public void ReadDataTest()
{
List <byte> packet = new List <byte>();
var bmc050 = new BMC050();
bmc050.Reset();
// TODO : setup device? With parameters for measurements
for (int i = 0; i < 5; i++)
{
// Read temperature measurement
// Construct packet list for read of temperature register
packet.Add((byte)0xFC);
packet.Add((byte)0x08);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Temperature register
byte[] temperature = bmc050.Read();
Assert.Greater(temperature[0], 0);
////////////////////////////////////////////////////////////
// Read Accelerometer X measurement
// Construct packet list for read of accelerometer X register
packet.Add((byte)0xFC);
packet.Add((byte)0x02);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer X LSB and MSB registers
byte[] acc_x = bmc050.Read();
int accelerometerX = (((int)acc_x[1] << 2) & 0xFFC) + (((int)acc_x[0] >> 6) & 0x3);
Assert.Greater(accelerometerX, 0);
// Read Accelerometer Y measurement
// Construct packet list for read of accelerometer Y register
packet.Add((byte)0xFC);
packet.Add((byte)0x04);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer Y LSB and MSB registers
byte[] acc_y = bmc050.Read();
int accelerometerY = (((int)acc_y[1] << 2) & 0xFFC) + (((int)acc_y[0] >> 6) & 0x3);
Assert.Greater(accelerometerY, 0);
// Read Accelerometer Z measurement
// Construct packet list for read of accelerometer Z register
packet.Add((byte)0xFC);
packet.Add((byte)0x06);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer Z LSB and MSB registers
byte[] acc_z = bmc050.Read();
int accelerometerZ = (((int)acc_z[1] << 2) & 0xFFC) + (((int)acc_z[0] >> 6) & 0x3);
Assert.Greater(accelerometerZ, 0);
////////////////////////////////////////////////////////////
// Read Magnetometer X measurement
// Construct packet list for read of magnetometer X register
packet.Add((byte)0xFC);
packet.Add((byte)0x42);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Magnetometer X LSB and MSB registers
byte[] mag_x = bmc050.Read();
int magnetometerX = (UInt16)((((UInt16)mag_x[1] << 5) & 0x1FE0) + (((UInt16)mag_x[0] >> 3) & 0x1F));
Assert.Greater(magnetometerX, 0);
// Read Magnetometer Y measurement
// Construct packet list for read of magnetometer Y register
packet.Add((byte)0xFC);
packet.Add((byte)0x44);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Magnetometer Y LSB and MSB registers
byte[] mag_y = bmc050.Read();
int magnetometerY = (UInt16)((((UInt16)mag_y[1] << 5) & 0x1FE0) + (((UInt16)mag_y[0] >> 3) & 0x1F));
Assert.Greater(magnetometerY, 0);
// Read Magnetometer Z measurement
// Construct packet list for read of magnetometer Z register
packet.Add((byte)0xFC);
packet.Add((byte)0x46);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Magnetometer Z LSB and MSB registers
byte[] mag_z = bmc050.Read();
int magnetometerZ = (UInt16)((((UInt16)mag_z[1] << 5) & 0x1FE0) + (((UInt16)mag_z[0] >> 3) & 0x1F));
Assert.Greater(magnetometerZ, 0);
// Read Hall resistance measurement
// Construct packet list for read of Hall resistance registers
packet.Add((byte)0xFC);
packet.Add((byte)0x48);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Hall resistance LSB and MSB registers
byte[] rhall = bmc050.Read();
int resistanceHall = (UInt16)((((UInt16)rhall[1] << 5) & 0x1FE0) + (((UInt16)rhall[0] >> 3) & 0x1F));
Assert.Greater(resistanceHall, 0);
////////////////////////////////////////////////////////////
// Test read of all three accelerometer ADC values in one go
packet.Add((byte)0xFC);
packet.Add((byte)0x02);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read
byte[] acc_data = bmc050.Read();
accelerometerX = (((int)acc_data[1] << 2) & 0xFFC) + (((int)acc_data[0] >> 6) & 0x3);
Assert.Greater(accelerometerX, 0);
accelerometerY = (((int)acc_data[3] << 2) & 0xFFC) + (((int)acc_data[2] >> 6) & 0x3);
Assert.Greater(accelerometerY, 0);
accelerometerZ = (((int)acc_data[5] << 2) & 0xFFC) + (((int)acc_data[4] >> 6) & 0x3);
Assert.Greater(accelerometerZ, 0);
////////////////////////////////////////////////////////////
// Test read of all three magnetometer ADC and Hall resistance values in one go
// Construct packet list for read of magnetometer X register
packet.Add((byte)0xFC);
packet.Add((byte)0x42);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read
byte[] mag_data = bmc050.Read();
magnetometerX = (UInt16)((((UInt16)mag_data[1] << 5) & 0x1FE0) + (((UInt16)mag_data[0] >> 3) & 0x1F));
Assert.Greater(magnetometerX, 0);
magnetometerY = (UInt16)((((UInt16)mag_data[3] << 5) & 0x1FE0) + (((UInt16)mag_data[2] >> 3) & 0x1F));
Assert.Greater(magnetometerY, 0);
magnetometerZ = (UInt16)((((UInt16)mag_data[5] << 5) & 0x1FE0) + (((UInt16)mag_data[4] >> 3) & 0x1F));
Assert.Greater(magnetometerZ, 0);
resistanceHall = (UInt16)((((UInt16)mag_data[7] << 5) & 0x1FE0) + (((UInt16)mag_data[6] >> 3) & 0x1F));
Assert.Greater(resistanceHall, 0);
}
}
public void InitTest()
{
List <byte> packet = new List <byte>();
var bmc050 = new BMC050();
bmc050.Reset();
// Check the Chip ID
packet.Add((byte)0xFC);
packet.Add((byte)0x00);
bmc050.Write(packet.ToArray());
packet.Clear();
byte[] chipId = bmc050.Read();
Assert.AreEqual(chipId[0], 0x3);
// Check the reserved 0x01 register
packet.Add((byte)0xFC);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
byte[] registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x21);
// Check the bandwidth register
packet.Add((byte)0xFC);
packet.Add((byte)0x10);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x1F);
packet.Add((byte)0xFD);
packet.Add((byte)0x10);
packet.Add((byte)0x0C);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x10);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0C);
// Check the power register
packet.Add((byte)0xFC);
packet.Add((byte)0x11);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x11);
packet.Add((byte)0x07);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x11);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x07);
// Check the g-range register
packet.Add((byte)0xFC);
packet.Add((byte)0x0F);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x3);
// Check the SoftReset register value
// And funtionality through write of 0x5 to g-range register and check default value 0x3
packet.Add((byte)0xFC);
packet.Add((byte)0x14);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0);
packet.Add((byte)0xFD);
packet.Add((byte)0x0F);
packet.Add((byte)0x05);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x0F);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x5);
packet.Add((byte)0xFD);
packet.Add((byte)0x14);
packet.Add((byte)0xB6); // Issue Soft Reset command
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x0F);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x3);
// Check the DAQ control register
packet.Add((byte)0xFC);
packet.Add((byte)0x13);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x13);
packet.Add((byte)0xC0);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x13);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0xC0);
// Check the first IRQ control register
packet.Add((byte)0xFC);
packet.Add((byte)0x16);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x16);
packet.Add((byte)0x21);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x16);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x21);
// Check the second IRQ control register
packet.Add((byte)0xFC);
packet.Add((byte)0x17);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x17);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x17);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the first IRQ mapping register
packet.Add((byte)0xFC);
packet.Add((byte)0x19);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x19);
packet.Add((byte)0x02);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x19);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x02);
// Check the second IRQ mapping register
packet.Add((byte)0xFC);
packet.Add((byte)0x1A);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x1A);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x1A);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the third IRQ mapping register
packet.Add((byte)0xFC);
packet.Add((byte)0x1B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x1B);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x1B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the IRQ data source register
packet.Add((byte)0xFC);
packet.Add((byte)0x1E);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x1E);
packet.Add((byte)0x04);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x1E);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x04);
// Check the IRQ electrical behaviour register
packet.Add((byte)0xFC);
packet.Add((byte)0x20);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x20);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x20);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the IRQ reset and mode register
packet.Add((byte)0xFC);
packet.Add((byte)0x21);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x21);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x21);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the LowDur register
packet.Add((byte)0xFC);
packet.Add((byte)0x22);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x09);
packet.Add((byte)0xFD);
packet.Add((byte)0x22);
packet.Add((byte)0x0D);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x22);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0D);
// Check the LowTh register
packet.Add((byte)0xFC);
packet.Add((byte)0x23);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x30);
packet.Add((byte)0xFD);
packet.Add((byte)0x23);
packet.Add((byte)0x40);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x23);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x40);
// Check the low-g interrupt hysteresis register
packet.Add((byte)0xFC);
packet.Add((byte)0x24);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x81);
packet.Add((byte)0xFD);
packet.Add((byte)0x24);
packet.Add((byte)0x41);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x24);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x41);
// Check the HighDur register
packet.Add((byte)0xFC);
packet.Add((byte)0x25);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0F);
packet.Add((byte)0xFD);
packet.Add((byte)0x25);
packet.Add((byte)0x1F);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x25);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x1F);
// Check the HighTh register
packet.Add((byte)0xFC);
packet.Add((byte)0x26);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0xC0);
packet.Add((byte)0xFD);
packet.Add((byte)0x26);
packet.Add((byte)0xC1);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x26);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0xC1);
// Check the SlopeDur register
packet.Add((byte)0xFC);
packet.Add((byte)0x27);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x27);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x27);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the SlopeTh register
packet.Add((byte)0xFC);
packet.Add((byte)0x28);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x14);
packet.Add((byte)0xFD);
packet.Add((byte)0x28);
packet.Add((byte)0x11);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x28);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x11);
// Check the first tap configuration register
packet.Add((byte)0xFC);
packet.Add((byte)0x2A);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x04);
packet.Add((byte)0xFD);
packet.Add((byte)0x2A);
packet.Add((byte)0x02);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x2A);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x02);
// Check the second tap configuration register
packet.Add((byte)0xFC);
packet.Add((byte)0x2B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0A);
packet.Add((byte)0xFD);
packet.Add((byte)0x2B);
packet.Add((byte)0x0C);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x2B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0C);
// Check the first orientation configuration register
packet.Add((byte)0xFC);
packet.Add((byte)0x2C);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x18);
packet.Add((byte)0xFD);
packet.Add((byte)0x2C);
packet.Add((byte)0x28);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x2C);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x28);
// Check the second orientation configuration register
packet.Add((byte)0xFC);
packet.Add((byte)0x2D);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x08);
packet.Add((byte)0xFD);
packet.Add((byte)0x2D);
packet.Add((byte)0x04);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x2D);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x04);
// Check the first flat angle configuration register
packet.Add((byte)0xFC);
packet.Add((byte)0x2E);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x08);
packet.Add((byte)0xFD);
packet.Add((byte)0x2E);
packet.Add((byte)0x10);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x2E);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x10);
// Check the second flat configuration register
packet.Add((byte)0xFC);
packet.Add((byte)0x2F);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x10);
packet.Add((byte)0xFD);
packet.Add((byte)0x2F);
packet.Add((byte)0x20);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x2F);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x20);
// Check the self test register
packet.Add((byte)0xFC);
packet.Add((byte)0x32);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x70);
packet.Add((byte)0xFD);
packet.Add((byte)0x32);
packet.Add((byte)0x75);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x32);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x75);
// Check the EEPROM control register
packet.Add((byte)0xFC);
packet.Add((byte)0x33);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x04);
packet.Add((byte)0xFD);
packet.Add((byte)0x33);
packet.Add((byte)0x41); // Unlocks the EEPROM
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x33);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x41);
// Check the interface config register
packet.Add((byte)0xFC);
packet.Add((byte)0x34);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x34);
packet.Add((byte)0x02);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x34);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x02);
// Check the offset compensation register
// Setting bit 7 resets the value of the register
packet.Add((byte)0xFC);
packet.Add((byte)0x36);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x36);
packet.Add((byte)0x02);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x36);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x02);
packet.Add((byte)0xFD);
packet.Add((byte)0x36);
packet.Add((byte)0x80);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x36);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
// Check the offset target register
packet.Add((byte)0xFC);
packet.Add((byte)0x37);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x37);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x37);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the offset compensation for filtered x axis data register
packet.Add((byte)0xFC);
packet.Add((byte)0x38);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x38);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x38);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the offset compensation for filtered y axis data register
packet.Add((byte)0xFC);
packet.Add((byte)0x39);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x39);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x39);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the offset compensation for filtered z axis data register
packet.Add((byte)0xFC);
packet.Add((byte)0x3A);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x3A);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x3A);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the offset compensation for unfiltered x axis data register
packet.Add((byte)0xFC);
packet.Add((byte)0x3B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x3B);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x3B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the offset compensation for unfiltered y axis data register
packet.Add((byte)0xFC);
packet.Add((byte)0x3C);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x3C);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x3C);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the offset compensation for unfiltered z axis data register
packet.Add((byte)0xFC);
packet.Add((byte)0x3D);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x3D);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x3D);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the Magnetometer Chip ID
packet.Add((byte)0xFC);
packet.Add((byte)0x40);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x32);
// Check the magnetometer interrupt status register
packet.Add((byte)0xFC);
packet.Add((byte)0x4A);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
// Check the magnetometer control register
packet.Add((byte)0xFC);
packet.Add((byte)0x4B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x1);
packet.Add((byte)0xFD);
packet.Add((byte)0x4B);
packet.Add((byte)0x0);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x4B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
// Do not leave it in suspended state
packet.Add((byte)0xFD);
packet.Add((byte)0x4B);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x4B);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the magnetometer operation mode register
packet.Add((byte)0xFC);
packet.Add((byte)0x4C);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x06);
packet.Add((byte)0xFD);
packet.Add((byte)0x4C);
packet.Add((byte)0x07);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x4C);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x07);
// Check the first magnetometer interrupt ctrl register
packet.Add((byte)0xFC);
packet.Add((byte)0x4D);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x3F);
packet.Add((byte)0xFD);
packet.Add((byte)0x4D);
packet.Add((byte)0x38);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x4D);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x38);
// Check the second magnetometer interrupt ctrl register
packet.Add((byte)0xFC);
packet.Add((byte)0x4E);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x07);
packet.Add((byte)0xFD);
packet.Add((byte)0x4E);
packet.Add((byte)0x05);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x4E);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x05);
// Check the magnetometer LowTh register
packet.Add((byte)0xFC);
packet.Add((byte)0x4F);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x4F);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x4F);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the magnetometer HighTh register
packet.Add((byte)0xFC);
packet.Add((byte)0x50);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x50);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x50);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the magnetometer RepXY register
packet.Add((byte)0xFC);
packet.Add((byte)0x51);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x51);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x51);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
// Check the magnetometer RepZ register
packet.Add((byte)0xFC);
packet.Add((byte)0x52);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x0);
packet.Add((byte)0xFD);
packet.Add((byte)0x52);
packet.Add((byte)0x01);
bmc050.Write(packet.ToArray());
packet.Clear();
packet.Add((byte)0xFC);
packet.Add((byte)0x52);
bmc050.Write(packet.ToArray());
packet.Clear();
registerValue = bmc050.Read();
Assert.AreEqual(registerValue[0], 0x01);
}
public void DualI2CAddressBMC050Test()
{
var machine = new Machine();
var efm32ggi2ccontroller = new EFM32GGI2CController(machine);
machine.SystemBus.Register(efm32ggi2ccontroller, new BusRangeRegistration(0x4000A000, 0x400));
efm32ggi2ccontroller.Reset();
var bmc050 = new BMC050();
bmc050.Reset();
efm32ggi2ccontroller.Register(bmc050, new NumberRegistrationPoint<int>(0x18));
efm32ggi2ccontroller.Register(bmc050, new NumberRegistrationPoint<int>(0x10));
////////////////////////////////////////////////////////////
// Setup the EFM32GG I2C controller
// Enable I2C controller
uint ctrl = 0x1;
efm32ggi2ccontroller.WriteDoubleWord(0x0, ctrl);
// Enable all interrupts
uint interruptMask = 0x1FFFF;
efm32ggi2ccontroller.WriteDoubleWord(0x34, interruptMask);
////////////////////////////////////////////////////////////
// Write BMC050 accelerometer slave address byte to transmit buffer
// Send start command
uint cmd = 0x1;
efm32ggi2ccontroller.WriteDoubleWord(0x4, cmd);
// Check that the START flag was set
uint interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x1), 0x1);
uint txData = 0x18; // Write address for BMC050 accelerometer
efm32ggi2ccontroller.WriteDoubleWord(0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreNotEqual((interruptFlags & 0x1000), 0x1000);
// Check slave ACK for address
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x40), 0x40);
// Write slave BMC050 accelerometer chip ID register address
txData = 0x0;
efm32ggi2ccontroller.WriteDoubleWord (0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord (0x28);
Assert.AreNotEqual ((interruptFlags & 0x1000), 0x1000);
// Initiate read with writing BMC050 acc address byte with read bit set
// Send restart command
cmd = 0x1;
efm32ggi2ccontroller.WriteDoubleWord (0x4, cmd);
txData = 0x19;
efm32ggi2ccontroller.WriteDoubleWord (0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord (0x28);
Assert.AreNotEqual ((interruptFlags & 0xC), 0xC);
// Wait and check if the receive buffer has data
int loopCounter = 0;
do
{
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
loopCounter++;
Thread.Sleep(10);
}
while (((interruptFlags & 0x20) != 0x20) && (loopCounter < 1000));
Assert.AreEqual ((interruptFlags & 0x20), 0x20);
Assert.AreNotEqual (loopCounter, 1000);
// Read MSB byte and see that it is the correct value
uint rxData = efm32ggi2ccontroller.ReadDoubleWord (0x1C);
Assert.AreEqual (rxData, 0x3);
// Send stop command
cmd = 0x2;
efm32ggi2ccontroller.WriteDoubleWord (0x4, cmd);
// Check that MSTOP interrupt has been issued
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord (0x28);
Assert.AreEqual ((interruptFlags & 0x100), 0x100);
////////////////////////////////////////////////////////////
// Send start command
cmd = 0x1;
efm32ggi2ccontroller.WriteDoubleWord(0x4, cmd);
// Check that the START flag was set
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x1), 0x1);
// Write BMC050 magnetometer slave address byte to transmit buffer
txData = 0x10; // Write address for BMC050 Magnetometer
efm32ggi2ccontroller.WriteDoubleWord(0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreNotEqual((interruptFlags & 0x1000), 0x1000);
// Check slave ACK for address
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x40), 0x40);
// Write slave BMC050 magnetometer chip ID register address
txData = 0x40;
efm32ggi2ccontroller.WriteDoubleWord (0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord (0x28);
Assert.AreNotEqual ((interruptFlags & 0x1000), 0x1000);
// Initiate read with writing BMC050 mag address byte with read bit set
// Send restart command
cmd = 0x1;
efm32ggi2ccontroller.WriteDoubleWord (0x4, cmd);
txData = 0x11;
efm32ggi2ccontroller.WriteDoubleWord (0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord (0x28);
Assert.AreNotEqual ((interruptFlags & 0xC), 0xC);
// Wait and check if the receive buffer has data
loopCounter = 0;
do
{
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
loopCounter++;
Thread.Sleep(10);
}
while (((interruptFlags & 0x20) != 0x20) && (loopCounter < 1000));
Assert.AreEqual ((interruptFlags & 0x20), 0x20);
Assert.AreNotEqual (loopCounter, 1000);
// Read MSB byte and see that it is the reset value 0x01
rxData = efm32ggi2ccontroller.ReadDoubleWord (0x1C);
Assert.AreEqual (rxData, 0x32);
// Send stop command
cmd = 0x2;
efm32ggi2ccontroller.WriteDoubleWord (0x4, cmd);
// Check that MSTOP interrupt has been issued
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord (0x28);
Assert.AreEqual ((interruptFlags & 0x100), 0x100);
}
public void DualI2CAddressBMC050Test()
{
var machine = new Machine();
var efm32ggi2ccontroller = new EFM32GGI2CController(machine);
machine.SystemBus.Register(efm32ggi2ccontroller, new BusRangeRegistration(0x4000A000, 0x400));
efm32ggi2ccontroller.Reset();
var bmc050 = new BMC050();
bmc050.Reset();
efm32ggi2ccontroller.Register(bmc050, new NumberRegistrationPoint <int>(0x18));
efm32ggi2ccontroller.Register(bmc050, new NumberRegistrationPoint <int>(0x10));
////////////////////////////////////////////////////////////
// Setup the EFM32GG I2C controller
// Enable I2C controller
uint ctrl = 0x1;
efm32ggi2ccontroller.WriteDoubleWord(0x0, ctrl);
// Enable all interrupts
uint interruptMask = 0x1FFFF;
efm32ggi2ccontroller.WriteDoubleWord(0x34, interruptMask);
////////////////////////////////////////////////////////////
// Write BMC050 accelerometer slave address byte to transmit buffer
// Send start command
uint cmd = 0x1;
efm32ggi2ccontroller.WriteDoubleWord(0x4, cmd);
// Check that the START flag was set
uint interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x1), 0x1);
uint txData = 0x18; // Write address for BMC050 accelerometer
efm32ggi2ccontroller.WriteDoubleWord(0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreNotEqual((interruptFlags & 0x1000), 0x1000);
// Check slave ACK for address
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x40), 0x40);
// Write slave BMC050 accelerometer chip ID register address
txData = 0x0;
efm32ggi2ccontroller.WriteDoubleWord(0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreNotEqual((interruptFlags & 0x1000), 0x1000);
// Initiate read with writing BMC050 acc address byte with read bit set
// Send restart command
cmd = 0x1;
efm32ggi2ccontroller.WriteDoubleWord(0x4, cmd);
txData = 0x19;
efm32ggi2ccontroller.WriteDoubleWord(0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreNotEqual((interruptFlags & 0xC), 0xC);
// Wait and check if the receive buffer has data
int loopCounter = 0;
do
{
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
loopCounter++;
Thread.Sleep(10);
}while(((interruptFlags & 0x20) != 0x20) && (loopCounter < 1000));
Assert.AreEqual((interruptFlags & 0x20), 0x20);
Assert.AreNotEqual(loopCounter, 1000);
// Read MSB byte and see that it is the correct value
uint rxData = efm32ggi2ccontroller.ReadDoubleWord(0x1C);
Assert.AreEqual(rxData, 0x3);
// Send stop command
cmd = 0x2;
efm32ggi2ccontroller.WriteDoubleWord(0x4, cmd);
// Check that MSTOP interrupt has been issued
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x100), 0x100);
////////////////////////////////////////////////////////////
// Send start command
cmd = 0x1;
efm32ggi2ccontroller.WriteDoubleWord(0x4, cmd);
// Check that the START flag was set
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x1), 0x1);
// Write BMC050 magnetometer slave address byte to transmit buffer
txData = 0x10; // Write address for BMC050 Magnetometer
efm32ggi2ccontroller.WriteDoubleWord(0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreNotEqual((interruptFlags & 0x1000), 0x1000);
// Check slave ACK for address
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x40), 0x40);
// Write slave BMC050 magnetometer chip ID register address
txData = 0x40;
efm32ggi2ccontroller.WriteDoubleWord(0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreNotEqual((interruptFlags & 0x1000), 0x1000);
// Initiate read with writing BMC050 mag address byte with read bit set
// Send restart command
cmd = 0x1;
efm32ggi2ccontroller.WriteDoubleWord(0x4, cmd);
txData = 0x11;
efm32ggi2ccontroller.WriteDoubleWord(0x24, txData);
// Check that the transmit buffers are not overflowing
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreNotEqual((interruptFlags & 0xC), 0xC);
// Wait and check if the receive buffer has data
loopCounter = 0;
do
{
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
loopCounter++;
Thread.Sleep(10);
}while(((interruptFlags & 0x20) != 0x20) && (loopCounter < 1000));
Assert.AreEqual((interruptFlags & 0x20), 0x20);
Assert.AreNotEqual(loopCounter, 1000);
// Read MSB byte and see that it is the reset value 0x01
rxData = efm32ggi2ccontroller.ReadDoubleWord(0x1C);
Assert.AreEqual(rxData, 0x32);
// Send stop command
cmd = 0x2;
efm32ggi2ccontroller.WriteDoubleWord(0x4, cmd);
// Check that MSTOP interrupt has been issued
interruptFlags = efm32ggi2ccontroller.ReadDoubleWord(0x28);
Assert.AreEqual((interruptFlags & 0x100), 0x100);
}
public void ReadDataTest()
{
List<byte> packet = new List<byte>();
var bmc050 = new BMC050();
bmc050.Reset();
// TODO : setup device? With parameters for measurements
for(int i=0; i<5; i++)
{
// Read temperature measurement
// Construct packet list for read of temperature register
packet.Add((byte)0xFC);
packet.Add((byte)0x08);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Temperature register
byte[] temperature = bmc050.Read();
Assert.Greater(temperature[0], 0);
////////////////////////////////////////////////////////////
// Read Accelerometer X measurement
// Construct packet list for read of accelerometer X register
packet.Add((byte)0xFC);
packet.Add((byte)0x02);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer X LSB and MSB registers
byte[] acc_x = bmc050.Read();
int accelerometerX = (((int)acc_x[1] << 2) & 0xFFC) + (((int)acc_x[0] >> 6) & 0x3);
Assert.Greater(accelerometerX, 0);
// Read Accelerometer Y measurement
// Construct packet list for read of accelerometer Y register
packet.Add((byte)0xFC);
packet.Add((byte)0x04);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer Y LSB and MSB registers
byte[] acc_y = bmc050.Read();
int accelerometerY = (((int)acc_y[1] << 2) & 0xFFC) + (((int)acc_y[0] >> 6) & 0x3);
Assert.Greater(accelerometerY, 0);
// Read Accelerometer Z measurement
// Construct packet list for read of accelerometer Z register
packet.Add((byte)0xFC);
packet.Add((byte)0x06);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer Z LSB and MSB registers
byte[] acc_z = bmc050.Read();
int accelerometerZ = (((int)acc_z[1] << 2) & 0xFFC) + (((int)acc_z[0] >> 6) & 0x3);
Assert.Greater(accelerometerZ, 0);
////////////////////////////////////////////////////////////
// Read Magnetometer X measurement
// Construct packet list for read of magnetometer X register
packet.Add((byte)0xFC);
packet.Add((byte)0x42);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Magnetometer X LSB and MSB registers
byte[] mag_x = bmc050.Read();
int magnetometerX = (UInt16)((((UInt16)mag_x[1] << 5) & 0x1FE0) + (((UInt16)mag_x[0] >> 3) & 0x1F));
Assert.Greater(magnetometerX, 0);
// Read Magnetometer Y measurement
// Construct packet list for read of magnetometer Y register
packet.Add((byte)0xFC);
packet.Add((byte)0x44);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Magnetometer Y LSB and MSB registers
byte[] mag_y = bmc050.Read();
int magnetometerY = (UInt16)((((UInt16)mag_y[1] << 5) & 0x1FE0) + (((UInt16)mag_y[0] >> 3) & 0x1F));
Assert.Greater(magnetometerY, 0);
// Read Magnetometer Z measurement
// Construct packet list for read of magnetometer Z register
packet.Add((byte)0xFC);
packet.Add((byte)0x46);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Magnetometer Z LSB and MSB registers
byte[] mag_z = bmc050.Read();
int magnetometerZ = (UInt16)((((UInt16)mag_z[1] << 5) & 0x1FE0) + (((UInt16)mag_z[0] >> 3) & 0x1F));
Assert.Greater(magnetometerZ, 0);
// Read Hall resistance measurement
// Construct packet list for read of Hall resistance registers
packet.Add((byte)0xFC);
packet.Add((byte)0x48);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read Hall resistance LSB and MSB registers
byte[] rhall = bmc050.Read();
int resistanceHall = (UInt16)((((UInt16)rhall[1] << 5) & 0x1FE0) + (((UInt16)rhall[0] >> 3) & 0x1F));
Assert.Greater(resistanceHall, 0);
////////////////////////////////////////////////////////////
// Test read of all three accelerometer ADC values in one go
packet.Add((byte)0xFC);
packet.Add((byte)0x02);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read
byte[] acc_data = bmc050.Read();
accelerometerX = (((int)acc_data[1] << 2) & 0xFFC) + (((int)acc_data[0] >> 6) & 0x3);
Assert.Greater(accelerometerX, 0);
accelerometerY = (((int)acc_data[3] << 2) & 0xFFC) + (((int)acc_data[2] >> 6) & 0x3);
Assert.Greater(accelerometerY, 0);
accelerometerZ = (((int)acc_data[5] << 2) & 0xFFC) + (((int)acc_data[4] >> 6) & 0x3);
Assert.Greater(accelerometerZ, 0);
////////////////////////////////////////////////////////////
// Test read of all three magnetometer ADC and Hall resistance values in one go
// Construct packet list for read of magnetometer X register
packet.Add((byte)0xFC);
packet.Add((byte)0x42);
bmc050.Write(packet.ToArray());
packet.Clear();
// Read
byte[] mag_data = bmc050.Read();
magnetometerX = (UInt16)((((UInt16)mag_data[1] << 5) & 0x1FE0) + (((UInt16)mag_data[0] >> 3) & 0x1F));
Assert.Greater(magnetometerX, 0);
magnetometerY = (UInt16)((((UInt16)mag_data[3] << 5) & 0x1FE0) + (((UInt16)mag_data[2] >> 3) & 0x1F));
Assert.Greater(magnetometerY, 0);
magnetometerZ = (UInt16)((((UInt16)mag_data[5] << 5) & 0x1FE0) + (((UInt16)mag_data[4] >> 3) & 0x1F));
Assert.Greater(magnetometerZ, 0);
resistanceHall = (UInt16)((((UInt16)mag_data[7] << 5) & 0x1FE0) + (((UInt16)mag_data[6] >> 3) & 0x1F));
Assert.Greater(resistanceHall, 0);
}
}
public void InitTest()
{
List<byte> packet = new List<byte> ();
var bmc050 = new BMC050 ();
bmc050.Reset ();
// Check the Chip ID
packet.Add ((byte)0xFC);
packet.Add ((byte)0x00);
bmc050.Write (packet.ToArray ());
packet.Clear ();
byte[] chipId = bmc050.Read ();
Assert.AreEqual (chipId[0], 0x3);
// Check the reserved 0x01 register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
byte[] registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x21);
// Check the bandwidth register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x10);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x1F);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x10);
packet.Add ((byte)0x0C);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x10);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0C);
// Check the power register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x11);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x11);
packet.Add ((byte)0x07);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x11);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x07);
// Check the g-range register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x0F);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x3);
// Check the SoftReset register value
// And funtionality through write of 0x5 to g-range register and check default value 0x3
packet.Add ((byte)0xFC);
packet.Add ((byte)0x14);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x0F);
packet.Add ((byte)0x05);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x0F);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x5);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x14);
packet.Add ((byte)0xB6); // Issue Soft Reset command
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x0F);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x3);
// Check the DAQ control register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x13);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x13);
packet.Add ((byte)0xC0);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x13);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0xC0);
// Check the first IRQ control register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x16);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x16);
packet.Add ((byte)0x21);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x16);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x21);
// Check the second IRQ control register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x17);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x17);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x17);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the first IRQ mapping register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x19);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x19);
packet.Add ((byte)0x02);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x19);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x02);
// Check the second IRQ mapping register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x1A);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x1A);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x1A);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the third IRQ mapping register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x1B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x1B);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x1B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the IRQ data source register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x1E);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x1E);
packet.Add ((byte)0x04);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x1E);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x04);
// Check the IRQ electrical behaviour register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x20);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x20);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x20);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the IRQ reset and mode register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x21);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x21);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x21);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the LowDur register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x22);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x09);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x22);
packet.Add ((byte)0x0D);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x22);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0D);
// Check the LowTh register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x23);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x30);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x23);
packet.Add ((byte)0x40);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x23);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x40);
// Check the low-g interrupt hysteresis register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x24);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x81);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x24);
packet.Add ((byte)0x41);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x24);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x41);
// Check the HighDur register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x25);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0F);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x25);
packet.Add ((byte)0x1F);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x25);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x1F);
// Check the HighTh register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x26);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0xC0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x26);
packet.Add ((byte)0xC1);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x26);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0xC1);
// Check the SlopeDur register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x27);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x27);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x27);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the SlopeTh register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x28);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x14);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x28);
packet.Add ((byte)0x11);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x28);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x11);
// Check the first tap configuration register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2A);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x04);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x2A);
packet.Add ((byte)0x02);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2A);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x02);
// Check the second tap configuration register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0A);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x2B);
packet.Add ((byte)0x0C);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0C);
// Check the first orientation configuration register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2C);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x18);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x2C);
packet.Add ((byte)0x28);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2C);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x28);
// Check the second orientation configuration register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2D);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x08);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x2D);
packet.Add ((byte)0x04);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2D);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x04);
// Check the first flat angle configuration register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2E);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x08);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x2E);
packet.Add ((byte)0x10);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2E);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x10);
// Check the second flat configuration register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2F);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x10);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x2F);
packet.Add ((byte)0x20);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2F);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x20);
// Check the self test register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x32);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x70);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x32);
packet.Add ((byte)0x75);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x32);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x75);
// Check the EEPROM control register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x33);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x04);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x33);
packet.Add ((byte)0x41); // Unlocks the EEPROM
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x33);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x41);
// Check the interface config register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x34);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x34);
packet.Add ((byte)0x02);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x34);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x02);
// Check the offset compensation register
// Setting bit 7 resets the value of the register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x36);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x36);
packet.Add ((byte)0x02);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x36);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x02);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x36);
packet.Add ((byte)0x80);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x36);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
// Check the offset target register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x37);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x37);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x37);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the offset compensation for filtered x axis data register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x38);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x38);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x38);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the offset compensation for filtered y axis data register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x39);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x39);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x39);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the offset compensation for filtered z axis data register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x3A);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x3A);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x3A);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the offset compensation for unfiltered x axis data register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x3B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x3B);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x3B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the offset compensation for unfiltered y axis data register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x3C);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x3C);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x3C);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the offset compensation for unfiltered z axis data register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x3D);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x3D);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x3D);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the Magnetometer Chip ID
packet.Add ((byte)0xFC);
packet.Add ((byte)0x40);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x32);
// Check the magnetometer interrupt status register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4A);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
// Check the magnetometer control register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x1);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x4B);
packet.Add ((byte)0x0);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
// Do not leave it in suspended state
packet.Add ((byte)0xFD);
packet.Add ((byte)0x4B);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4B);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the magnetometer operation mode register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4C);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x06);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x4C);
packet.Add ((byte)0x07);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4C);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x07);
// Check the first magnetometer interrupt ctrl register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4D);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x3F);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x4D);
packet.Add ((byte)0x38);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4D);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x38);
// Check the second magnetometer interrupt ctrl register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4E);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x07);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x4E);
packet.Add ((byte)0x05);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4E);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x05);
// Check the magnetometer LowTh register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4F);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x4F);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x4F);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the magnetometer HighTh register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x50);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x50);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x50);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the magnetometer RepXY register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x51);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x51);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x51);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
// Check the magnetometer RepZ register
packet.Add ((byte)0xFC);
packet.Add ((byte)0x52);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x0);
packet.Add ((byte)0xFD);
packet.Add ((byte)0x52);
packet.Add ((byte)0x01);
bmc050.Write (packet.ToArray ());
packet.Clear ();
packet.Add ((byte)0xFC);
packet.Add ((byte)0x52);
bmc050.Write (packet.ToArray ());
packet.Clear ();
registerValue = bmc050.Read ();
Assert.AreEqual (registerValue[0], 0x01);
}
