🐛 fixes read functionality

Astraeus-Library · Oct 2, 2023 · 2b89e32 · 2b89e32
1 parent 3882abe
commit 2b89e32
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Showing 2 changed files with 14 additions and 26 deletions.
diff --git a/demos/applications/telemetry-recorder.cpp b/demos/applications/telemetry-recorder.cpp
@@ -41,16 +41,15 @@ hal::status application(hardware_map& p_map)
   // Device initialization
   auto micro_sd =
     HAL_CHECK(hal::microsd::microsd_card::create(spi2, chip_select));
-  (void)hal::delay(clock, 200ms);
+  (void)hal::delay(clock, 100ms);
   auto neoGPS = HAL_CHECK(hal::neo::neo_GPS::create(gps));
-  (void)hal::delay(clock, 200ms);
+  (void)hal::delay(clock, 100ms);
   auto xbee_module = HAL_CHECK(hal::xbee::xbee_radio::create(xbee));
-  (void)hal::delay(clock, 200ms);
+  (void)hal::delay(clock, 100ms);
   auto mpl_device = HAL_CHECK(hal::mpl::mpl3115a2::create(i2c));
-  (void)hal::delay(clock, 200ms);
+  (void)hal::delay(clock, 100ms);
   auto icm_device = HAL_CHECK(hal::icm::icm20948::create(i2c, 0x69));
-  (void)hal::delay(clock, 200ms);
-  hal::delay(clock, 500ms);
+  (void)hal::delay(clock, 100ms);
 
   // device configuration
   icm_device.auto_offsets();
@@ -67,7 +66,6 @@ hal::status application(hardware_map& p_map)
   auto telemetry_recorder =
     HAL_CHECK(hal::telemetry_recorder::telemetry_recorder::create(
       icm_device, neoGPS, mpl_device, micro_sd, xbee_module));
-  hal::delay(clock, 500ms);
 
   while (true) {
     hal::print(console, "\n=================== Data ===================\n");
@@ -117,11 +115,10 @@ hal::status application(hardware_map& p_map)
 
     hal::print(console, "Recieveing Data from Ground Station...\n\n");
     auto recieved_data = HAL_CHECK(telemetry_recorder.recieve());
-    hal::print(console,
-               "\n=================== RECIEVED DATA ===================\n");
+    hal::print(console, "\n=================== RECIEVED DATA ===================\n");
     hal::print(console, recieved_data);
-    hal::print(console,
-               "======================================================\n\n");
+    hal::print(console, "======================================================\n\n");
+
   }
 
   return hal::success();

diff --git a/src/telemetry-recorder.cpp b/src/telemetry-recorder.cpp
@@ -29,22 +29,13 @@ result<telemetry_recorder> telemetry_recorder::create(
 
 hal::result<telemetry_recorder::telemetry_data> telemetry_recorder::record()
 {
-  auto accel_result = m_icm->read_acceleration();
-  auto gyro_result = m_icm->read_gyroscope();
-  auto imu_temp_result = m_icm->read_temperature();
-
+  auto accel = HAL_CHECK(m_icm->read_acceleration());
+  auto gyro = HAL_CHECK(m_icm->read_gyroscope());
+  auto imu_temp = HAL_CHECK(m_icm->read_temperature());
   auto gps = HAL_CHECK(m_gps->read());
-
-  auto baro_temp_result = m_mpl->read_temperature();
-  auto pressure_result = m_mpl->read_pressure();
-  auto altitude_result = m_mpl->read_altitude();
-
-  auto accel = *accel_result;
-  auto gyro = *gyro_result;
-  auto imu_temp = *imu_temp_result;
-  auto baro_temp = *baro_temp_result;
-  auto pressure = *pressure_result;
-  auto altitude = *altitude_result;
+  auto baro_temp = HAL_CHECK(m_mpl->read_temperature());
+  auto pressure = HAL_CHECK(m_mpl->read_pressure());
+  auto altitude = HAL_CHECK(m_mpl->read_altitude());
 
   m_data.accel_x = accel.x;
   m_data.accel_y = accel.y;