Run lint

AerospaceNU · Mar 15, 2024 · 60d7693 · 60d7693
1 parent 73090e9
commit 60d7693
Show file tree

Hide file tree

Showing 8 changed files with 155 additions and 141 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -171,11 +171,11 @@
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug",
-            "executable": "D:/Documents/GitHub/stm32-avionics/.pio/build/blink/firmware.elf",
+            "executable": "/home/matt/stm32-avionics/.pio/build/blink/firmware.elf",
             "projectEnvName": "blink",
-            "toolchainBinDir": "C:/Users/matth/.platformio/packages/toolchain-gccarmnoneeabi/bin",
+            "toolchainBinDir": "/home/matt/.platformio/packages/toolchain-gccarmnoneeabi/bin",
             "internalConsoleOptions": "openOnSessionStart",
-            "svdPath": "C:/Users/matth/.platformio/platforms/atmelsam/misc/svd/ATSAMD21G18A.svd",
+            "svdPath": "/home/matt/.platformio/platforms/atmelsam/misc/svd/ATSAMD21G18A.svd",
             "preLaunchTask": {
                 "type": "PlatformIO",
                 "task": "Pre-Debug"
@@ -185,21 +185,21 @@
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug (skip Pre-Debug)",
-            "executable": "D:/Documents/GitHub/stm32-avionics/.pio/build/blink/firmware.elf",
+            "executable": "/home/matt/stm32-avionics/.pio/build/blink/firmware.elf",
             "projectEnvName": "blink",
-            "toolchainBinDir": "C:/Users/matth/.platformio/packages/toolchain-gccarmnoneeabi/bin",
+            "toolchainBinDir": "/home/matt/.platformio/packages/toolchain-gccarmnoneeabi/bin",
             "internalConsoleOptions": "openOnSessionStart",
-            "svdPath": "C:/Users/matth/.platformio/platforms/atmelsam/misc/svd/ATSAMD21G18A.svd"
+            "svdPath": "/home/matt/.platformio/platforms/atmelsam/misc/svd/ATSAMD21G18A.svd"
         },
         {
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug (without uploading)",
-            "executable": "D:/Documents/GitHub/stm32-avionics/.pio/build/blink/firmware.elf",
+            "executable": "/home/matt/stm32-avionics/.pio/build/blink/firmware.elf",
             "projectEnvName": "blink",
-            "toolchainBinDir": "C:/Users/matth/.platformio/packages/toolchain-gccarmnoneeabi/bin",
+            "toolchainBinDir": "/home/matt/.platformio/packages/toolchain-gccarmnoneeabi/bin",
             "internalConsoleOptions": "openOnSessionStart",
-            "svdPath": "C:/Users/matth/.platformio/platforms/atmelsam/misc/svd/ATSAMD21G18A.svd",
+            "svdPath": "/home/matt/.platformio/platforms/atmelsam/misc/svd/ATSAMD21G18A.svd",
             "loadMode": "manual"
         }
     ]

diff --git a/common/system/hardware_manager.cpp b/common/system/hardware_manager.cpp
@@ -288,13 +288,16 @@ static bool inSim = false;
 static CircularBuffer_s *simRxBuffer = NULL;
 
 void hm_hardwareInit() {
-
-	HAL_GPIO_WritePin(accelAdx375CsGpioPort[0], accelAdx375CsPin[0], GPIO_PIN_SET);
-	HAL_GPIO_WritePin(barometerMs5607CsGpioPort[0], barometerMs5607CsPin[0], GPIO_PIN_SET);
-	HAL_GPIO_WritePin(imuIcm42688CsGpioPort[0], imuIcm42688CsPin[0], GPIO_PIN_SET);
-	HAL_GPIO_WritePin(flashMb85rsxCsGpioPort[0], flashMb85rsxCsPin[0], GPIO_PIN_SET);
-	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11, GPIO_PIN_SET);
-	HAL_Delay(10);
+  HAL_GPIO_WritePin(accelAdx375CsGpioPort[0], accelAdx375CsPin[0],
+                    GPIO_PIN_SET);
+  HAL_GPIO_WritePin(barometerMs5607CsGpioPort[0], barometerMs5607CsPin[0],
+                    GPIO_PIN_SET);
+  HAL_GPIO_WritePin(imuIcm42688CsGpioPort[0], imuIcm42688CsPin[0],
+                    GPIO_PIN_SET);
+  HAL_GPIO_WritePin(flashMb85rsxCsGpioPort[0], flashMb85rsxCsPin[0],
+                    GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11, GPIO_PIN_SET);
+  HAL_Delay(10);
 
   /* Accelerometers */
 #if HAS_DEV(ACCEL_H3LIS331DL)
@@ -445,8 +448,8 @@ void hm_hardwareInit() {
 
 #if HAS_DEV(MAG_LIS3MDL)
   for (int i = 0; i < NUM_MAG_LIS3MDL; i++) {
-    hardwareStatusMag[FIRST_ID_MAG_LIS3MDL + i] = magLis3mdl[i].begin(
-        {imuIcm42688Hspi[0], GPIOB, GPIO_PIN_11});
+    hardwareStatusMag[FIRST_ID_MAG_LIS3MDL + i] =
+        magLis3mdl[i].begin({imuIcm42688Hspi[0], GPIOB, GPIO_PIN_11});
   }
 #endif
 
@@ -577,9 +580,10 @@ void hm_hardwareInit() {
     HAL_GPIO_WritePin(radioTi915HgmGpioPort[i], radioTi915HgmPin[i],
                       GPIO_PIN_SET);
 #else
-    // No CC1190 -- crank output power since no input power limits (and no cc1190 to protect)
+    // No CC1190 -- crank output power since no input power limits (and no
+    // cc1190 to protect)
     tiRadio_setOutputPower(radioTi915 + 0, 15);
-    #endif  // RADIO_TI_TYPE == RADIO_TI_TYPE_CC1200
+#endif  // RADIO_TI_TYPE == RADIO_TI_TYPE_CC1200
   }
 #endif  // HAS_DEV(RADIO_TI_915)
 

diff --git a/common/system/tasks/cli/task_cli_sense.cpp b/common/system/tasks/cli/task_cli_sense.cpp
@@ -107,9 +107,11 @@ void CliTasks::sense() {
     dtoa(float1, sizeof(float1), data->gpsData[i].generalData.hdop, 3);
     snprintf(cliStr, sizeof(cliStr), "GPS %d hdop: %s\r\n", i, float1);
     cli_send(cliStr);
-    snprintf(cliStr, sizeof(cliStr), "GPS %d sats (num): %u\r\n", i, data->gpsData[i].generalData.satsTracked);
+    snprintf(cliStr, sizeof(cliStr), "GPS %d sats (num): %u\r\n", i,
+             data->gpsData[i].generalData.satsTracked);
     cli_send(cliStr);
-    snprintf(cliStr, sizeof(cliStr), "GPS %d fix quality: %u\r\n", i, data->gpsData[i].generalData.fixQuality);
+    snprintf(cliStr, sizeof(cliStr), "GPS %d fix quality: %u\r\n", i,
+             data->gpsData[i].generalData.fixQuality);
     cli_send(cliStr);
   }
 #endif  // HAS_DEV(GPS)

diff --git a/common/utils/bit_helper.h b/common/utils/bit_helper.h
@@ -10,6 +10,11 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
+#include <bit>
+#include <algorithm>
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -27,19 +32,17 @@ uint16_t combine_to_u16(uint8_t high, uint8_t low);
 #endif
 
 #ifdef __cplusplus
-#include <bit>
-#include <algorithm>
 namespace std {
-template<std::integral T>
-constexpr T byteswap(T value) noexcept
-{
-    static_assert(std::has_unique_object_representations_v<T>,
-                  "T may not have padding bits");
-    auto value_representation = std::bit_cast<std::array<std::byte, sizeof(T)>>(value);
-    std::ranges::reverse(value_representation);
-    return std::bit_cast<T>(value_representation);
-}
+template <std::integral T>
+constexpr T byteswap(T value) noexcept {
+  static_assert(std::has_unique_object_representations_v<T>,
+                "T may not have padding bits");
+  auto value_representation =
+      std::bit_cast<std::array<std::byte, sizeof(T)>>(value);
+  std::ranges::reverse(value_representation);
+  return std::bit_cast<T>(value_representation);
 }
+}  // namespace std
 #endif
 
 #endif  // COMMON_UTILS_BIT_HELPER_H_
diff --git a/stm32_projects/device_drivers/imu/accel_adx375.cpp b/stm32_projects/device_drivers/imu/accel_adx375.cpp
@@ -6,11 +6,11 @@
 #if HAS_DEV(ACCEL_ADX375)
 
 struct RegisterAddress {
-	uint8_t address :6;
-	// if we want the read/write pointer to auto advance
-	bool multiByteRequest :1;
-	// set - request is a read. Reset - request is a write
-	bool isRead :1;
+  uint8_t address : 6;
+  // if we want the read/write pointer to auto advance
+  bool multiByteRequest : 1;
+  // set - request is a read. Reset - request is a write
+  bool isRead : 1;
 };
 
 #define REG_WHOAMI 0
@@ -26,73 +26,80 @@ struct RegisterAddress {
 constexpr float ACCEL_SENSITIVITY = 20.5 / G_TO_MPS2(1);
 #define ACCEL_FS G_TO_MPS2(200)
 
+#include <cstdarg>
+
 #include "usb_std.h"
-#include  <cstdarg>
 void CustomPrintf(const char *format, ...) {
-	char buffer[256];
-	va_list args;
-	va_start(args, format);
-	int len = vsprintf(buffer, format, args);
-	usbStd_transmit((uint8_t*) buffer, len);
-	va_end(args);
+  char buffer[256];
+  va_list args;
+  va_start(args, format);
+  int len = vsprintf(buffer, format, args);
+  usbStd_transmit((uint8_t *)buffer, len);
+  va_end(args);
 }
 
 bool AccelAdx375::begin(SpiCtrl_t spi_) {
-	spi = spi_;
-
-	HAL_GPIO_WritePin(spi.port, spi.pin, GPIO_PIN_SET);
-	HAL_Delay(1);
-
-	// adapted from
-	// https://github.com/adafruit/Adafruit_ADX375/blob/master/Adafruit_ADX375.cpp
-
-	auto wireID = spi_readRegister(&spi, to_size_type(RegisterAddress {
-			.address = REG_WHOAMI, .multiByteRequest = false, .isRead = 1 }));
-
-	if (wireID != 0xe5) {
-		return false;
-	}
-
-	// Interrupts default to off, but just to be sure
-	spi_writeRegister(&spi, to_size_type(RegisterAddress { .address =
-	REG_INT_ENABLE, .multiByteRequest = false, .isRead = 0 }), 0);
-
-	// data format set to right justified/LSB first/sign extended; 3 wire spi
-	// enabled; interrupts active high
-	spi_writeRegister(&spi, to_size_type(RegisterAddress { .address =
-	REG_DATA_FORMAT, .multiByteRequest = false, .isRead = 0 }), 0b00001011);
-
-	// And power up
-	spi_writeRegister(&spi, to_size_type(RegisterAddress { .address =
-	REG_POWER_CTL, .multiByteRequest = false, .isRead = 0 }), 0b0001000);
-
-	return true;
+  spi = spi_;
+
+  HAL_GPIO_WritePin(spi.port, spi.pin, GPIO_PIN_SET);
+  HAL_Delay(1);
+
+  // adapted from
+  // https://github.com/adafruit/Adafruit_ADX375/blob/master/Adafruit_ADX375.cpp
+
+  auto wireID = spi_readRegister(
+      &spi,
+      to_size_type(RegisterAddress{
+          .address = REG_WHOAMI, .multiByteRequest = false, .isRead = 1}));
+
+  if (wireID != 0xe5) {
+    return false;
+  }
+
+  // Interrupts default to off, but just to be sure
+  spi_writeRegister(
+      &spi,
+      to_size_type(RegisterAddress{
+          .address = REG_INT_ENABLE, .multiByteRequest = false, .isRead = 0}),
+      0);
+
+  // data format set to right justified/LSB first/sign extended; 3 wire spi
+  // enabled; interrupts active high
+  spi_writeRegister(
+      &spi,
+      to_size_type(RegisterAddress{
+          .address = REG_DATA_FORMAT, .multiByteRequest = false, .isRead = 0}),
+      0b00001011);
+
+  // And power up
+  spi_writeRegister(
+      &spi,
+      to_size_type(RegisterAddress{
+          .address = REG_POWER_CTL, .multiByteRequest = false, .isRead = 0}),
+      0b0001000);
+
+  return true;
 }
 
 void AccelAdx375::newData() {
-
-	spi_readRegisters(&spi, to_size_type(RegisterAddress {
-			.address = REG_DATAX0, .multiByteRequest = true, .isRead = true }),
-			reinterpret_cast<uint8_t*>(&data.raw), sizeof(data.raw));
-
-	constexpr Axis3dReal_s accelOffset = {
-			.x = -2.76,
-			.y = 6.31,
-			.z = -5.63
-	};
-
-	// and convert to real units. Note that ticks / (ticks / unit) = unit
-	data.realMps2.x = data.raw.x / ACCEL_SENSITIVITY;
-	data.realMps2.y = data.raw.y / ACCEL_SENSITIVITY;
-	data.realMps2.z = data.raw.z / ACCEL_SENSITIVITY;
-
-	data.realMps2.x += accelOffset.x;
-	data.realMps2.y += accelOffset.y;
-	data.realMps2.z += accelOffset.z;
+  spi_readRegisters(
+      &spi,
+      to_size_type(RegisterAddress{
+          .address = REG_DATAX0, .multiByteRequest = true, .isRead = true}),
+      reinterpret_cast<uint8_t *>(&data.raw), sizeof(data.raw));
+
+  constexpr Axis3dReal_s accelOffset = {.x = -2.76, .y = 6.31, .z = -5.63};
+
+  // and convert to real units. Note that ticks / (ticks / unit) = unit
+  data.realMps2.x = data.raw.x / ACCEL_SENSITIVITY;
+  data.realMps2.y = data.raw.y / ACCEL_SENSITIVITY;
+  data.realMps2.z = data.raw.z / ACCEL_SENSITIVITY;
+
+  data.realMps2.x += accelOffset.x;
+  data.realMps2.y += accelOffset.y;
+  data.realMps2.z += accelOffset.z;
 }
 
-double AccelAdx375::getAccelFullscaleMps2() {
-	return ACCEL_FS;
-}
+double AccelAdx375::getAccelFullscaleMps2() { return ACCEL_FS; }
 
 #endif  // HAS_DEV(ACCEL_ADX375)