fix modulus error during batch send

Opentrons · Oct 15, 2024 · 3cc1b99 · 3cc1b99
1 parent a512869
commit 3cc1b99
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/include/sensors/core/tasks/capacitive_driver.hpp b/include/sensors/core/tasks/capacitive_driver.hpp
@@ -251,7 +251,8 @@ class FDC1004 {
         }
         for (uint8_t i = 0; i < data_len; i++) {
             data.at(i) = convert_to_fixed_point(
-                (*sensor_buffer).at(sensor_buffer_index_start + i),
+                (*sensor_buffer)
+                    .at((sensor_buffer_index_start + i) % SENSOR_BUFFER_SIZE),
                 S15Q16_RADIX);
         }
         auto response = can::messages::BatchReadFromSensorResponse{

diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
@@ -328,8 +328,11 @@ class MMR920 {
             return;
         }
         for (uint8_t i = 0; i < data_len; i++) {
-            data.at(i) = mmr920::reading_to_fixed_point(
-                (*sensor_buffer).at(sensor_buffer_index_start + i));
+            batch_response_message.sensor_data.at(i) =
+                mmr920::reading_to_fixed_point(
+                    (*sensor_buffer)
+                        .at((sensor_buffer_index_start + i) %
+                            SENSOR_BUFFER_SIZE));
         }
         auto response = can::messages::BatchReadFromSensorResponse{
             .message_index = message_index,