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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
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View File

@@ -270,10 +270,6 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
configCalTime(cal_time);
m_spi = new SPI(m_spi_port);
m_spi.setClockRate(1000000);
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
if (!switchToStandardSPI()) {
return;
}
@@ -342,9 +338,6 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
"ADIS16448: Flash and RAM configuration consistent. No flash update required!", false);
}
// Set up the interrupt
m_auto_interrupt = new DigitalInput(10); // MXP DIO0
// Configure standard SPI
if (!switchToAutoSPI()) {
return;
}
@@ -403,7 +396,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
}
System.out.println("Paused the IMU processing thread successfully!");
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_auto_configured) {
if (m_spi != null && m_auto_configured) {
m_spi.stopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it.
@@ -424,6 +417,12 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
System.out.println("Paused auto SPI successfully.");
}
}
if (m_spi == null) {
m_spi = new SPI(m_spi_port);
m_spi.setClockRate(1000000);
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
}
readRegister(PROD_ID); // Dummy read
// Validate the product ID
if (readRegister(PROD_ID) != 16448) {
@@ -435,6 +434,15 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
}
boolean switchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == null && !switchToStandardSPI()) {
DriverStation.reportError("Failed to start/restart auto SPI", false);
return false;
}
// Only set up the interrupt if needed.
if (m_auto_interrupt == null) {
m_auto_interrupt = new DigitalInput(10); // MXP DIO0
}
// The auto SPI controller gets angry if you try to set up two instances on one
// bus.
if (!m_auto_configured) {

25
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -338,10 +338,6 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
m_reset_in = new DigitalInput(27); // Set SPI CS2 (IMU RST) high
Timer.delay(0.25); // Wait for reset to complete
m_spi = new SPI(m_spi_port);
m_spi.setClockRate(2000000);
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
if (!switchToStandardSPI()) {
return;
}
@@ -402,9 +398,6 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
// Write offset calibration command to IMU
writeRegister(GLOB_CMD, 0x0001);
// Configure interrupt on SPI CS1
m_auto_interrupt = new DigitalInput(26);
// Configure and enable auto SPI
if (!switchToAutoSPI()) {
return;
}
@@ -459,7 +452,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
}
System.out.println("Paused the IMU processing thread successfully!");
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_auto_configured) {
if (m_spi != null && m_auto_configured) {
m_spi.stopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it.
@@ -478,6 +471,12 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
System.out.println("Paused auto SPI successfully.");
}
}
if (m_spi == null) {
m_spi = new SPI(m_spi_port);
m_spi.setClockRate(2000000);
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
}
readRegister(PROD_ID); // Dummy read
// Validate the product ID
if (readRegister(PROD_ID) != 16982) {
@@ -494,6 +493,16 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return True if successful, false otherwise.
*/
boolean switchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == null && !switchToStandardSPI()) {
DriverStation.reportError("Failed to start/restart auto SPI", false);
return false;
}
// Only set up the interrupt if needed.
if (m_auto_interrupt == null) {
// Configure interrupt on SPI CS1
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) {