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lsm9ds0: throw exception(s) on fatal errors

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Jon Trulson 2015-09-10 13:49:07 -06:00 committed by Mihai Tudor Panu
parent 9e20268bb8
commit 36237ae596
1 changed files with 40 additions and 21 deletions
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61
src/lsm9ds0/lsm9ds0.cxx
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@ -89,7 +89,8 @@ bool LSM9DS0::init()
// power up
if (!setGyroscopePowerDown(false))
{
cerr << __FUNCTION__ << ": Unable to wake up gyro" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to wake up gyro");
return false;
}
@ -97,21 +98,24 @@ bool LSM9DS0::init()
if (!setGyroscopeEnableAxes(CTRL_REG1_G_YEN |CTRL_REG1_G_XEN |
CTRL_REG1_G_ZEN))
{
cerr << __FUNCTION__ << ": Unable to enable gyro axes" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to enable gyro axes");
return false;
}
// set gyro ODR
if (!setGyroscopeODR(G_ODR_95_25))
{
cerr << __FUNCTION__ << ": Unable to set gyro ODR" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set gyro ODR");
return false;
}
// set gyro scale
if (!setGyroscopeScale(G_FS_245))
{
cerr << __FUNCTION__ << ": Unable to set gyro scale" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set gyro scale");
return false;
}
@ -120,7 +124,8 @@ bool LSM9DS0::init()
// power up and set ODR
if (!setAccelerometerODR(XM_AODR_100))
{
cerr << __FUNCTION__ << ": Unable to set accel ODR" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set accel ODR");
return false;
}
@ -128,14 +133,16 @@ bool LSM9DS0::init()
if (!setAccelerometerEnableAxes(CTRL_REG1_XM_AXEN |CTRL_REG1_XM_AYEN |
CTRL_REG1_XM_AZEN))
{
cerr << __FUNCTION__ << ": Unable to enable accel axes" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to enable accel axes");
return false;
}
// set scaling rate
if (!setAccelerometerScale(XM_AFS_2))
{
cerr << __FUNCTION__ << ": Unable to set accel scale" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set accel scale");
return false;
}
@ -144,7 +151,8 @@ bool LSM9DS0::init()
// enable the temperature sensor
if (!enableTemperatureSensor(true))
{
cerr << __FUNCTION__ << ": Unable to enable temp sensor" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to enable temp sensor");
return false;
}
@ -153,35 +161,40 @@ bool LSM9DS0::init()
// set mode (this also powers it up if not XM_MD_POWERDOWN)
if (!setMagnetometerMode(XM_MD_CONTINUOUS))
{
cerr << __FUNCTION__ << ": Unable to set mag scale" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set mag scale");
return false;
}
// turn LPM off
if (!setMagnetometerLPM(false))
{
cerr << __FUNCTION__ << ": Unable to disable mag LPM" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to disable mag LPM");
return false;
}
// set resolution
if (!setMagnetometerResolution(XM_RES_LOW))
{
cerr << __FUNCTION__ << ": Unable to set mag res" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set mag res");
return false;
}
// set ODR
if (!setMagnetometerODR(XM_ODR_12_5))
{
cerr << __FUNCTION__ << ": Unable to set mag ODR" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set mag ODR");
return false;
}
// set scale
if (!setMagnetometerScale(XM_MFS_2))
{
cerr << __FUNCTION__ << ": Unable to set mag scale" << endl;
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set mag scale");
return false;
}
@ -280,7 +293,8 @@ uint8_t LSM9DS0::readReg(DEVICE_T dev, uint8_t reg)
case DEV_GYRO: device = &m_i2cG; break;
case DEV_XM: device = &m_i2cXM; break;
default:
cerr << __FUNCTION__ << ": Internal error, invalid device" << endl;
throw std::logic_error(string(__FUNCTION__) +
": Internal error, invalid device specified");
return 0;
}
@ -296,7 +310,8 @@ void LSM9DS0::readRegs(DEVICE_T dev, uint8_t reg, uint8_t *buffer, int len)
case DEV_GYRO: device = &m_i2cG; break;
case DEV_XM: device = &m_i2cXM; break;
default:
cerr << __FUNCTION__ << ": Internal error, invalid device" << endl;
throw std::logic_error(string(__FUNCTION__) +
": Internal error, invalid device specified");
return;
}
@ -314,15 +329,16 @@ bool LSM9DS0::writeReg(DEVICE_T dev, uint8_t reg, uint8_t val)
case DEV_GYRO: device = &m_i2cG; break;
case DEV_XM: device = &m_i2cXM; break;
default:
cerr << __FUNCTION__ << ": Internal error, invalid device" << endl;
throw std::logic_error(string(__FUNCTION__) +
": Internal error, invalid device specified");
return false;
}
mraa::Result rv;
if ((rv = device->writeReg(reg, val)) != mraa::SUCCESS)
{
cerr << __FUNCTION__ << ": failed:" << endl;
printError(rv);
throw std::runtime_error(std::string(__FUNCTION__) +
": I2c.writeReg() failed");
return false;
}
@ -399,7 +415,8 @@ bool LSM9DS0::setGyroscopeScale(G_FS_T scale)
default: // should never occur, but...
m_gyroScale = 0.0; // set a safe, though incorrect value
cerr << __FUNCTION__ << ": internal error, unsupported scale" << endl;
throw std::logic_error(string(__FUNCTION__) +
": internal error, unsupported scale");
break;
}
@ -472,7 +489,8 @@ bool LSM9DS0::setAccelerometerScale(XM_AFS_T scale)
default: // should never occur, but...
m_accelScale = 0.0; // set a safe, though incorrect value
cerr << __FUNCTION__ << ": internal error, unsupported scale" << endl;
throw std::logic_error(string(__FUNCTION__) +
": internal error, unsupported scale");
break;
}
@ -559,7 +577,8 @@ bool LSM9DS0::setMagnetometerScale(XM_MFS_T scale)
default: // should never occur, but...
m_magScale = 0.0; // set a safe, though incorrect value
cerr << __FUNCTION__ << ": internal error, unsupported scale" << endl;
throw std::logic_error(string(__FUNCTION__) +
": internal error, unsupported scale");
break;
}