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Remove duplicated code in branches

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This commit is contained in:
Gold856
2024-06-19 17:31:02 -04:00
parent 02be4f62e9
commit be95a07f04
4 changed files with 34 additions and 84 deletions
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31
wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
View File

@@ -378,29 +378,16 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
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);
if (prod_id != 16448) {
REPORT_ERROR("Could not find ADIS16448!");
Close();
return false;
}
return true;
} else {
// Maybe the SPI port is active, but not in auto SPI mode? Try to read the
// product ID.
ReadRegister(PROD_ID); // Dummy read
uint16_t prod_id = ReadRegister(PROD_ID);
if (prod_id != 16448) {
REPORT_ERROR("Could not find ADIS16448!");
Close();
return false;
} else {
return true;
}
}
ReadRegister(PROD_ID); // Dummy read
// Validate the product ID
uint16_t prod_id = ReadRegister(PROD_ID);
if (prod_id != 16448) {
REPORT_ERROR("Could not find ADIS16448!");
Close();
return false;
}
return true;
}
void ADIS16448_IMU::InitOffsetBuffer(int size) {

31
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
View File

@@ -356,29 +356,16 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
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);
if (prod_id != 16982 && prod_id != 16470) {
REPORT_ERROR("Could not find ADIS16470!");
Close();
return false;
}
return true;
} else {
// Maybe the SPI port is active, but not in auto SPI mode? Try to read the
// product ID.
ReadRegister(PROD_ID); // Dummy read
uint16_t prod_id = ReadRegister(PROD_ID);
if (prod_id != 16982 && prod_id != 16470) {
REPORT_ERROR("Could not find ADIS16470!");
Close();
return false;
} else {
return true;
}
}
ReadRegister(PROD_ID); // Dummy read
// Validate the product ID
uint16_t prod_id = ReadRegister(PROD_ID);
if (prod_id != 16982 && prod_id != 16470) {
REPORT_ERROR("Could not find ADIS16470!");
Close();
return false;
}
return true;
}
/**

28
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View File

@@ -424,27 +424,15 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
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) {
DriverStation.reportError("Could not find ADIS16448", false);
close();
return false;
}
return true;
} else {
// Maybe the SPI port is active, but not in auto SPI mode? Try to read the
// product ID.
readRegister(PROD_ID); // dummy read
if (readRegister(PROD_ID) != 16448) {
DriverStation.reportError("Could not find an ADIS16448", false);
close();
return false;
} else {
return true;
}
}
readRegister(PROD_ID); // Dummy read
// Validate the product ID
if (readRegister(PROD_ID) != 16448) {
DriverStation.reportError("Could not find ADIS16448", false);
close();
return false;
}
return true;
}
boolean switchToAutoSPI() {

28
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -478,27 +478,15 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
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) {
DriverStation.reportError("Could not find ADIS16470", false);
close();
return false;
}
return true;
} else {
// Maybe the SPI port is active, but not in auto SPI mode? Try to read the
// product ID.
readRegister(PROD_ID); // dummy read
if (readRegister(PROD_ID) != 16982) {
DriverStation.reportError("Could not find an ADIS16470", false);
close();
return false;
} else {
return true;
}
}
readRegister(PROD_ID); // Dummy read
// Validate the product ID
if (readRegister(PROD_ID) != 16982) {
DriverStation.reportError("Could not find an ADIS16470", false);
close();
return false;
}
return true;
}
/**