[wpilib] ADIS164xx: report product ID on mismatch

wpilibsuite · Jan 18, 2025 · d89662e · d89662e
1 parent 4caa16e
commit d89662e
Show file tree

Hide file tree

Showing 4 changed files with 10 additions and 5 deletions.
diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -18,6 +18,7 @@
 #include <numbers>
 #include <utility>
 
+#include <fmt/format.h>
 #include <hal/HAL.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
@@ -374,7 +375,8 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
   if (prod_id != 16448) {
-    REPORT_ERROR("Could not find ADIS16448!");
+    REPORT_ERROR(
+        fmt::format("Could not find ADIS16448; got product ID {}", prod_id));
     Close();
     return false;
   }

diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -17,6 +17,7 @@
 #include <numbers>
 #include <utility>
 
+#include <fmt/format.h>
 #include <hal/HAL.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
@@ -355,7 +356,8 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
   if (prod_id != 16982 && prod_id != 16470) {
-    REPORT_ERROR("Could not find ADIS16470!");
+    REPORT_ERROR(
+        fmt::format("Could not find ADIS16470; got product ID {}", prod_id));
     Close();
     return false;
   }

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -425,8 +425,9 @@ private boolean switchToStandardSPI() {
     }
     readRegister(PROD_ID); // Dummy read
     // Validate the product ID
-    if (readRegister(PROD_ID) != 16448) {
-      DriverStation.reportError("Could not find ADIS16448", false);
+    int prodId = readRegister(PROD_ID);
+    if (prodId != 16448) {
+      DriverStation.reportError("Could not find ADIS16448; got product ID " + prodId, false);
       close();
       return false;
     }

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -485,7 +485,7 @@ private boolean switchToStandardSPI() {
     // Validate the product ID
     int prodId = readRegister(PROD_ID);
     if (prodId != 16982 && prodId != 16470) {
-      DriverStation.reportError("Could not find an ADIS16470", false);
+      DriverStation.reportError("Could not find an ADIS16470; got product ID " + prodId, false);
       close();
       return false;
     }