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Improve return values of LSM6DS33 class's methods by utilizing global error codes #59

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Improve return values of LSM6DS33 class's methods by utilizing global error codes #59

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54d1fe6
Changed update() method in `src/sensors/lsm6ds33.cpp` to return error…
Jan 26, 2021
2286670
Updated methods dependent on update()
Jan 26, 2021
cd30ac3
Changes to return type of `writeReg` and `updateSettings`
Feb 1, 2021
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3 changes: 2 additions & 1 deletion Software/src/globals.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,8 @@ namespace spartan {
ERROR_DATAFORMAT,
ERROR_READ,
ERROR_POLL,
ERROR_INVALID_STATUS
ERROR_INVALID_STATUS,
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ERROR_NO_NEW_DATA
};

// sensor status types
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10 changes: 5 additions & 5 deletions Software/src/sensors/lsm6ds33.cpp
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Expand Up @@ -196,24 +196,24 @@ int spartan::LSM6DS33::powerOff() {
// Polling functions

// TODO(harrisoncassar): Update this `update` function to utilize `ERROR_*` enums defined in `globals.h`
bool spartan::LSM6DS33::update() {
int spartan::LSM6DS33::update() {
if (m_status == STATUS_OFF)
return false; // Should be returning ERROR_INVALID_STATUS
return ERROR_INVALID_STATUS; // Should be returning ERROR_INVALID_STATUS
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if (hasNewData() == RESULT_FALSE)
//std::cerr << "No new data" << std::endl;
return false;
return ERROR_NO_NEW_DATA;
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I think this should also be returning RESULT_FALSE; having no new data is not necessarily an error.

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That makes sense. I'll also get rid of the ERROR_NO_NEW_DATA code since I made it for the sole purpose of reflecting that there was no new data.


// set I2C address
if (m_i2c.address(lsm6Address) != mraa::SUCCESS) {
std::cerr << "Unable to set I2C address." << std::endl;
return false;
return ERROR_ADDR;
}

// read temp,x,y,z (14 bytes) into buffer
if (m_i2c.readBytesReg(lsm6ds33::OUT_TEMP_L, m_buffer, lsm6ds33::BUFFER_SIZE) == -1) {
std::cerr << "Unable to read data bytes starting from LSM6DS33_OUT_TEMP_L." << std::endl;
return false;
return ERROR_READ;
}

//record rawacceleration values using data reads for x,y,z respectively
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4 changes: 2 additions & 2 deletions Software/src/sensors/lsm6ds33.h
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Expand Up @@ -174,8 +174,8 @@ namespace spartan {
int pollData(MasterDataPacket &dp) override;
// returns RESULT_FALSE if no new data, RESULT_SUCCESS if member data was updated with latest reading,
// ERROR in the case of an error
int hasNewData();
virtual bool update();
int hasNewData();
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virtual int update();

bool writeReg(uint8_t* buffer, unsigned short size);

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