[index + 1], BurstData[i] & 0xFF, "ERROR: Invalid burst data echoed"); index += 2; } /* No strip header */ Console.WriteLine("Testing burst read with MOSI byte array and header not stripped..."); FX3.StripBurstTriggerWord = false; FX3.SetupBurstMode(); FX3.StartBurstStream(1, FX3.BurstMOSIData); FX3.WaitForStreamCompletion(50); BurstData = FX3.GetBuffer(); Assert.AreEqual((byteCount / 2), BurstData.Count(), "ERROR: Invalid burst data count"); index = 0; for (int i = 0; i < BurstData.Count(); i++) { Assert.AreEqual(BurstTxData[index], BurstData[i] >> 8, "ERROR: Invalid burst data echoed"); Assert.AreEqual(BurstTxData[index + 1], BurstData[i] & 0xFF, "ERROR: Invalid burst data echoed"); index += 2; } } Console.WriteLine("Testing Dr Active triggering for burst..."); FX3.DrPin = FX3.DIO3; FX3.StartPWM(100, 0.5, FX3.DIO4); FX3.BurstByteCount = 64; BurstTxData.Clear(); for (int i = 0; i < 64; i++) { BurstTxData.Add((byte)(i & 0xFFU)); } FX3.BurstMOSIData = BurstTxData.ToArray(); FX3.StripBurstTriggerWord = false; FX3.SetupBurstMode(); FX3.DrActive = true; double expectedTime; long drActiveTime, baseTime; Stopwatch timer = new Stopwatch(); for (uint numBuffers = 100; numBuffers <= 300; numBuffers += 100) { Console.WriteLine("Capturing " + numBuffers.ToString() + " buffers with DrActive set to false..."); FX3.DrActive = false; FX3.StartBurstStream(numBuffers, FX3.BurstMOSIData); timer.Restart(); while (FX3.GetNumBuffersRead < numBuffers) { System.Threading.Thread.Sleep(1); } baseTime = timer.ElapsedMilliseconds; Console.WriteLine("Stream time: " + baseTime.ToString() + "ms"); CheckBurstBuffers(BurstTxData.ToArray(), numBuffers); Console.WriteLine("Capturing " + numBuffers.ToString() + " buffers with DrActive set to true..."); expectedTime = 10 * numBuffers; //100Hz DR FX3.DrActive = true; FX3.StartBurstStream(numBuffers, FX3.BurstMOSIData); timer.Restart(); while (FX3.GetNumBuffersRead < numBuffers) { System.Threading.Thread.Sleep(1); } drActiveTime = timer.ElapsedMilliseconds; Console.WriteLine("Stream time: " + drActiveTime.ToString() + "ms"); Assert.AreEqual(expectedTime, drActiveTime, 0.25 * expectedTime, "ERROR: Invalid stream time"); CheckBurstBuffers(BurstTxData.ToArray(), numBuffers); Assert.Less(baseTime, drActiveTime, "ERROR: Base stream time greater than DrActive stream time"); } }
public void TransferArrayWithWriteTest() { uint[] res; uint[] initialMOSI = new uint[6]; uint[] repeatedMOSI = new uint[4]; Stopwatch timer = new Stopwatch(); double time; Console.WriteLine("Starting SPI write then read stream test..."); FX3.WordLength = 32; FX3.StallTime = 3; FX3.SclkFrequency = 4000000; FX3.DrActive = false; FX3.DrPin = FX3.DIO3; for (uint i = 0; i < 4; i++) { repeatedMOSI[i] = i; } initialMOSI[0] = 0xAAAAAAAA; initialMOSI[5] = 0x55555555; /* Both false */ Console.WriteLine("Testing both DR inactive..."); FX3.DrActive = false; System.Threading.Thread.Sleep(10); FX3.StartPWM(10, 0.5, FX3.DIO4); timer.Restart(); res = FX3.WriteReadTransferArray(initialMOSI, false, repeatedMOSI, 10); time = timer.ElapsedMilliseconds; Assert.LessOrEqual(time, 10, "Expected time of less than 10ms"); Assert.AreEqual(repeatedMOSI.Count() * 10, res.Count(), "Invalid data size"); CheckRxData(res); /* dr active */ Console.WriteLine("Testing DR active read..."); FX3.DrActive = true; System.Threading.Thread.Sleep(10); FX3.StartPWM(10, 0.5, FX3.DIO4); timer.Restart(); res = FX3.WriteReadTransferArray(initialMOSI, false, repeatedMOSI, 10); time = timer.ElapsedMilliseconds; //10 reads at 10Hz -> approx 1 sec. Give range 1000 - 1200 Assert.AreEqual(time, 1100, 100, "Expected time of between 1000ms and 1200ms"); Assert.AreEqual(repeatedMOSI.Count() * 10, res.Count(), "Invalid data size"); CheckRxData(res); /* initial dr active */ Console.WriteLine("Testing DR active write..."); FX3.DrActive = false; System.Threading.Thread.Sleep(10); FX3.StartPWM(10, 0.5, FX3.DIO4); timer.Restart(); res = FX3.WriteReadTransferArray(initialMOSI, true, repeatedMOSI, 10); time = timer.ElapsedMilliseconds; //Should be between 50ms and 150ms Assert.AreEqual(time, 100, 50, "Expected time of between 50ms and 150ms"); Assert.AreEqual(repeatedMOSI.Count() * 10, res.Count(), "Invalid data size"); CheckRxData(res); /* Both true */ Console.WriteLine("Testing both DR active..."); FX3.DrActive = true; System.Threading.Thread.Sleep(10); FX3.StartPWM(10, 0.5, FX3.DIO4); timer.Restart(); res = FX3.WriteReadTransferArray(initialMOSI, true, repeatedMOSI, 10); time = timer.ElapsedMilliseconds; //10 reads at 10Hz -> approx 1 sec. Give range 1000 - 1200 Assert.AreEqual(time, 1100, 100, "Expected time of between 1000ms and 1200ms"); Assert.AreEqual(repeatedMOSI.Count() * 10, res.Count(), "Invalid data size"); CheckRxData(res); }