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 SpiTransferTest()
{
Console.WriteLine("Starting SPI transfer test...");
uint writeVal;
uint[] readArray;
List <uint> writeData = new List <uint>();
/* Set word length of 8 */
Console.WriteLine("Testing word length of 8 bits...");
FX3.WordLength = 8;
TestSpiFunctionality();
for (int bit = 0; bit < 8; bit++)
{
Console.WriteLine("Testing bit " + bit.ToString());
Assert.AreEqual(1U << bit, FX3.Transfer(1U << bit), "ERROR: SPI loop back failed");
}
/* Bits outside of word length should not be echo'd */
for (int bit = 8; bit < 32; bit++)
{
Console.WriteLine("Testing bit " + bit.ToString());
Assert.AreEqual(0, FX3.Transfer(1U << bit), "ERROR: SPI loop back failed");
}
/* Set word length of 16 */
Console.WriteLine("Testing word length of 16 bits...");
FX3.WordLength = 16;
for (int bit = 0; bit < 16; bit++)
{
Console.WriteLine("Testing bit " + bit.ToString());
Assert.AreEqual(1U << bit, FX3.Transfer(1U << bit), "ERROR: SPI loop back failed");
}
/* Bits outside of word length should not be echo'd */
for (int bit = 16; bit < 32; bit++)
{
Console.WriteLine("Testing bit " + bit.ToString());
Assert.AreEqual(0, FX3.Transfer(1U << bit), "ERROR: SPI loop back failed");
}
/* Set word length of 24 */
Console.WriteLine("Testing word length of 24 bits...");
FX3.WordLength = 24;
for (int bit = 0; bit < 24; bit++)
{
Console.WriteLine("Testing bit " + bit.ToString());
Assert.AreEqual(1U << bit, FX3.Transfer(1U << bit), "ERROR: SPI loop back failed");
}
/* Bits outside of word length should not be echo'd */
for (int bit = 24; bit < 32; bit++)
{
Console.WriteLine("Testing bit " + bit.ToString());
Assert.AreEqual(0, FX3.Transfer(1U << bit), "ERROR: SPI loop back failed");
}
/* Set word length of 32 */
Console.WriteLine("Testing word length of 32 bits...");
FX3.WordLength = 32;
for (int bit = 0; bit < 32; bit++)
{
Console.WriteLine("Testing bit " + bit.ToString());
Assert.AreEqual(1U << bit, FX3.Transfer(1U << bit), "ERROR: SPI loop back failed");
}
Console.WriteLine("Testing random 32-bit values...");
var rnd = new Random();
for (int trial = 0; trial < 256; trial++)
{
writeVal = (uint)(rnd.NextDouble() * uint.MaxValue);
Console.WriteLine("Writing 0x" + writeVal.ToString("X8"));
Assert.AreEqual(writeVal, FX3.Transfer(writeVal), "ERROR: SPI loop back failed");
}
Console.WriteLine("Testing array based SPI transfers...");
for (int writeSize = 1; writeSize < 10; writeSize++)
{
writeData.Clear();
for (uint i = 0; i < writeSize; i++)
{
writeData.Add(i);
}
for (uint numBuffers = 1; numBuffers < 10; numBuffers++)
{
for (uint numCaptures = 1; numCaptures < 10; numCaptures++)
{
Console.WriteLine("Testing write data array " + writeSize.ToString() + " words long, with " + numCaptures.ToString() + " numcaptures and " + numBuffers.ToString() + " numbuffers");
readArray = FX3.TransferArray(writeData, numCaptures, numBuffers);
/* Size should be write data count * numbuffers * numCaptures */
Assert.AreEqual(writeSize * numBuffers * numCaptures, readArray.Count(), "ERROR: Invalid data size received");
int i = 0;
/* Check echo data */
for (int index = 0; index < readArray.Count(); index++)
{
i = index % writeSize;
Assert.AreEqual(writeData[i], readArray[i], "ERROR: Invalid SPI data at index " + index.ToString());
}
}
}
}
}
public void SpiStallTimeTest()
{
Console.WriteLine("Starting SPI stall time test...");
double expectedTime;
Stopwatch timer = new Stopwatch();
double baseTime = 0;
int numReads = 5;
uint[] MOSI = new uint[200];
/* Stall time for transfer reads (32 bits) */
Console.WriteLine("Testing stall time for 32-bit reads (transfer stream)...");
FX3.WordLength = 32;
FX3.SclkFrequency = 15000000;
FX3.ChipSelectLeadTime = SpiLagLeadTime.SPI_SSN_LAG_LEAD_ONE_HALF_CLK;
FX3.ChipSelectLagTime = SpiLagLeadTime.SPI_SSN_LAG_LEAD_ONE_HALF_CLK;
/* Get base stall time (5us stall) */
for (int i = 0; i < 8; i++)
{
timer.Restart();
for (int trial = 0; trial < numReads; trial++)
{
FX3.TransferArray(MOSI, 5);
}
timer.Stop();
baseTime += timer.ElapsedMilliseconds;
}
/* Average base time */
baseTime /= 8.0;
Console.WriteLine("Base SPI transfer time with 5us stall: " + baseTime.ToString() + "ms");
for (ushort stallTime = 50; stallTime >= 7; stallTime--)
{
Console.WriteLine("Testing stall time of " + stallTime.ToString() + "us");
FX3.StallTime = stallTime;
/* Perform sets of 5 sets of 200 32-bit transfers (999 stalls). Expected time is in ms */
expectedTime = (stallTime - 5) * numReads;
/* Add base time overhead */
expectedTime += baseTime;
timer.Restart();
for (int trial = 0; trial < numReads; trial++)
{
FX3.TransferArray(MOSI, 5);
}
timer.Stop();
Console.WriteLine("Expected time: " + expectedTime.ToString() + "ms, real time: " + timer.ElapsedMilliseconds.ToString() + "ms");
Assert.AreEqual(expectedTime, timer.ElapsedMilliseconds, 0.5 * baseTime, "ERROR: Invalid transfer time");
System.Threading.Thread.Sleep(100);
}
/* Stall time for generic reads */
Console.WriteLine("Testing stall time for 16-bit reads (generic stream)...");
FX3.WordLength = 16;
/* Get base stall time (5us stall) */
baseTime = 0;
for (int i = 0; i < 8; i++)
{
timer.Restart();
for (int trial = 0; trial < numReads; trial++)
{
FX3.ReadRegArray(MOSI, 5);
}
timer.Stop();
baseTime += timer.ElapsedMilliseconds;
}
/* Average base time */
baseTime /= 8.0;
Console.WriteLine("Base SPI transfer time with 5us stall: " + baseTime.ToString() + "ms");
for (ushort stallTime = 50; stallTime >= 7; stallTime--)
{
Console.WriteLine("Testing stall time of " + stallTime.ToString() + "us");
FX3.StallTime = stallTime;
/* Perform sets of 5 sets of 200 16-bit transfers (999 stalls). Expected time is in ms */
expectedTime = (stallTime - 5) * numReads;
/* Add base time overhead */
expectedTime += baseTime;
timer.Restart();
for (int trial = 0; trial < numReads; trial++)
{
FX3.ReadRegArray(MOSI, 5);
}
timer.Stop();
Console.WriteLine("Expected time: " + expectedTime.ToString() + "ms, real time: " + timer.ElapsedMilliseconds.ToString() + "ms");
Assert.AreEqual(expectedTime, timer.ElapsedMilliseconds, 0.5 * baseTime, "ERROR: Invalid transfer time");
System.Threading.Thread.Sleep(100);
}
FX3.StallTime = 5;
}