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[wpilib] ADIS IMUs: Add back null checks (#7117)

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* Revert "Move creation of objects to ctor"

This reverts commit b1d8001652.

* [wpilib] ADIS IMUs: Add back null checks
This commit is contained in:
Gold856
2024-09-22 21:05:09 -04:00
committed by GitHub
parent f93bacc5c5
commit ba1b97cd78
4 changed files with 67 additions and 30 deletions
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24
wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
View File

@@ -99,11 +99,6 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
ConfigCalTime(cal_time);
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(1000000);
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
// Configure standard SPI
if (!SwitchToStandardSPI()) {
return;
}
@@ -178,8 +173,6 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
"required!");
}
m_auto_interrupt = new DigitalInput(10);
// Configure and enable auto SPI
if (!SwitchToAutoSPI()) {
return;
}
@@ -352,7 +345,7 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
Wait(10_ms);
}
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_auto_configured) {
if (m_spi != nullptr && m_auto_configured) {
m_spi->StopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it.
@@ -371,6 +364,12 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
}
}
}
if (m_spi == nullptr) {
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(1000000);
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
}
ReadRegister(PROD_ID); // Dummy read
// Validate the product ID
uint16_t prod_id = ReadRegister(PROD_ID);
@@ -412,6 +411,15 @@ void ADIS16448_IMU::InitOffsetBuffer(int size) {
*are hard-coded to work only with the ADIS16448 IMU.
**/
bool ADIS16448_IMU::SwitchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == nullptr && !SwitchToStandardSPI()) {
REPORT_ERROR("Failed to start/restart auto SPI");
return false;
}
// Only set up the interrupt if needed.
if (m_auto_interrupt == nullptr) {
m_auto_interrupt = new DigitalInput(10);
}
// The auto SPI controller gets angry if you try to set up two instances on
// one bus.
if (!m_auto_configured) {

24
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
View File

@@ -118,10 +118,6 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
m_reset_in = new DigitalInput(27); // Set SPI CS2 (IMU RST) high
Wait(500_ms); // Wait for reset to complete
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(2000000);
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
// Configure standard SPI
if (!SwitchToStandardSPI()) {
return;
@@ -186,7 +182,6 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
// Write offset calibration command to IMU
WriteRegister(GLOB_CMD, 0x0001);
m_auto_interrupt = new DigitalInput(26);
// Configure and enable auto SPI
if (!SwitchToAutoSPI()) {
return;
@@ -331,7 +326,7 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
Wait(10_ms);
}
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_auto_configured) {
if (m_spi != nullptr && m_auto_configured) {
m_spi->StopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it.
@@ -349,6 +344,13 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
}
}
}
// There doesn't seem to be a SPI port active. Let's try to set one up
if (m_spi == nullptr) {
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(2000000);
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
}
ReadRegister(PROD_ID); // Dummy read
// Validate the product ID
uint16_t prod_id = ReadRegister(PROD_ID);
@@ -377,6 +379,16 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
*are hard-coded to work only with the ADIS16470 IMU.
**/
bool ADIS16470_IMU::SwitchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == nullptr && !SwitchToStandardSPI()) {
REPORT_ERROR("Failed to start/restart auto SPI");
return false;
}
// Only set up the interrupt if needed.
if (m_auto_interrupt == nullptr) {
m_auto_interrupt = new DigitalInput(26);
}
// The auto SPI controller gets angry if you try to set up two instances on
// one bus.
if (!m_auto_configured) {