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[docs] Add missing JavaDocs (#6125)

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This commit is contained in:
Tyler Veness
2024-01-01 22:56:23 -08:00
committed by GitHub
parent 5579219716
commit ad0859a8c9
137 changed files with 1202 additions and 204 deletions
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15
wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
View File

@@ -679,8 +679,13 @@ double ADIS16448_IMU::CompFilterProcess(double compAngle, double accelAngle,
return compAngle;
}
int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
uint16_t writeValue = DecimationSetting;
int ADIS16448_IMU::ConfigDecRate(uint16_t decimationRate) {
// Switches the active SPI port to standard SPI mode, writes a new value to
// the DECIMATE register in the IMU, and re-enables auto SPI.
//
// This function enters standard SPI mode, writes a new DECIMATE setting to
// the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
uint16_t writeValue = decimationRate;
uint16_t readbackValue;
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
@@ -688,14 +693,14 @@ int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
}
/* Check max */
if (DecimationSetting > 9) {
if (decimationRate > 9) {
REPORT_ERROR(
"Attempted to write an invalid decimation value. Capping at 9");
DecimationSetting = 9;
decimationRate = 9;
}
/* Shift decimation setting to correct position and select internal sync */
writeValue = (DecimationSetting << 8) | 0x1;
writeValue = (decimationRate << 8) | 0x1;
/* Apply to IMU */
WriteRegister(SMPL_PRD, writeValue);

29
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
View File

@@ -348,31 +348,22 @@ int ADIS16470_IMU::ConfigCalTime(CalibrationTime new_cal_time) {
return 0;
}
/**
* @brief Switches the active SPI port to standard SPI mode, writes a new value
*to the DECIMATE register in the IMU, and re-enables auto SPI.
*
* @param reg Decimation value to be set.
*
* @return An int indicating the success or failure of writing the new DECIMATE
*setting and returning to auto SPI mode. 0 = Success, 1 = No Change, 2 =
*Failure
*
* This function enters standard SPI mode, writes a new DECIMATE setting to the
*IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
**/
int ADIS16470_IMU::ConfigDecRate(uint16_t reg) {
uint16_t m_reg = reg;
int ADIS16470_IMU::ConfigDecRate(uint16_t decimationRate) {
// Switches the active SPI port to standard SPI mode, writes a new value to
// the DECIMATE register in the IMU, and re-enables auto SPI.
//
// This function enters standard SPI mode, writes a new DECIMATE setting to
// the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
return 2;
}
if (m_reg > 1999) {
if (decimationRate > 1999) {
REPORT_ERROR("Attempted to write an invalid decimation value.");
m_reg = 1999;
decimationRate = 1999;
}
m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
WriteRegister(DEC_RATE, m_reg);
m_scaled_sample_rate = (((decimationRate + 1.0) / 2000.0) * 1000000.0);
WriteRegister(DEC_RATE, decimationRate);
if (!SwitchToAutoSPI()) {
REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
return 2;