I2C Mux #121
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I2C Mux #121
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ishmis
approved these changes
May 31, 2023
| // TODOLater: Figure out how to not hardcode this | ||
| std::array<std::unique_ptr<sensors::II2cMuxSensor<core::RawAccelerationData>>, 4> | ||
| accelerometers; | ||
| for (int i = 0; i < channels.size(); i++) { |
| accelerometers[i] | ||
| = std::make_unique<sensors::Accelerometer>(std::move(*optional_accelerometer)); | ||
| } | ||
| // sensors::I2cMux<core::RawAccelerationData, 4> mux(logger_, i2c, mux_address, accelerometers); |
maxguy2001
requested changes
May 31, 2023
| = std::make_unique<sensors::Accelerometer>(std::move(*optional_accelerometer)); | ||
| } | ||
| // sensors::I2cMux<core::RawAccelerationData, 4> mux(logger_, i2c, mux_address, accelerometers); | ||
| std::shared_ptr<sensors::I2cMux<core::RawAccelerationData, 4>> mux_ptr |
| logger_.log(core::LogLevel::kFatal, "Failed to read the mux from bus %d", bus); | ||
| } else { | ||
| const std::array<core::RawAccelerationData, 4> mux_result = *value; | ||
| for (int i = 0; i < mux_result.size(); i++) { |
| logger_.log(core::LogLevel::kFatal, "Failure, mismatched device ID for accelerometer"); | ||
| return std::nullopt; | ||
| } | ||
| const auto ctrl1_result = i2c_->writeByteToRegister(device_address_, kCtrl1Address, kCtrl1Value); |
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Why is this auto when we directly check it against failure state 2 lines later? Especially since we wouldn't fail if the return type got changed for whatever reason but would still compile?
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Added to debug binary and works with hardware now.
