/// <summary>
/// ripped form unit tests
/// </summary>
/// <param name="ourImpl_"></param>
private void ConfigureCompass()
{
ITwiMasterConfigureCommand startCommand = CommandFactory_.CreateTwiConfigure(0, TwiMasterRate.RATE_400KHz, false);
OurImpl_.PostMessage(startCommand);
System.Threading.Thread.Sleep(50);
TwiDef_ = startCommand.TwiDef;
LOG.Debug("Ask for Who Am I");
// send the whoami command - we expect the id to be Gyro_WhoAmI_ID
byte[] ReadWhoAmiRegisterData = new byte[] { L3G4200DConstants.Gyro_WhoAmI_Register };
ITwiMasterSendDataCommand startupCommand1 = CommandFactory_.CreateTwiSendData(TwiDef_, L3G4200DConstants.GyroSlaveAddress1, false, ReadWhoAmiRegisterData, 1);
OurImpl_.PostMessage(startupCommand1);
System.Threading.Thread.Sleep(50);
// should check for Gyro_WhoAmI_ID_L3G4200D !
// Enable x, y, z and turn off power down
// auto increment registers
byte ControlRegisterAutoIncrement = L3G4200DConstants.Gyro_CTRL_REG1 |= Convert.ToByte(0x80);
byte[] RegisterConfigurationData = new byte[] { ControlRegisterAutoIncrement,
Convert.ToByte("00001111", 2),
Convert.ToByte("00000000", 2),
Convert.ToByte("00000000", 2),
(byte)(0x80 | L3G4200DConstants.Gyro_Range_DPS_2000), //Dont override values
//Enable High pass filter
Convert.ToByte("00000000", 2) };
LOG.Debug("Updating Registers starting with " + L3G4200DConstants.Gyro_CTRL_REG1.ToString("X") + ":" + RegisterConfigurationData);
ITwiMasterSendDataCommand ConfigureRegisters = CommandFactory_.CreateTwiSendData(TwiDef_, L3G4200DConstants.GyroSlaveAddress1, false, RegisterConfigurationData, 0);
OurImpl_.PostMessage(ConfigureRegisters);
}
public void TwiI2CTest_L3G4200D_Integration()
{
IOIOConnection ourConn = this.CreateGoodSerialConnection(false);
// create our custom I2C result observer and add it to the default set
ObserverI2cResultTest observer = new ObserverI2cResultTest();
this.CreateCaptureLogHandlerSet();
// we'll inject our observers on top of the default handlers so we don't have to peek into impl
IOIO ourImpl = CreateIOIOImplAndConnect(ourConn, new List <IObserverIOIO>()
{
this.CapturedConnectionState_, this.CapturedSingleQueueAllType_, this.CapturedLogs_,
observer
});
LOG.Debug("Setup Complete");
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
ourImpl.SoftReset();
System.Threading.Thread.Sleep(100);
IOIOMessageCommandFactory factory = new IOIOMessageCommandFactory();
ITwiMasterConfigureCommand startCommand = factory.CreateTwiConfigure(0, TwiMasterRate.RATE_400KHz, false);
ourImpl.PostMessage(startCommand);
System.Threading.Thread.Sleep(50);
TwiSpec twiDef = startCommand.TwiDef;
LOG.Debug("Ask for Who Am I");
// send the whoami command - we expect the id to be Gyro_WhoAmI_ID
byte[] ReadWhoAmiRegisterData = new byte[] { L3G4200DConstants.Gyro_WhoAmI_Register };
ITwiMasterSendDataCommand startupCommand1 = factory.CreateTwiSendData(twiDef, L3G4200DConstants.GyroSlaveAddress1, false, ReadWhoAmiRegisterData, 1);
ourImpl.PostMessage(startupCommand1);
System.Threading.Thread.Sleep(50);
// should check for Gyro_WhoAmI_ID_L3G4200D !
// Enable x, y, z and turn off power down
// auto increment registers
byte ControlRegisterAutoIncrement = L3G4200DConstants.Gyro_CTRL_REG1 |= Convert.ToByte(0x80);
byte[] RegisterConfigurationData = new byte[] { ControlRegisterAutoIncrement,
Convert.ToByte("00001111", 2),
Convert.ToByte("00000000", 2),
Convert.ToByte("00000000", 2),
L3G4200DConstants.Gyro_Range_DPS_2000,
//Enable High pass filter
Convert.ToByte("00000000", 2) };
LOG.Debug("Updating Registers starting with " + L3G4200DConstants.Gyro_CTRL_REG1.ToString("X") + ":" + RegisterConfigurationData);
ITwiMasterSendDataCommand ConfigureRegisters = factory.CreateTwiSendData(twiDef, L3G4200DConstants.GyroSlaveAddress1, false, RegisterConfigurationData, 0);
ourImpl.PostMessage(ConfigureRegisters);
LOG.Debug("Reading Registers starting with " + L3G4200DConstants.Gyro_CTRL_REG1.ToString("X"));
byte[] ReadRegisterControl = new byte[] { ControlRegisterAutoIncrement };
ITwiMasterSendDataCommand ReadRegistersCommand = factory.CreateTwiSendData(twiDef, L3G4200DConstants.GyroSlaveAddress1, false, ReadRegisterControl, 5);
ourImpl.PostMessage(ReadRegistersCommand);
System.Threading.Thread.Sleep(50);
// clear the list
observer.allEvents = new ConcurrentQueue <II2cResultFrom>();
// Read back the current values -- could wait for int to go high but can't see it....
// Top most bit in address turns on auto inc. That is weirder than usual i2c
// Who thought that there should be no bitwise byte operators but then came up with |= ?
// never get more than allowableOutstanding behind
// on my machine it takes 15msec to receive a message after sending
int allowableOutstanding = 10;
int numReps = 50;
int count = 0;
int maxWaitCount = 50;
for (int i = 1; i <= numReps; i++)
{
LOG.Debug("Send read-only command retreive xyz with auto increment sendCount: " + i);
observer.LastResult_ = null;
byte[] ReadFromFirstOutRegisterWithAutoInc = new byte[] { L3G4200DConstants.Gyro_First_Out_Register |= Convert.ToByte(0x80) };
ITwiMasterSendDataCommand ReadXYZ = factory.CreateTwiSendData(twiDef, L3G4200DConstants.GyroSlaveAddress1, false, ReadFromFirstOutRegisterWithAutoInc, 6);
ourImpl.PostMessage(ReadXYZ);
count = 0;
while (count <= maxWaitCount && i > observer.allEvents.Count + allowableOutstanding)
{
// waiting for some reply
LOG.Debug("waiting: sendCount:" + i + ", observCount:" + observer.allEvents.Count);
System.Threading.Thread.Sleep(5);
count++;
}
if (count >= maxWaitCount)
{
Assert.Fail("waitedCount:" + count + " while trying to send");
}
}
// this is only needed if maxWaitCount > 0
count = 0;
while (count < maxWaitCount && numReps > observer.allEvents.Count)
{
LOG.Debug("i:" + numReps + ",count:" + observer.allEvents.Count);
System.Threading.Thread.Sleep(10);
count++;
}
if (count >= maxWaitCount)
{
Assert.Fail("waited " + count + " while trying to receive");
}
System.Threading.Thread.Sleep(50);
LOG.Debug("Close Gyroscope");
ITwiMasterCloseCommand closeCommand = factory.CreateTwiClose(twiDef);
ourImpl.PostMessage(closeCommand);
System.Threading.Thread.Sleep(100);
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured (all):" + this.CapturedSingleQueueAllType_.Count());
// expect 6 + number of reports we requested
LOG.Debug("Captured (i2c):" + observer.allEvents.Count);
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
// should verify close command
}
public void TwiI2CTest_JEELabsExpander_Integration()
{
int ExpectedReceiveCount = 0;
int TwiVirtualDevice = 0;
// slave address is 7 bits, ExpanderPlug uses 0x20, 0x21, 0x22 0x23 based on jumpers
int JeeExpanderAddress = 0x20;
byte RegisterIoDir = 0x00;
byte RegisterIPol = 0x01; // input polarity
byte RegisterGpIntEna = 0x02;
byte RegisterDefVal = 0x03;
byte RegisterIntCon = 0x04;
byte RegisterIoCon = 0x05; // controls auto increment for read
byte RegisterGppu = 0x06;
byte RegisterIntf = 0x07;
byte RegisterIntCap = 0x08;
byte RegisterGpio = 0x09; // Port values. Writing modifes the OLat
byte RegisterOLat = 0x0a; // Output Latch
// all ouitput and inverted
byte[] ConfigureAllOutput = new Byte[] { RegisterIoDir, 0x00 };
byte[] ReadRegisterIoDir = new Byte[] { RegisterIoDir };
byte[] ReadRegisterOutputLatch = new Byte[] { RegisterOLat };
byte[] WriteAllHigh = new Byte[] { RegisterGpio, 0xFF };
byte[] WriteAllLow = new Byte[] { RegisterGpio, 0x00 };
IOIOConnection ourConn = this.CreateGoodSerialConnection(false);
this.CreateCaptureLogHandlerSet();
LOG.Debug("Setup Complete");
// we'll add the handler state on top of the default handlers so we don't have to peek into impl
ExpectedReceiveCount++;
IOIO ourImpl = CreateIOIOImplAndConnect(ourConn,
new List <IObserverIOIO>()
{
this.CapturedConnectionState_, this.CapturedSingleQueueAllType_, this.CapturedLogs_
});
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
LOG.Debug("Configuring TWI");
IOIOMessageCommandFactory factory = new IOIOMessageCommandFactory();
ITwiMasterConfigureCommand startCommand = factory.CreateTwiConfigure(TwiVirtualDevice, TwiMasterRate.RATE_400KHz, false);
ourImpl.PostMessage(startCommand);
ExpectedReceiveCount += 2; // HandleI2cOpen HandleI2cReportTxStatus
System.Threading.Thread.Sleep(50);
TwiSpec twiDef = startCommand.TwiDef;
LOG.Debug("Reading Initial Register Status");
ITwiMasterSendDataCommand readInitalRegisterState = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, ReadRegisterIoDir, 11);
ourImpl.PostMessage(readInitalRegisterState);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
LOG.Debug("Configuring port direction as all output ");
ITwiMasterSendDataCommand configureDirectionCommand = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, ConfigureAllOutput, 0);
ourImpl.PostMessage(configureDirectionCommand);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
LOG.Debug("Reading Post-config Register Status");
ITwiMasterSendDataCommand readPostConfigRegisterState = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, ReadRegisterIoDir, 11);
ourImpl.PostMessage(readPostConfigRegisterState);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
// not really safe to reuse commands because you don't know if they are modified
ITwiMasterSendDataCommand commandHigh = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, WriteAllHigh, 0);
ITwiMasterSendDataCommand commandLow = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, WriteAllLow, 0);
ITwiMasterSendDataCommand queryOLat = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, ReadRegisterOutputLatch, 1);
for (int i = 0; i < 2; i++)
{
LOG.Debug("Post Low");
ourImpl.PostMessage(commandLow);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(150);
LOG.Debug("Check Are Latches Low");
ourImpl.PostMessage(queryOLat);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
LOG.Debug("Post High");
ourImpl.PostMessage(commandHigh);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(150);
LOG.Debug("Check Are Latches High");
ourImpl.PostMessage(queryOLat);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
}
ITwiMasterCloseCommand closeCommand = factory.CreateTwiClose(twiDef);
ourImpl.PostMessage(closeCommand);
ExpectedReceiveCount++; // HandleI2cClose
System.Threading.Thread.Sleep(100);
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured:" + +this.CapturedSingleQueueAllType_.Count() + " Expected:" + ExpectedReceiveCount);
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
// should verify close command!
// should verify results of the latch checks.!
// instead do this lame test!
Assert.AreEqual(ExpectedReceiveCount, this.CapturedSingleQueueAllType_.Count(),
"This test will fail if you do not have a JeeNodes port expander at I2C address " + JeeExpanderAddress
+ " on Twi " + TwiVirtualDevice);
}