public void TemperatureImageTest()
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
Temperature[,] referenceImage = new Temperature[Amg88xx.Width, Amg88xx.Height];
Random rnd = new Random();
for (int y = 0; y < Amg88xx.Height; y++)
{
for (int x = 0; x < Amg88xx.Width; x++)
{
referenceImage[x, y] = Temperature.FromDegreesCelsius(rnd.Next(-80, 321) * PixelTemperatureResolution);
(byte tl, byte th) = Amg88xxUtils.ConvertFromTemperature(referenceImage[x, y]);
i2cDevice.DataToRead.Enqueue(tl);
i2cDevice.DataToRead.Enqueue(th);
}
}
// read image from sensor
sensor.ReadImage();
// expectation: one write access to register T01L (lower byte of first pixel) to trigger readout
Assert.Single(i2cDevice.DataWritten);
Assert.Equal((byte)Register.T01L, i2cDevice.DataWritten.Dequeue());
// expectation: all pixels have been read, so nothing is remaining
Assert.Empty(i2cDevice.DataToRead);
Assert.Equal(referenceImage, sensor.TemperatureImage);
}
public void RawPixelIndexerTest()
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
// using a simple linear sequence of numbers as reference image:
// 0 to 0x1f8 (504d)
Int16[] referenceImage = new Int16[Amg88xx.PixelCount];
for (int n = 0; n < Amg88xx.PixelCount; n++)
{
referenceImage[n] = (short)(n * 8);
// enqueue lower byte (TLxx)
i2cDevice.DataToRead.Enqueue((byte)(referenceImage[n] & 0xff));
// enqueue higher byte (THxx)
i2cDevice.DataToRead.Enqueue((byte)(referenceImage[n] >> 8));
}
// read image from sensor
sensor.ReadImage();
// expectation: one write access to register T01L (lower byte of first pixel) to trigger readout
Assert.Single(i2cDevice.DataWritten);
Assert.Equal((byte)Register.T01L, i2cDevice.DataWritten.Dequeue());
// expectation: all pixels have been read, so nothing is remaining
Assert.Empty(i2cDevice.DataToRead);
for (int n = 0; n < Amg88xx.PixelCount; n++)
{
Int16 rawPixel = sensor[n];
Assert.Equal(referenceImage[n], rawPixel);
}
}
public void FlagResetTest()
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
sensor.ResetAllFlags();
Assert.Equal(2, i2cDevice.DataWritten.Count);
Assert.Equal((byte)Register.RST, i2cDevice.DataWritten.Dequeue());
Assert.Equal((byte)ResetType.Flag, i2cDevice.DataWritten.Dequeue());
}
public void OperatingModeSetTest(OperatingMode targetOperatingMode, byte expectedMode)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
sensor.OperatingMode = targetOperatingMode;
Assert.Equal(2, i2cDevice.DataWritten.Count);
Assert.Equal((byte)Register.PCLT, i2cDevice.DataWritten.Dequeue());
Assert.Equal(expectedMode, i2cDevice.DataWritten.Dequeue());
}
public void ClearInterruptTest()
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
sensor.ClearInterrupt();
Assert.Equal(2, i2cDevice.DataWritten.Count);
Assert.Equal((byte)Register.SCLR, i2cDevice.DataWritten.Dequeue());
Assert.Equal(1 << (byte)StatusClearBit.INTCLR, i2cDevice.DataWritten.Dequeue());
}
public void ClearAllFlagsTest()
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
sensor.ClearAllFlags();
Assert.Equal(2, i2cDevice.DataWritten.Count);
Assert.Equal((byte)Register.SCLR, i2cDevice.DataWritten.Dequeue());
Assert.Equal((byte)(1 << (byte)StatusClearBit.OVFCLR) | (1 << (byte)StatusClearBit.OVFTHCLR) | (1 << (byte)StatusClearBit.INTCLR), i2cDevice.DataWritten.Dequeue());
}
public void ClearThermistorOverflowTest()
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
sensor.ClearThermistorOverflow();
Assert.Equal(2, i2cDevice.DataWritten.Count);
Assert.Equal((byte)Register.SCLR, i2cDevice.DataWritten.Dequeue());
Assert.Equal(1 << (byte)StatusClearBit.OVFTHCLR, i2cDevice.DataWritten.Dequeue());
}
public void OperatingModeGetTest(byte registerContent, OperatingMode expectedOperatingMode)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
i2cDevice.DataToRead.Enqueue(registerContent);
var actualOperatingMode = sensor.OperatingMode;
Assert.Single(i2cDevice.DataWritten);
Assert.Equal((byte)Register.PCLT, i2cDevice.DataWritten.Dequeue());
Assert.Equal(expectedOperatingMode, actualOperatingMode);
}
public void FrameRateGetTest(byte registerContent, FrameRate expectedFrameRate)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
i2cDevice.DataToRead.Enqueue(registerContent);
var actualFrameRate = sensor.FrameRate;
Assert.Single(i2cDevice.DataWritten);
Assert.Equal((byte)Register.FPSC, i2cDevice.DataWritten.Dequeue());
Assert.Equal(expectedFrameRate, actualFrameRate);
}
public void UseMovingAverageModeGetTest(byte registerContent, bool expectedState)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
i2cDevice.DataToRead.Enqueue(registerContent);
bool actualState = sensor.UseMovingAverageMode;
Assert.Single(i2cDevice.DataWritten);
Assert.Equal((byte)Register.AVE, i2cDevice.DataWritten.Dequeue());
Assert.Equal(expectedState, actualState);
}
public void HasInterruptTest(byte statusRegisterContent, bool interrupt)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
i2cDevice.DataToRead.Enqueue(statusRegisterContent);
bool status = sensor.HasInterrupt();
Assert.Single(i2cDevice.DataWritten);
Assert.Equal((byte)Register.STAT, i2cDevice.DataWritten.Dequeue());
Assert.Equal(interrupt, status);
}
public void HasThermistorOverflowTest(byte statusRegisterContent, bool thermistorOverflow)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
i2cDevice.DataToRead.Enqueue(statusRegisterContent);
bool status = sensor.HasThermistorOverflow();
Assert.Single(i2cDevice.DataWritten);
Assert.Equal((byte)Register.STAT, i2cDevice.DataWritten.Dequeue());
Assert.Equal(thermistorOverflow, status);
}
public void InterruptPinEnabledGetTest(bool expectedState, byte registerValue)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
i2cDevice.DataToRead.Enqueue(registerValue);
bool actualState = sensor.InterruptPinEnabled;
Assert.Single(i2cDevice.DataWritten);
// register address is expected two times: once for reading the current register value and once for writing the new one
Assert.Equal((byte)Register.INTC, i2cDevice.DataWritten.Dequeue());
Assert.Equal(expectedState, actualState);
}
public void SensorTemperatureGetTest(byte th, byte tl, double expectedTemperature)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
// target temperature is 25°C which is equivalent to 0x190
i2cDevice.DataToRead.Enqueue(tl);
i2cDevice.DataToRead.Enqueue(th);
Assert.Equal(expectedTemperature, sensor.SensorTemperature.DegreesCelsius);
Assert.Equal(2, i2cDevice.DataWritten.Count);
Assert.Equal((byte)Register.TTHL, i2cDevice.DataWritten.Dequeue());
Assert.Equal((byte)Register.TTHH, i2cDevice.DataWritten.Dequeue());
}
public void InterruptPinEnabledSetTest(byte initialRegisterContent, bool targetState, byte expectedRegisterContent)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
i2cDevice.DataToRead.Enqueue(initialRegisterContent);
sensor.InterruptPinEnabled = targetState;
Assert.Equal(3, i2cDevice.DataWritten.Count);
// register address is expected two times: once for reading the current register value and once for writing the new one
Assert.Equal((byte)Register.INTC, i2cDevice.DataWritten.Dequeue());
Assert.Equal((byte)Register.INTC, i2cDevice.DataWritten.Dequeue());
Assert.Equal(expectedRegisterContent, i2cDevice.DataWritten.Dequeue());
}
public void UseMovingAverageModeSetTest(bool targetState, byte initialRegisterContent, byte expectedRegisterContent)
{
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
// bit 5: if set, moving average is on
i2cDevice.DataToRead.Enqueue(initialRegisterContent);
sensor.UseMovingAverageMode = targetState;
Assert.Equal(3, i2cDevice.DataWritten.Count);
// register address is expected two times: once for reading the current register value and once for writing the new one
Assert.Equal((byte)Register.AVE, i2cDevice.DataWritten.Dequeue());
Assert.Equal((byte)Register.AVE, i2cDevice.DataWritten.Dequeue());
Assert.Equal(expectedRegisterContent, i2cDevice.DataWritten.Dequeue());
}
public void InterruptHysteresisLevelSetTest()
{
Temperature expectedTemperature = Temperature.FromDegreesCelsius(125);
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
sensor.InterruptHysteresis = expectedTemperature;
Assert.Equal(4, i2cDevice.DataWritten.Count);
(byte refTl, byte refTh) = Amg88xxUtils.ConvertFromTemperature(expectedTemperature);
Assert.Equal((byte)Register.INTSL, i2cDevice.DataWritten.Dequeue());
Assert.Equal(refTl, i2cDevice.DataWritten.Dequeue());
Assert.Equal((byte)Register.INTSH, i2cDevice.DataWritten.Dequeue());
Assert.Equal(refTh, i2cDevice.DataWritten.Dequeue());
}
public void InterruptHysteresisLevelGetTest()
{
// expected temeperature: 72.75°C
// two's complement representation:
byte expectedTl = 0x23;
byte expectedTh = 0x01;
I2cTestDevice i2cDevice = new I2cTestDevice();
Amg88xx sensor = new Amg88xx(i2cDevice);
i2cDevice.DataToRead.Enqueue(expectedTl);
i2cDevice.DataToRead.Enqueue(expectedTh);
Temperature actualTemperature = sensor.InterruptHysteresis;
Assert.Equal(2, i2cDevice.DataWritten.Count);
Assert.Equal((byte)Register.INTSL, i2cDevice.DataWritten.Dequeue());
Assert.Equal((byte)Register.INTSH, i2cDevice.DataWritten.Dequeue());
Assert.Equal(Amg88xxUtils.ConvertToTemperature(expectedTl, expectedTh).DegreesCelsius, actualTemperature.DegreesCelsius);
}
public Result <Unit> Init()
{
_controller = new GpioController(PinNumberingScheme.Logical, new RaspberryPi3Driver());
_controller.OpenPin(Pin.HallBottom, PinMode.InputPullUp);
_controller.OpenPin(Pin.HallTop, PinMode.InputPullUp);
_controller.OpenPin(Pin.PhotoelectricBarrier, PinMode.InputPullUp);
_controller.OpenPin(Pin.MotorEnable, PinMode.Output);
_controller.OpenPin(Pin.MotorLeft, PinMode.Output);
_controller.OpenPin(Pin.MotorRight, PinMode.Output);
_controller.OpenPin(Pin.EmergencyTop, PinMode.InputPullUp);
_controller.OpenPin(Pin.DC12_1, PinMode.Output);
_controller.OpenPin(Pin.DC12_2, PinMode.Output);
//_pwmMotor = new SoftwarePwmChannel(Pin.MotorEnable, 200, 0.1);
//_pwmMotor.Start();
_controller.Write(Pin.MotorEnable, PinValue.High);
_controller.Write(Pin.MotorLeft, PinValue.Low);
_controller.Write(Pin.MotorRight, PinValue.Low);
_controller.Write(Pin.DC12_1, PinValue.Low);
_controller.Write(Pin.DC12_2, PinValue.Low);
Console.WriteLine($"Init sensor");
_bh1750Fvi = new Bh1750fvi(I2cDevice.Create(new I2cConnectionSettings(1, Bh1750fviExtenstion.DefaultI2cAddress))); // 23
_vl53L0X = new Vl53L0X(I2cDevice.Create(new I2cConnectionSettings(1, Vl53L0X.DefaultI2cAddress))); // 29
_bme280 = new Bme280(I2cDevice.Create(new I2cConnectionSettings(1, Bmx280Base.SecondaryI2cAddress))); // 76
_measurementTime = _bme280.GetMeasurementDuration();
_bme280.SetPowerMode(Bmx280PowerMode.Normal);
//Thread.Sleep(_measurementTime);
//_bme280.TryReadTemperature(out var tempValue);
//_bme280.TryReadPressure(out var preValue);
//_bme280.TryReadHumidity(out var humValue);
//_bme280.TryReadAltitude(out var altValue);
//Console.WriteLine($"Temperature: {tempValue.DegreesCelsius:0.#}\u00B0C");
//Console.WriteLine($"Pressure: {preValue.Hectopascals:#.##} hPa");
//Console.WriteLine($"Relative humidity: {humValue.Percent:#.##}%");
//Console.WriteLine($"Estimated altitude: {altValue.Meters:#} m");
_amg88xx = new Amg88xx(I2cDevice.Create(new I2cConnectionSettings(1, Amg88xx.AlternativeI2cAddress))); // 69
try
{
_mpu9250 = new Mpu9250(I2cDevice.Create(new I2cConnectionSettings(1, Mpu6500.DefaultI2cAddress))); // 68
}
catch (IOException e)
{
Console.WriteLine("AK8963 is exposed, try to connect directly.");
_mpu9250 = new Mpu9250(I2cDevice.Create(new I2cConnectionSettings(1, Mpu6500.DefaultI2cAddress)), i2CDeviceAk8963: I2cDevice.Create(new I2cConnectionSettings(1, Ak8963.DefaultI2cAddress)));
}
_mpu9250.MagnetometerMeasurementMode = MeasurementMode.ContinuousMeasurement100Hz;
Thread.Sleep(100);
Console.WriteLine($"Finished Init sensor");
Run();
Thread.Sleep(100);
Calibrate();
return(Unit.Instance);
}
