finished Verification type and its embedding

modm-io · Jul 23, 2024 · f08654c · f08654c
1 parent ba9a743
commit f08654c
Show file tree

Hide file tree

Showing 2 changed files with 27 additions and 18 deletions.
diff --git a/examples/blue_pill_f103/adns_9800/main.cpp b/examples/blue_pill_f103/adns_9800/main.cpp
@@ -44,7 +44,11 @@ modm::Fiber<> adns9800_fiber([]() {
 	SpiMaster1::initialize<Board::SystemClock, 2.25_MHz>();
 	SpiMaster1::setDataMode(SpiMaster1::DataMode::Mode3);
 
-	adns9800.initialize();
+	if(not adns9800.initialize()) {
+		MODM_LOG_INFO << "Failed to initialize ADNS9800" << modm::endl;
+		return;
+	}
+
 	adns9800.set(Adns9800::Resolution<8200>());
   adns9800.set(Adns9800::ShutterConfig{
     period_min:   10000,

diff --git a/src/modm/driver/motion/adns9800.hpp b/src/modm/driver/motion/adns9800.hpp
@@ -158,24 +158,29 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
     /// @endcond
   };
 
-  union VerificationResult {
-    uint8_t value;
-    struct {
-      bool ProductId: 1;
-      bool ProductIdInverse: 1;
-      bool RevisionId: 1;
-    };
-    static constexpr uint8_t Ok = 0b111;
+  struct Verification {
+    bool ProductId: 1;
+    bool ProductIdInverse: 1;
+    bool RevisionId: 1;
+
+    // @todo allFine() maybe a better name
+    // bool allFine() const {
+    operator bool() const {
+      return ProductId and ProductIdInverse and RevisionId;
+    }
   };
 
-  void
+  Verification
   initialize() {
     powerUp();
-    const VerificationResult result = verifyIdentity();
-    if(result.value == VerificationResult::Ok) {
+
+    const Verification verification = verify();
+    if(verification) {
       writeFirmware();
       laserEnable();
     }
+
+    return verification;
   }
 
   /// @brief Reset the device's internal state after power-loss or user invoked shutdown().
@@ -201,12 +206,12 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
   /**
    * @brief     Verify presence of the device by validating various id registers.
    */
-  VerificationResult
-  verifyIdentity() {
-    return VerificationResult{
-      ProductId: readRegister(Register::Product_ID) == uint8_t(0x33),
-      ProductIdInverse: readRegister(Register::Inverse_Product_ID) == uint8_t(~0x33),
-      RevisionId: readRegister(Register::Revision_ID) == uint8_t(0x03)
+  Verification
+  verify() {
+    return {
+      ProductId: readRegister(Register::Product_ID) == static_cast<uint8_t>(0x33),
+      ProductIdInverse: readRegister(Register::Inverse_Product_ID) == static_cast<uint8_t>(~0x33),
+      RevisionId: readRegister(Register::Revision_ID) == static_cast<uint8_t>(0x03)
     };
   }