public void InitTest()
{
List<byte> packet = new List<byte> ();
var bma180 = new BMA180 ();
bma180.Reset ();
////////////////////////////////////////////////////////////
// Check the Chip ID
packet.Add ((byte)0xFC);
packet.Add ((byte)0x00);
bma180.Write (packet.ToArray ());
packet.Clear ();
byte[] registerValue = bma180.Read ();
Assert.AreEqual (registerValue[0], 0x3);
////////////////////////////////////////////////////////////
// Check CtrlReg0
// Read default
packet.Add ((byte)0xFC);
packet.Add ((byte)0x0D);
bma180.Write (packet.ToArray ());
packet.Clear ();
registerValue = bma180.Read ();
Assert.AreEqual (registerValue[0], 0x0);
// Write, set ee_w bit
packet.Add ((byte)0xFD);
packet.Add ((byte)0x0D);
packet.Add ((byte)0x10);
bma180.Write (packet.ToArray ());
packet.Clear ();
// Read back
packet.Add ((byte)0xFC);
packet.Add ((byte)0x0D);
bma180.Write (packet.ToArray ());
packet.Clear ();
registerValue = bma180.Read ();
Assert.AreEqual (registerValue[0], 0x10);
////////////////////////////////////////////////////////////
// Check the SoftReset
packet.Add ((byte)0xFC);
packet.Add ((byte)0x10);
bma180.Write (packet.ToArray ());
packet.Clear ();
byte[] softReset = bma180.Read ();
Assert.AreEqual (softReset[0], 0);
// Write, command 0xB6 for soft reset
packet.Add ((byte)0xFD);
packet.Add ((byte)0x10);
packet.Add ((byte)0xB6);
bma180.Write (packet.ToArray ());
packet.Clear ();
// Read back CtrlReg0 and check that ee_w bit is cleared
packet.Add ((byte)0xFC);
packet.Add ((byte)0x0D);
bma180.Write (packet.ToArray ());
packet.Clear ();
registerValue = bma180.Read ();
Assert.AreEqual (registerValue[0], 0x0);
////////////////////////////////////////////////////////////
// Check LowDur
packet.Add ((byte)0xFC);
packet.Add ((byte)0x26);
bma180.Write (packet.ToArray ());
packet.Clear ();
byte[] lowDur = bma180.Read ();
Assert.AreEqual (lowDur[0], 0x50);
////////////////////////////////////////////////////////////
// Check HighDur
packet.Add ((byte)0xFC);
packet.Add ((byte)0x27);
bma180.Write (packet.ToArray ());
packet.Clear ();
byte[] highDur = bma180.Read ();
Assert.AreEqual (highDur[0], 0x32);
////////////////////////////////////////////////////////////
// Check LowTh
packet.Add ((byte)0xFC);
packet.Add ((byte)0x29);
bma180.Write (packet.ToArray ());
packet.Clear ();
byte[] lowTh = bma180.Read ();
Assert.AreEqual (lowTh[0], 0x17);
////////////////////////////////////////////////////////////
// Check HighTh
packet.Add ((byte)0xFC);
packet.Add ((byte)0x2A);
bma180.Write (packet.ToArray ());
packet.Clear ();
byte[] highTh = bma180.Read ();
Assert.AreEqual (highTh[0], 0x50);
}
public void ReadDataTest()
{
List<byte> packet = new List<byte>();
var bma180 = new BMA180();
bma180.Reset();
// Read temperature measurement
// Construct packet list for read of temperature register
packet.Add((byte)0xFC);
packet.Add((byte)0x08);
bma180.Write(packet.ToArray());
packet.Clear();
// Read Temperature register
byte[] temperature = bma180.Read();
Assert.Greater(temperature[0], 0);
// Read Accelerometer X measurement
packet.Add((byte)0xFC);
packet.Add((byte)0x02);
bma180.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer X LSB and MSB registers
byte[] acc_x = bma180.Read();
UInt16 accelerometerX = (UInt16)((((UInt16)acc_x[1] << 6) & 0x3FC0) + (((UInt16)acc_x[0] >> 2) & 0x3F));
Assert.GreaterOrEqual(accelerometerX, 0);
Assert.LessOrEqual(accelerometerX, 0x3FFF);
// Read Accelerometer Y measurement
packet.Add((byte)0xFC);
packet.Add((byte)0x04);
bma180.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer Y LSB and MSB registers
byte[] acc_y = bma180.Read();
UInt16 accelerometerY = (UInt16)((((UInt16)acc_y[1] << 6) & 0x3FC0) + (((UInt16)acc_y[0] >> 2) & 0x3F));
Assert.GreaterOrEqual(accelerometerY, 0);
Assert.LessOrEqual(accelerometerY, 0x3FFF);
// Read Accelerometer Z measurement
packet.Add((byte)0xFC);
packet.Add((byte)0x06);
bma180.Write(packet.ToArray());
packet.Clear();
// Read Accelerometer Z LSB and MSB registers
byte[] acc_z = bma180.Read();
UInt16 accelerometerZ = (UInt16)((((UInt16)acc_z[1] << 6) & 0x3FC0) + (((UInt16)acc_z[0] >> 2) & 0x3F));
Assert.GreaterOrEqual(accelerometerZ, 0);
Assert.LessOrEqual(accelerometerZ, 0x3FFF);
// Test read of all three accelerometer ADC values in one go
// Read Accelerometer X measurement
packet.Add((byte)0xFC);
packet.Add((byte)0x02);
bma180.Write(packet.ToArray());
packet.Clear();
// Read once
byte[] acc_data = bma180.Read();
// Check accelerometer data
accelerometerX = (UInt16)((((UInt16)acc_data[1] << 6) & 0x3FC0) + (((UInt16)acc_data[0] >> 2) & 0x3F));
Assert.GreaterOrEqual(accelerometerX, 0);
Assert.LessOrEqual(accelerometerX, 0x3FFF);
accelerometerY = (UInt16)((((UInt16)acc_data[3] << 6) & 0x3FC0) + (((UInt16)acc_data[2] >> 2) & 0x3F));
Assert.GreaterOrEqual(accelerometerY, 0);
Assert.LessOrEqual(accelerometerY, 0x3FFF);
accelerometerZ = (UInt16)((((UInt16)acc_data[5] << 6) & 0x3FC0) + (((UInt16)acc_x[1] >> 2) & 0x3F));
Assert.GreaterOrEqual(accelerometerZ, 0);
Assert.LessOrEqual(accelerometerZ, 0x3FFF);
}
