From 5ab0409c15d70cb97ebc2fec7398057dccee82a8 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Fri, 17 Jan 2025 19:14:20 -0700
Subject: [PATCH] [wpilib] ADIS164xx: report product ID on mismatch (#7706)

---
 wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp                | 4 +++-
 wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp                | 4 +++-
 .../src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java   | 5 +++--
 .../src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java   | 2 +-
 4 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index 7d42876c01..bc1b3a244b 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -18,6 +18,7 @@
 #include <numbers>
 #include <utility>
 
+#include <fmt/format.h>
 #include <hal/HAL.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
@@ -374,7 +375,8 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
   if (prod_id != 16448) {
-    REPORT_ERROR("Could not find ADIS16448!");
+    REPORT_ERROR(
+        fmt::format("Could not find ADIS16448; got product ID {}", prod_id));
     Close();
     return false;
   }
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index 3fef9505a5..2ff191376e 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -17,6 +17,7 @@
 #include <numbers>
 #include <utility>
 
+#include <fmt/format.h>
 #include <hal/HAL.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
@@ -355,7 +356,8 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
   if (prod_id != 16982 && prod_id != 16470) {
-    REPORT_ERROR("Could not find ADIS16470!");
+    REPORT_ERROR(
+        fmt::format("Could not find ADIS16470; got product ID {}", prod_id));
     Close();
     return false;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
index 7ef4c17eb2..008b17864f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -425,8 +425,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     }
     readRegister(PROD_ID); // Dummy read
     // Validate the product ID
-    if (readRegister(PROD_ID) != 16448) {
-      DriverStation.reportError("Could not find ADIS16448", false);
+    int prodId = readRegister(PROD_ID);
+    if (prodId != 16448) {
+      DriverStation.reportError("Could not find ADIS16448; got product ID " + prodId, false);
       close();
       return false;
     }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
index 169f13dd46..0a957e3d65 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -485,7 +485,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
     // Validate the product ID
     int prodId = readRegister(PROD_ID);
     if (prodId != 16982 && prodId != 16470) {
-      DriverStation.reportError("Could not find an ADIS16470", false);
+      DriverStation.reportError("Could not find an ADIS16470; got product ID " + prodId, false);
       close();
       return false;
     }