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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
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@@ -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);