public bool IsGyroValid()
{
bool valid = false;
short regValue = 0;
try
{
int attempt = 0;
for (attempt = 0; attempt < 200; attempt++)
{
//The ADIS values seem to fluctuate at times, so try a few times to get the right value.
//If it still cannot be validated, something may be wrong
regValue = (short)_gyroscopeDevice.RegisterRead((byte)Register.PROD_ID);
valid = regValue.Equals(gyroProductID);
if (valid)
{
break;
}
}
if (valid)
{
_logger.LogInformation($"ADIS16460 Prod ID Register reads {regValue} after {attempt} attempts.");
}
else
{
_logger.LogInformation($"ADIS16460 Prod ID Register could not be validated.");
}
}
catch (Exception ex)
{
_logger.LogError("Error validating Gyro");
_logger.LogError(ex.Message);
_logger.LogError(ex.StackTrace);
}
return(valid);
}