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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 b1d8001.

* [wpilib] ADIS IMUs: Add back null checks
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@Gold856
Gold856 authored Sep 23, 2024
1 parent f93bacc commit ba1b97c
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Showing 4 changed files with 67 additions and 30 deletions.
24 changes: 16 additions & 8 deletions wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
Expand Down Expand Up @@ -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;
}
Expand Down Expand Up @@ -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.
Expand All @@ -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);
Expand Down Expand Up @@ -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) {
Expand Down
24 changes: 18 additions & 6 deletions wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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.
Expand All @@ -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);
Expand Down Expand Up @@ -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) {
Expand Down
24 changes: 16 additions & 8 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -270,10 +270,6 @@ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_

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;
}
Expand Down Expand Up @@ -342,9 +338,6 @@ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_
"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;
}
Expand Down Expand Up @@ -403,7 +396,7 @@ private boolean switchToStandardSPI() {
}
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.
Expand All @@ -424,6 +417,12 @@ private boolean switchToStandardSPI() {
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) {
Expand All @@ -435,6 +434,15 @@ private boolean switchToStandardSPI() {
}

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) {
Expand Down
25 changes: 17 additions & 8 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -338,10 +338,6 @@ public ADIS16470_IMU(
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;
}
Expand Down Expand Up @@ -402,9 +398,6 @@ public ADIS16470_IMU(
// 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;
}
Expand Down Expand Up @@ -459,7 +452,7 @@ private boolean switchToStandardSPI() {
}
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.
Expand All @@ -478,6 +471,12 @@ private boolean switchToStandardSPI() {
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) {
Expand All @@ -494,6 +493,16 @@ private boolean switchToStandardSPI() {
* @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) {
Expand Down

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