From b981183466ddfcfe322f76f68b3fd8deebbcd3ed Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Thu, 5 Dec 2024 14:42:07 +0100
Subject: [PATCH] [Format] Reformat all files with clang-format 18
---
.../stm32f205rc_ciuti/core/stage_1_boot.cpp | 10 +-
.../stm32f429zi_con_rig/core/stage_1_boot.cpp | 10 +-
.../core/stage_1_boot.cpp | 10 +-
.../core/stage_1_boot.cpp | 10 +-
.../core/stage_1_boot.cpp | 10 +-
.../stm32f429zi_nokia/core/stage_1_boot.cpp | 10 +-
.../core/stage_1_boot.cpp | 10 +-
.../core/stage_1_boot.cpp | 10 +-
.../interfaces-impl/arch_registers_impl.h | 2 +-
.../stm32f429zi_rig/core/stage_1_boot.cpp | 10 +-
.../stm32f756zg_nucleo/core/stage_1_boot.cpp | 10 +-
.../core/stage_1_boot.cpp | 13 +-
.../interfaces-impl/hwmapping.h | 2 +-
.../core/stage_1_boot.cpp | 13 +-
.../core/stage_1_boot.cpp | 13 +-
.../interfaces-impl/bsp.cpp | 6 +-
.../core/stage_1_boot.cpp | 13 +-
.../interfaces-impl/hwmapping.h | 2 +-
.../core/stage_1_boot.cpp | 13 +-
.../core/stage_1_boot.cpp | 13 +-
.../core/stage_1_boot.cpp | 13 +-
.../interfaces-impl/bsp.cpp | 6 +-
.../interfaces-impl/hwmapping.h | 2 +-
.../stm32f767zi_lyra_gs/core/stage_1_boot.cpp | 13 +-
.../interfaces-impl/bsp_impl.h | 2 +-
.../core/stage_1_boot.cpp | 13 +-
.../interfaces-impl/bsp.cpp | 6 +-
.../interfaces-impl/hwmapping.h | 2 +-
.../stm32f767zi_rig_v2/core/stage_1_boot.cpp | 13 +-
.../interfaces-impl/bsp.cpp | 6 +-
.../interfaces-impl/hwmapping.h | 2 +-
src/entrypoints/compute-unit-v2-testsuite.cpp | 58 +-
src/entrypoints/config-dsgamma.cpp | 6 -
src/entrypoints/kernel-testsuite.cpp | 557 ++++++++--------
src/entrypoints/runcam-settings.cpp | 8 -
src/entrypoints/sdcard-benchmark.cpp | 4 +
src/entrypoints/sx1278-serial.cpp | 22 +-
src/shared/ActiveObject.h | 5 +-
src/shared/actuators/Buzzer.h | 4 +-
src/shared/actuators/stepper/Stepper.cpp | 18 +-
src/shared/actuators/stepper/Stepper.h | 2 +-
src/shared/actuators/stepper/StepperPWM.cpp | 4 +-
src/shared/actuators/stepper/StepperPWM.h | 10 +-
.../algorithms/AirBrakes/AirBrakesInterp.cpp | 12 +-
.../algorithms/AirBrakes/AirBrakesInterp.h | 14 +-
.../algorithms/AirBrakes/AirBrakesPI.cpp | 6 +-
src/shared/algorithms/AirBrakes/AirBrakesPI.h | 12 +-
src/shared/algorithms/AirBrakes/Trajectory.h | 2 +-
src/shared/algorithms/Algorithm.h | 2 -
src/shared/algorithms/Follower/Follower.cpp | 14 +-
src/shared/algorithms/Follower/FollowerData.h | 10 +-
src/shared/algorithms/MEA/MEA.cpp | 25 +-
src/shared/algorithms/MEA/MEA.h | 16 +-
src/shared/algorithms/MEA/MEAData.h | 4 +-
src/shared/algorithms/NAS/NAS.cpp | 8 -
src/shared/algorithms/PIController.h | 1 -
src/shared/algorithms/ReferenceValues.h | 2 +-
src/shared/diagnostic/PrintLogger.cpp | 8 -
src/shared/diagnostic/StackLogger.h | 2 -
src/shared/drivers/WIZ5500/WIZ5500.cpp | 85 +--
src/shared/drivers/WIZ5500/WIZ5500.h | 2 +-
src/shared/drivers/WIZ5500/WIZ5500Defs.h | 2 +-
src/shared/drivers/adc/InternalADC.cpp | 18 +-
src/shared/drivers/adc/InternalADC.h | 4 +-
src/shared/drivers/adc/InternalADCData.h | 2 -
.../canbus/CanDriver/BusLoadEstimation.h | 4 -
.../drivers/canbus/CanDriver/CanDriver.cpp | 8 -
src/shared/drivers/canbus/CanDriver/Filters.h | 4 -
.../canbus/CanProtocol/CanProtocol.cpp | 2 +
.../drivers/canbus/CanProtocol/CanProtocol.h | 2 +
src/shared/drivers/dma/DMAStream.h | 55 +-
src/shared/drivers/i2c/I2C.cpp | 82 +--
src/shared/drivers/i2c/I2C.h | 102 +--
src/shared/drivers/i2c/I2CDriver-f4.cpp | 62 +-
src/shared/drivers/i2c/I2CDriver-f7.cpp | 74 +--
src/shared/drivers/i2c/I2CDriver.h | 34 +-
src/shared/drivers/i2c/stm32f2_f4_i2c.cpp | 20 +-
.../drivers/interrupt/external_interrupts.cpp | 6 +-
.../drivers/interrupt/external_interrupts.h | 2 +-
src/shared/drivers/runcam/Runcam.cpp | 2 +-
src/shared/drivers/runcam/Runcam.h | 4 +-
src/shared/drivers/spi/SPIBus.h | 4 -
src/shared/drivers/spi/SPITransaction.h | 30 +-
src/shared/drivers/timer/BasicTimer.h | 14 +-
src/shared/drivers/timer/CountedPWM.cpp | 2 +-
src/shared/drivers/timer/CountedPWM.h | 2 +-
.../drivers/timer/GeneralPurposeTimer.h | 8 +-
src/shared/drivers/timer/TimerUtils.h | 52 +-
src/shared/drivers/usart/USART.cpp | 72 +--
src/shared/drivers/usart/USART.h | 56 +-
src/shared/events/EventBroker.cpp | 12 -
src/shared/events/EventHandler.h | 4 +-
src/shared/events/HSM.h | 4 +-
src/shared/events/utils/EventCounter.h | 4 +-
src/shared/events/utils/EventSniffer.h | 6 -
src/shared/hil/HIL.h | 24 +-
src/shared/hil/HILPhasesManager.h | 10 +-
src/shared/hil/HILTransceiver.h | 20 +-
src/shared/logger/Logger.cpp | 2 +
src/shared/logger/Logger.h | 24 +-
src/shared/radio/SX1278/SX1278Common.cpp | 26 +-
src/shared/radio/SX1278/SX1278Common.h | 24 +-
src/shared/radio/SX1278/SX1278Defs.h | 4 +-
src/shared/radio/SX1278/SX1278Frontends.h | 2 +-
src/shared/radio/SX1278/SX1278Fsk.cpp | 24 +-
src/shared/radio/SX1278/SX1278Fsk.h | 10 +-
src/shared/radio/SX1278/SX1278Lora.cpp | 26 +-
src/shared/radio/SX1278/SX1278Lora.h | 14 +-
src/shared/radio/Xbee/APIFrameParser.cpp | 6 -
src/shared/radio/Xbee/APIFrames.h | 4 -
src/shared/radio/Xbee/APIFramesLog.h | 28 -
src/shared/radio/Xbee/ATCommands.h | 2 -
src/shared/radio/Xbee/Xbee.cpp | 4 +
src/shared/scheduler/TaskScheduler.cpp | 12 -
src/shared/sensors/ADS1118/ADS1118.cpp | 18 +-
src/shared/sensors/ADS1118/ADS1118.h | 18 +-
src/shared/sensors/ADS131M04/ADS131M04.cpp | 24 +-
src/shared/sensors/ADS131M08/ADS131M08.cpp | 24 +-
src/shared/sensors/BME280/BME280.cpp | 8 +-
src/shared/sensors/BME280/BME280I2C.cpp | 15 +-
src/shared/sensors/BMP280/BMP280.cpp | 6 +-
src/shared/sensors/BMP280/BMP280Data.h | 7 +-
src/shared/sensors/BMP280/BMP280I2C.cpp | 12 +-
src/shared/sensors/BMX160/BMX160.cpp | 15 +-
src/shared/sensors/H3LIS331DL/H3LIS331DL.cpp | 2 -
src/shared/sensors/H3LIS331DL/H3LIS331DL.h | 1 -
.../sensors/H3LIS331DL/H3LIS331DLData.h | 7 +-
src/shared/sensors/HILSensor.h | 6 +-
src/shared/sensors/HX711/HX711.cpp | 2 +-
src/shared/sensors/LIS2MDL/LIS2MDL.cpp | 2 +-
src/shared/sensors/LIS2MDL/LIS2MDLData.h | 2 +-
src/shared/sensors/LIS331HH/LIS331HH.h | 2 +-
src/shared/sensors/LIS3DSH/LIS3DSH.h | 6 -
src/shared/sensors/LIS3MDL/LIS3MDL.cpp | 3 -
src/shared/sensors/LPS22DF/LPS22DF.h | 2 +-
src/shared/sensors/LPS22DF/LPS22DFData.h | 4 +-
src/shared/sensors/LPS22DF/LPS22DFDefs.h | 2 +-
src/shared/sensors/LPS28DFW/LPS28DFW.h | 2 +-
src/shared/sensors/LPS28DFW/LPS28DFWData.h | 1 -
src/shared/sensors/LPS28DFW/LPS28DFWDefs.h | 2 +-
src/shared/sensors/LPS331AP/LPS331AP.cpp | 3 -
src/shared/sensors/LPS331AP/LPS331APData.h | 6 +-
src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp | 8 -
src/shared/sensors/LSM6DSRX/LSM6DSRXConfig.h | 1 -
src/shared/sensors/MAX31855/MAX31855.h | 2 +-
src/shared/sensors/MAX31856/MAX31856.cpp | 1 -
src/shared/sensors/MAX31856/MAX31856.h | 2 +-
src/shared/sensors/MAX31856/MAX31856Data.h | 2 +-
src/shared/sensors/MAX6675/MAX6675.cpp | 2 +-
src/shared/sensors/MAX6675/MAX6675.h | 2 +-
src/shared/sensors/MBLoadCell/MBLoadCell.cpp | 8 +-
src/shared/sensors/MBLoadCell/MBLoadCell.h | 10 +-
.../sensors/MBLoadCell/MBLoadCellData.h | 2 -
src/shared/sensors/MPU9250/MPU9250.cpp | 2 -
src/shared/sensors/MS5803/MS5803Data.h | 6 +-
src/shared/sensors/SensorInfo.h | 2 +-
src/shared/sensors/SensorManager.cpp | 2 +
src/shared/sensors/SensorSampler.cpp | 8 -
src/shared/sensors/UBXGPS/UBXGPSData.h | 4 +-
src/shared/sensors/UBXGPS/UBXGPSSerial.cpp | 11 +-
src/shared/sensors/UBXGPS/UBXGPSSpi.cpp | 6 +
.../sensors/Vectornav/VN100/VN100Serial.cpp | 62 +-
.../sensors/Vectornav/VN100/VN100Serial.h | 18 +-
.../sensors/Vectornav/VN100/VN100SerialData.h | 5 +-
.../sensors/Vectornav/VN100/VN100Spi.cpp | 2 -
.../sensors/Vectornav/VN100/VN100SpiData.h | 5 +-
src/shared/sensors/Vectornav/VN300/VN300.cpp | 27 -
.../sensors/Vectornav/VN300/VN300Data.h | 5 +-
.../sensors/Vectornav/VNCommonSerial.cpp | 62 +-
src/shared/sensors/Vectornav/VNCommonSerial.h | 24 +-
src/shared/sensors/analog/CurrentSensor.h | 2 -
.../sensors/analog/TrafagPressureSensor.h | 6 +-
.../sensors/analog/TwoPointAnalogLoadCell.h | 6 +-
.../SoftAndHardIronCalibration.cpp | 2 +
src/shared/units/Acceleration.h | 4 +-
src/shared/units/Angle.h | 4 +-
src/shared/units/Length.h | 4 +-
src/shared/units/Pressure.h | 4 +-
src/shared/units/Speed.h | 4 +-
src/shared/units/Time.h | 6 +-
src/shared/units/Units.h | 54 +-
.../utils/ButtonHandler/ButtonHandler.cpp | 6 +-
src/shared/utils/CRC.h | 4 +-
src/shared/utils/CSVReader/CSVReader.h | 5 +-
src/shared/utils/ClockUtils.h | 8 -
.../DependencyManager/DependencyManager.cpp | 12 -
.../DependencyManager/DependencyManager.h | 54 +-
src/shared/utils/KernelTime.h | 2 +-
src/shared/utils/Numeric.h | 6 -
src/shared/utils/PinObserver/PinObserver.cpp | 8 +-
src/shared/utils/PinObserver/PinObserver.h | 4 +-
.../utils/Registry/Backend/FileBackend.h | 2 +-
src/shared/utils/Registry/RegistryBackend.h | 2 +-
.../utils/Registry/RegistryFrontend.cpp | 4 +-
src/shared/utils/Registry/RegistryFrontend.h | 4 +-
.../utils/Registry/RegistrySerializer.cpp | 6 +-
.../utils/Registry/RegistrySerializer.h | 2 +-
src/shared/utils/Registry/RegistryTypes.h | 3 +-
.../utils/SkyQuaternion/SkyQuaternion.cpp | 59 +-
src/shared/utils/TestUtils/MockSPIBus.h | 21 -
.../utils/TestUtils/ThroughputCalculator.h | 6 -
src/shared/utils/collections/CircularBuffer.h | 8 +-
.../utils/collections/IRQCircularBuffer.h | 2 +
.../utils/collections/SyncCircularBuffer.h | 2 -
.../utils/collections/SyncPacketQueue.h | 5 +-
src/shared/utils/gui/GridLayout.h | 6 -
src/shared/utils/gui/NavController.h | 18 +-
src/shared/utils/gui/OptionView.h | 12 -
src/shared/utils/gui/ScreenManager.h | 4 -
src/shared/utils/gui/TextView.h | 4 -
src/shared/utils/gui/VerticalLayout.h | 4 -
src/shared/utils/gui/View.h | 8 -
src/tests/actuators/test-hbridge.cpp | 4 -
src/tests/actuators/test-stepper-pwm.cpp | 2 +-
src/tests/algorithms/ADA/ValueFollower.h | 8 +-
src/tests/algorithms/ADA/test-ada.cpp | 2 +-
.../Airbrakes/test-airbrakesInterp-data.h | 2 +-
.../test-airbrakesInterp-references.h | 2 +-
.../algorithms/NAS/test-nas-parafoil.cpp | 2 +
.../algorithms/NAS/test-triad-parafoil.cpp | 2 +
src/tests/algorithms/NAS/test-triad.cpp | 2 +
src/tests/boards/test-compute-unit.cpp | 2 +-
src/tests/catch/catch-tests-entry.cpp | 6 -
.../catch/propagator/test-propagator-data.h | 602 +++++++++---------
.../catch/propagator/test-propagator.cpp | 2 +-
.../skyQuaternion/test-skyquaternion.cpp | 4 +-
src/tests/catch/test-MEA.cpp | 2 +-
src/tests/catch/test-aero.cpp | 8 +-
src/tests/catch/test-airbrakesInterp.cpp | 4 +-
src/tests/catch/test-buttonhandler.cpp | 3 -
src/tests/catch/test-dependencymanager.cpp | 32 +-
src/tests/catch/test-kalman.cpp | 2 -
src/tests/catch/test-modulemanager.cpp | 4 +-
src/tests/catch/test-packetqueue.cpp | 2 -
src/tests/catch/test-pitot.cpp | 2 +-
src/tests/catch/test-registry-frontend.cpp | 10 +-
src/tests/catch/test-sensormanager-catch.cpp | 50 +-
src/tests/catch/test-units.cpp | 4 +-
src/tests/catch/xbee/MockXbeeSPIBus.h | 2 -
src/tests/catch/xbee/test-xbee-parser.cpp | 8 -
.../canbus/CanDriver/SimpleCanManager.h | 2 -
.../canbus/CanDriver/test-can-2way.cpp | 8 -
.../canbus/CanDriver/test-can-loopback.cpp | 3 -
src/tests/drivers/i2c/test-i2c-driver.cpp | 2 +-
src/tests/drivers/i2c/test-i2c.cpp | 2 +-
src/tests/drivers/test-MBLoadCell.cpp | 4 +-
src/tests/drivers/test-wiz5500.cpp | 16 +-
src/tests/drivers/timer/test-timer-utils.cpp | 8 +-
.../drivers/timer/test-timestamptimer.cpp | 8 +-
src/tests/drivers/usart/test-usart.cpp | 16 +-
src/tests/drivers/xbee/EnergyScanData.h | 6 -
src/tests/drivers/xbee/XbeeTestData.h | 6 -
src/tests/drivers/xbee/XbeeTransceiver.h | 22 -
src/tests/drivers/xbee/gui/EnergyScanScreen.h | 10 -
src/tests/drivers/xbee/gui/StatusScreen.h | 4 -
src/tests/drivers/xbee/test-xbee-bidir.cpp | 10 -
src/tests/drivers/xbee/test-xbee-gui.cpp | 15 -
src/tests/events/fsm/test-fsm.cpp | 2 -
src/tests/hil/BoardScheduler.cpp | 2 +-
src/tests/hil/BoardScheduler.h | 2 +-
src/tests/hil/Buses.h | 2 +-
src/tests/hil/HILSimulationConfig.h | 2 +-
src/tests/hil/Sensors/HILSensors.h | 2 +-
src/tests/hil/Sensors/Sensors.cpp | 14 +-
src/tests/hil/Sensors/Sensors.h | 2 +-
src/tests/hil/Sensors/SensorsConfig.h | 2 +-
src/tests/hil/Sensors/SensorsData.h | 8 +-
src/tests/hil/test-hil.cpp | 4 +-
src/tests/logger/test-logger.cpp | 2 -
src/tests/radio/sx1278/fsk/common.h | 6 +-
.../radio/sx1278/fsk/test-sx1278-bidir.cpp | 10 +-
src/tests/radio/sx1278/gui/GUI.h | 2 +-
.../radio/sx1278/lora/test-sx1278-bidir.cpp | 16 +-
.../radio/sx1278/lora/test-sx1278-simple.cpp | 3 +-
src/tests/radio/sx1278/sx1278-init.h | 4 +-
.../radio/sx1278/test-sx1278-bench-gui.cpp | 4 +-
.../radio/sx1278/test-sx1278-bench-serial.cpp | 2 -
src/tests/radio/sx1278/test-sx1278-bench.cpp | 4 +-
src/tests/scheduler/test-taskscheduler.cpp | 10 -
.../analog/test-analog-pressure-sensors.cpp | 4 -
.../calibration/test-calibration-stats.cpp | 2 -
src/tests/sensors/test-ads1118.cpp | 4 -
src/tests/sensors/test-ads131m04.cpp | 4 -
src/tests/sensors/test-ads131m08.cpp | 4 -
src/tests/sensors/test-bmp280-i2c.cpp | 4 -
src/tests/sensors/test-bmx160.cpp | 4 +-
src/tests/sensors/test-h3lis331dl.cpp | 2 -
src/tests/sensors/test-l3gd20-fifo.cpp | 6 -
src/tests/sensors/test-l3gd20.cpp | 4 -
src/tests/sensors/test-lis2mdl.cpp | 2 -
src/tests/sensors/test-lis3dsh.cpp | 6 -
src/tests/sensors/test-lis3mdl.cpp | 2 -
src/tests/sensors/test-lps28dfw.cpp | 23 +-
src/tests/sensors/test-lps331ap.cpp | 4 -
src/tests/sensors/test-lsm6dsrx.cpp | 9 -
src/tests/sensors/test-max31855.cpp | 2 -
src/tests/sensors/test-max31856.cpp | 4 -
src/tests/sensors/test-max6675.cpp | 2 -
src/tests/sensors/test-ms5803-i2c.cpp | 4 -
src/tests/sensors/test-ms5803-spi.cpp | 2 -
src/tests/sensors/test-ubxgps-serial.cpp | 8 -
src/tests/test-hsm.cpp | 9 -
src/tests/test-max485.cpp | 8 +-
src/tests/test-sensormanager.cpp | 4 -
src/tests/test-trace-logger.cpp | 2 -
src/tests/utils/test-buttonhandler.cpp | 2 +-
306 files changed, 1690 insertions(+), 2559 deletions(-)
mode change 100755 => 100644 src/shared/sensors/Vectornav/VN300/VN300.cpp
diff --git a/src/bsps/stm32f205rc_ciuti/core/stage_1_boot.cpp b/src/bsps/stm32f205rc_ciuti/core/stage_1_boot.cpp
index c3f27e6bb..1fda9b23f 100644
--- a/src/bsps/stm32f205rc_ciuti/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f205rc_ciuti/core/stage_1_boot.cpp
@@ -54,11 +54,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
// The memcpy is usually enclosed in an #ifndef __ENABLE_XRAM, in other
// boards but in this case it is not, since the *_code_in_xram.ld linker
// script puts code in XRAM, but data in the internal one, so there's still
diff --git a/src/bsps/stm32f429zi_con_rig/core/stage_1_boot.cpp b/src/bsps/stm32f429zi_con_rig/core/stage_1_boot.cpp
index d62f81003..a638e76cb 100644
--- a/src/bsps/stm32f429zi_con_rig/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f429zi_con_rig/core/stage_1_boot.cpp
@@ -55,11 +55,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f429zi_death_stack_v1/core/stage_1_boot.cpp b/src/bsps/stm32f429zi_death_stack_v1/core/stage_1_boot.cpp
index 0abb640f9..32d4e7ee8 100644
--- a/src/bsps/stm32f429zi_death_stack_v1/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f429zi_death_stack_v1/core/stage_1_boot.cpp
@@ -55,11 +55,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f429zi_death_stack_v2/core/stage_1_boot.cpp b/src/bsps/stm32f429zi_death_stack_v2/core/stage_1_boot.cpp
index e40004e97..77df418e4 100644
--- a/src/bsps/stm32f429zi_death_stack_v2/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f429zi_death_stack_v2/core/stage_1_boot.cpp
@@ -55,11 +55,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f429zi_death_stack_v3/core/stage_1_boot.cpp b/src/bsps/stm32f429zi_death_stack_v3/core/stage_1_boot.cpp
index 47b5354ae..614503f38 100644
--- a/src/bsps/stm32f429zi_death_stack_v3/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f429zi_death_stack_v3/core/stage_1_boot.cpp
@@ -55,11 +55,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f429zi_nokia/core/stage_1_boot.cpp b/src/bsps/stm32f429zi_nokia/core/stage_1_boot.cpp
index 6e86bb25f..46a36d1d6 100644
--- a/src/bsps/stm32f429zi_nokia/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f429zi_nokia/core/stage_1_boot.cpp
@@ -55,11 +55,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f429zi_parafoil/core/stage_1_boot.cpp b/src/bsps/stm32f429zi_parafoil/core/stage_1_boot.cpp
index 10804a0b7..0d0a46d5a 100644
--- a/src/bsps/stm32f429zi_parafoil/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f429zi_parafoil/core/stage_1_boot.cpp
@@ -55,11 +55,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f429zi_pyxis_auxiliary/core/stage_1_boot.cpp b/src/bsps/stm32f429zi_pyxis_auxiliary/core/stage_1_boot.cpp
index c5b8d22f2..bac4febca 100644
--- a/src/bsps/stm32f429zi_pyxis_auxiliary/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f429zi_pyxis_auxiliary/core/stage_1_boot.cpp
@@ -55,11 +55,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f429zi_pyxis_auxiliary/interfaces-impl/arch_registers_impl.h b/src/bsps/stm32f429zi_pyxis_auxiliary/interfaces-impl/arch_registers_impl.h
index 787b322d1..aa9f5579f 100644
--- a/src/bsps/stm32f429zi_pyxis_auxiliary/interfaces-impl/arch_registers_impl.h
+++ b/src/bsps/stm32f429zi_pyxis_auxiliary/interfaces-impl/arch_registers_impl.h
@@ -31,4 +31,4 @@
#define RCC_SYNC() __DSB() // Workaround for a bug in stm32f42x
-#endif // ARCH_REGISTERS_IMPL_H
\ No newline at end of file
+#endif // ARCH_REGISTERS_IMPL_H
diff --git a/src/bsps/stm32f429zi_rig/core/stage_1_boot.cpp b/src/bsps/stm32f429zi_rig/core/stage_1_boot.cpp
index d62f81003..a638e76cb 100644
--- a/src/bsps/stm32f429zi_rig/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f429zi_rig/core/stage_1_boot.cpp
@@ -55,11 +55,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f756zg_nucleo/core/stage_1_boot.cpp b/src/bsps/stm32f756zg_nucleo/core/stage_1_boot.cpp
index f0bb48965..bd29b9007 100644
--- a/src/bsps/stm32f756zg_nucleo/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f756zg_nucleo/core/stage_1_boot.cpp
@@ -71,11 +71,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_automated_antennas/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_automated_antennas/core/stage_1_boot.cpp
index d696c2eae..020a4ea64 100644
--- a/src/bsps/stm32f767zi_automated_antennas/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_automated_antennas/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_automated_antennas/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_automated_antennas/interfaces-impl/hwmapping.h
index dcb443fcf..122f150d5 100644
--- a/src/bsps/stm32f767zi_automated_antennas/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_automated_antennas/interfaces-impl/hwmapping.h
@@ -130,4 +130,4 @@ using intr = Gpio<GPIOC_BASE, 1>;
using nrst = Gpio<GPIOB_BASE, 1>;
} // namespace ethernet
-} // namespace miosix
\ No newline at end of file
+} // namespace miosix
diff --git a/src/bsps/stm32f767zi_compute_unit/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_compute_unit/core/stage_1_boot.cpp
index 83eac53b4..9b79851c2 100644
--- a/src/bsps/stm32f767zi_compute_unit/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_compute_unit/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_compute_unit_v2/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_compute_unit_v2/core/stage_1_boot.cpp
index 95d830c5c..e9897cdbb 100644
--- a/src/bsps/stm32f767zi_compute_unit_v2/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_compute_unit_v2/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_compute_unit_v2/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_compute_unit_v2/interfaces-impl/bsp.cpp
index e7bf2e4cf..91166cd57 100644
--- a/src/bsps/stm32f767zi_compute_unit_v2/interfaces-impl/bsp.cpp
+++ b/src/bsps/stm32f767zi_compute_unit_v2/interfaces-impl/bsp.cpp
@@ -232,9 +232,9 @@ void configureBackupSram()
extern unsigned char _preserve_end asm("_preserve_end");
extern unsigned char _preserve_load asm("_preserve_load");
- unsigned char *preserve_start = &_preserve_start;
- unsigned char *preserve_end = &_preserve_end;
- unsigned char *preserve_load = &_preserve_load;
+ unsigned char* preserve_start = &_preserve_start;
+ unsigned char* preserve_end = &_preserve_end;
+ unsigned char* preserve_load = &_preserve_load;
// Load the .preserve section from flash if not a software reset
if (miosix::lastResetReason() != miosix::ResetReason::SOFTWARE)
diff --git a/src/bsps/stm32f767zi_death_stack_v4/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_death_stack_v4/core/stage_1_boot.cpp
index 8374c9de6..2a3558d7b 100644
--- a/src/bsps/stm32f767zi_death_stack_v4/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_death_stack_v4/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_death_stack_v4/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_death_stack_v4/interfaces-impl/hwmapping.h
index 8b6166f3b..1d3662a8d 100644
--- a/src/bsps/stm32f767zi_death_stack_v4/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_death_stack_v4/interfaces-impl/hwmapping.h
@@ -218,4 +218,4 @@ using exp_sense = Gpio<GPIOG_BASE, 6>;
} // namespace gpios
-} // namespace miosix
\ No newline at end of file
+} // namespace miosix
diff --git a/src/bsps/stm32f767zi_gemini_gs/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_gemini_gs/core/stage_1_boot.cpp
index cc96d3b51..01a2010d5 100644
--- a/src/bsps/stm32f767zi_gemini_gs/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_gemini_gs/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_gemini_motor/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_gemini_motor/core/stage_1_boot.cpp
index 83eac53b4..9b79851c2 100644
--- a/src/bsps/stm32f767zi_gemini_motor/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_gemini_motor/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_lyra_biscotto/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_lyra_biscotto/core/stage_1_boot.cpp
index 95d830c5c..e9897cdbb 100644
--- a/src/bsps/stm32f767zi_lyra_biscotto/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_lyra_biscotto/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/bsp.cpp
index 2ffa98323..98eca468c 100644
--- a/src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/bsp.cpp
+++ b/src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/bsp.cpp
@@ -233,9 +233,9 @@ void configureBackupSram()
extern unsigned char _preserve_end asm("_preserve_end");
extern unsigned char _preserve_load asm("_preserve_load");
- unsigned char *preserve_start = &_preserve_start;
- unsigned char *preserve_end = &_preserve_end;
- unsigned char *preserve_load = &_preserve_load;
+ unsigned char* preserve_start = &_preserve_start;
+ unsigned char* preserve_end = &_preserve_end;
+ unsigned char* preserve_load = &_preserve_load;
// Load the .preserve section from flash if not a software reset
if (miosix::lastResetReason() != miosix::ResetReason::SOFTWARE)
diff --git a/src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/hwmapping.h
index 499caf94b..25e88a3ce 100644
--- a/src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/hwmapping.h
@@ -231,4 +231,4 @@ using statusLed = Gpio<GPIOB_BASE, 13>;
using camEnable = Gpio<GPIOB_BASE, 14>;
} // namespace gpios
-} // namespace miosix
\ No newline at end of file
+} // namespace miosix
diff --git a/src/bsps/stm32f767zi_lyra_gs/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_lyra_gs/core/stage_1_boot.cpp
index 83eac53b4..9b79851c2 100644
--- a/src/bsps/stm32f767zi_lyra_gs/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_lyra_gs/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_lyra_gs/interfaces-impl/bsp_impl.h b/src/bsps/stm32f767zi_lyra_gs/interfaces-impl/bsp_impl.h
index 35a052111..e274e630d 100644
--- a/src/bsps/stm32f767zi_lyra_gs/interfaces-impl/bsp_impl.h
+++ b/src/bsps/stm32f767zi_lyra_gs/interfaces-impl/bsp_impl.h
@@ -96,4 +96,4 @@ void configureSdram();
*/
inline bool sdCardSense() { return true; }
-} // namespace miosix
\ No newline at end of file
+} // namespace miosix
diff --git a/src/bsps/stm32f767zi_lyra_motor/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_lyra_motor/core/stage_1_boot.cpp
index 95d830c5c..e9897cdbb 100644
--- a/src/bsps/stm32f767zi_lyra_motor/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_lyra_motor/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_lyra_motor/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_lyra_motor/interfaces-impl/bsp.cpp
index d7daea5cd..2f8f98c30 100644
--- a/src/bsps/stm32f767zi_lyra_motor/interfaces-impl/bsp.cpp
+++ b/src/bsps/stm32f767zi_lyra_motor/interfaces-impl/bsp.cpp
@@ -233,9 +233,9 @@ void configureBackupSram()
extern unsigned char _preserve_end asm("_preserve_end");
extern unsigned char _preserve_load asm("_preserve_load");
- unsigned char *preserve_start = &_preserve_start;
- unsigned char *preserve_end = &_preserve_end;
- unsigned char *preserve_load = &_preserve_load;
+ unsigned char* preserve_start = &_preserve_start;
+ unsigned char* preserve_end = &_preserve_end;
+ unsigned char* preserve_load = &_preserve_load;
// Load the .preserve section from flash if not a software reset
if (miosix::lastResetReason() != miosix::ResetReason::SOFTWARE)
diff --git a/src/bsps/stm32f767zi_lyra_motor/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_lyra_motor/interfaces-impl/hwmapping.h
index e7443d6e2..387fe9bd3 100644
--- a/src/bsps/stm32f767zi_lyra_motor/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_lyra_motor/interfaces-impl/hwmapping.h
@@ -140,4 +140,4 @@ namespace gpios
using boardLed = Gpio<GPIOC_BASE, 5>;
} // namespace gpios
-} // namespace miosix
\ No newline at end of file
+} // namespace miosix
diff --git a/src/bsps/stm32f767zi_rig_v2/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_rig_v2/core/stage_1_boot.cpp
index 95d830c5c..e9897cdbb 100644
--- a/src/bsps/stm32f767zi_rig_v2/core/stage_1_boot.cpp
+++ b/src/bsps/stm32f767zi_rig_v2/core/stage_1_boot.cpp
@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
- miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
- 8 * 1024 * 1024);
+ miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
@@ -60,11 +59,11 @@ void program_startup()
extern unsigned char _bss_end asm("_bss_end");
// Initialize .data section, clear .bss section
- unsigned char *etext = &_etext;
- unsigned char *data = &_data;
- unsigned char *edata = &_edata;
- unsigned char *bss_start = &_bss_start;
- unsigned char *bss_end = &_bss_end;
+ unsigned char* etext = &_etext;
+ unsigned char* data = &_data;
+ unsigned char* edata = &_edata;
+ unsigned char* bss_start = &_bss_start;
+ unsigned char* bss_end = &_bss_end;
memcpy(data, etext, edata - data);
memset(bss_start, 0, bss_end - bss_start);
diff --git a/src/bsps/stm32f767zi_rig_v2/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_rig_v2/interfaces-impl/bsp.cpp
index f6ddb1f55..cbf61373e 100644
--- a/src/bsps/stm32f767zi_rig_v2/interfaces-impl/bsp.cpp
+++ b/src/bsps/stm32f767zi_rig_v2/interfaces-impl/bsp.cpp
@@ -233,9 +233,9 @@ void configureBackupSram()
extern unsigned char _preserve_end asm("_preserve_end");
extern unsigned char _preserve_load asm("_preserve_load");
- unsigned char *preserve_start = &_preserve_start;
- unsigned char *preserve_end = &_preserve_end;
- unsigned char *preserve_load = &_preserve_load;
+ unsigned char* preserve_start = &_preserve_start;
+ unsigned char* preserve_end = &_preserve_end;
+ unsigned char* preserve_load = &_preserve_load;
// Load the .preserve section from flash if not a software reset
if (miosix::lastResetReason() != miosix::ResetReason::SOFTWARE)
diff --git a/src/bsps/stm32f767zi_rig_v2/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_rig_v2/interfaces-impl/hwmapping.h
index eec700e5e..0560321ff 100644
--- a/src/bsps/stm32f767zi_rig_v2/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_rig_v2/interfaces-impl/hwmapping.h
@@ -242,4 +242,4 @@ using nitrogen = miosix::interfaces::relays::relay2;
using armLight = miosix::interfaces::relays::relay3;
} // namespace relays
-} // namespace miosix
\ No newline at end of file
+} // namespace miosix
diff --git a/src/entrypoints/compute-unit-v2-testsuite.cpp b/src/entrypoints/compute-unit-v2-testsuite.cpp
index 86dd9292d..e9617a6ae 100644
--- a/src/entrypoints/compute-unit-v2-testsuite.cpp
+++ b/src/entrypoints/compute-unit-v2-testsuite.cpp
@@ -33,10 +33,10 @@ using namespace miosix;
struct PinDef
{
GpioPin pin;
- const char *gpio_name;
- const char *conan_name;
+ const char* gpio_name;
+ const char* conan_name;
// ADRIANOOOOOOOOOOOOOOOO
- const char *breakout_v1_name;
+ const char* breakout_v1_name;
};
std::array<PinDef, 53> PIN_DEFS{{
@@ -271,7 +271,7 @@ void sd_test()
puts("*** Starting SD test...");
bool ok = true;
- FILE *f = fopen("/sd/test.bin", "wb");
+ FILE* f = fopen("/sd/test.bin", "wb");
if (f == NULL)
{
puts("Failed to open test.bin");
@@ -299,9 +299,7 @@ void sd_test()
}
if (f != NULL)
- {
fclose(f);
- }
if (ok)
{
@@ -344,37 +342,29 @@ void sd_test()
}
if (f != NULL)
- {
fclose(f);
- }
if (ok)
- {
puts("*** SD test succesfull!");
- }
else
- {
puts("*** SD test failed!");
- }
}
void xram_test()
{
- volatile uint16_t *const START = (volatile uint16_t *)0xd0000000;
- volatile uint16_t *const END = START + (16 * 1024 * 1024);
+ volatile uint16_t* const START = (volatile uint16_t*)0xd0000000;
+ volatile uint16_t* const END = START + (16 * 1024 * 1024);
// First clear the whole RAM
- for (volatile uint16_t *iter = START; iter != END; iter++)
- {
+ for (volatile uint16_t* iter = START; iter != END; iter++)
*iter = 0;
- }
__DMB(); // Flush cache
puts("*** Starting basic XRAM test...");
bool ok = true;
- for (volatile uint16_t *iter = START; iter != END; iter++)
+ for (volatile uint16_t* iter = START; iter != END; iter++)
{
// Set a marker value at this address
*iter = 0xffff;
@@ -392,13 +382,9 @@ void xram_test()
}
if (ok)
- {
puts("*** XRAM basic test succesfull!");
- }
else
- {
puts("*** XRAM basic test failed!");
- }
puts("*** Starting XRAM mirroring test...");
ok = true;
@@ -406,20 +392,18 @@ void xram_test()
// Generate addresses to test every line
for (int i = 1; i < 25; i++)
{
- volatile uint16_t *other =
- (volatile uint16_t *)((size_t)START | (1 << i));
+ volatile uint16_t* other =
+ (volatile uint16_t*)((size_t)START | (1 << i));
// Write something
*other = 0xdead;
__DMB(); // Flush cache
- for (volatile uint16_t *iter = START; iter != END; iter++)
+ for (volatile uint16_t* iter = START; iter != END; iter++)
{
// Skip the written address
if (iter == other)
- {
continue;
- }
// Check for mirroring
if (*iter == 0xdead)
@@ -435,31 +419,25 @@ void xram_test()
}
if (ok)
- {
puts("*** XRAM mirror test succesfull!");
- }
else
- {
puts("*** XRAM mirror test failed!");
- }
}
void pin_continuity_test()
{
- for (auto &a : PIN_DEFS)
- {
+ for (auto& a : PIN_DEFS)
a.pin.mode(Mode::INPUT_PULL_DOWN);
- }
puts("*** Starting pin continuity test...");
bool ok = true;
// Ok now start testing
- for (auto &a : PIN_DEFS)
+ for (auto& a : PIN_DEFS)
{
a.pin.mode(Mode::OUTPUT);
a.pin.high();
- for (auto &b : PIN_DEFS)
+ for (auto& b : PIN_DEFS)
{
if (a.pin.getNumber() == b.pin.getNumber() &&
a.pin.getPort() == b.pin.getPort())
@@ -479,18 +457,14 @@ void pin_continuity_test()
}
if (ok)
- {
puts("*** Pin continuity test succesfull!");
- }
else
- {
puts("*** Pin continuity test failed!");
- }
}
void pin_semi_test()
{
- for (auto &a : PIN_DEFS)
+ for (auto& a : PIN_DEFS)
{
a.pin.mode(Mode::OUTPUT);
a.pin.low();
@@ -523,7 +497,7 @@ void pin_semi_test()
for (size_t i = 0; i < PIN_DEFS.size(); i++)
{
- PinDef &a = PIN_DEFS[i];
+ PinDef& a = PIN_DEFS[i];
// Pause waiting for keys
while (getchar() != '\n')
diff --git a/src/entrypoints/config-dsgamma.cpp b/src/entrypoints/config-dsgamma.cpp
index 37147cc22..a3a7e891c 100644
--- a/src/entrypoints/config-dsgamma.cpp
+++ b/src/entrypoints/config-dsgamma.cpp
@@ -85,13 +85,9 @@ int main()
bool configStatus = gamma.configure(newConf);
if (configStatus == true)
- {
printf("New configuration set!\n");
- }
else
- {
printf("Failed to set new configuration!\n");
- }
Thread::sleep(500);
}
@@ -104,8 +100,6 @@ int main()
void waitForButton()
{
while (1)
- {
if (button::value() == 1)
break; // Wait for button
- }
}
diff --git a/src/entrypoints/kernel-testsuite.cpp b/src/entrypoints/kernel-testsuite.cpp
index d78e82416..485e7bbe1 100644
--- a/src/entrypoints/kernel-testsuite.cpp
+++ b/src/entrypoints/kernel-testsuite.cpp
@@ -83,9 +83,9 @@ using namespace Boardcore;
const unsigned int STACK_SMALL = 512;
// Functions common to all tests
-static void test_name(const char *name);
+static void test_name(const char* name);
static void pass();
-static void fail(const char *cause);
+static void fail(const char* cause);
// Kernel test functions
static void test_1();
static void test_2();
@@ -145,12 +145,12 @@ void syscall_test_mpu_read();
void syscall_test_mpu_write();
#endif // WITH_FILESYSTEM
-unsigned int *memAllocation(unsigned int size);
-bool memCheck(unsigned int *base, unsigned int size);
-void runElfTest(const char *name, const unsigned char *filename,
+unsigned int* memAllocation(unsigned int size);
+bool memCheck(unsigned int* base, unsigned int size);
+void runElfTest(const char* name, const unsigned char* filename,
unsigned int file_length);
-int runProgram(const unsigned char *filename, unsigned int file_length);
+int runProgram(const unsigned char* filename, unsigned int file_length);
bool isSignaled(int exit_code);
void mpuTest1();
void mpuTest2();
@@ -190,7 +190,7 @@ int main()
break;
}
// For testing mpu
- unsigned int *m __attribute__((unused));
+ unsigned int* m __attribute__((unused));
switch (c)
{
case 't':
@@ -360,7 +360,7 @@ int main()
* Called @ the beginning of a test
* \param name test name
*/
-static void test_name(const char *name) { iprintf("Testing %s...\n", name); }
+static void test_name(const char* name) { iprintf("Testing %s...\n", name); }
/**
* Called @ the end of a successful test
@@ -371,7 +371,7 @@ static void pass() { iprintf("Ok.\n"); }
* Called if a test fails
* \param cause cause of the failure
*/
-static void fail(const char *cause)
+static void fail(const char* cause)
{
// Can't use iprintf here because fail() may be used in threads
// with 256 bytes of stack, and iprintf may cause stack overflow
@@ -390,12 +390,10 @@ void process_test_file_concurrency()
remove("/file1.bin");
remove("/file2.bin");
- ElfProgram prog1(
- reinterpret_cast<const unsigned int *>(testsuite_file1_elf),
- testsuite_file1_elf_len);
- ElfProgram prog2(
- reinterpret_cast<const unsigned int *>(testsuite_file2_elf),
- testsuite_file2_elf_len);
+ ElfProgram prog1(reinterpret_cast<const unsigned int*>(testsuite_file1_elf),
+ testsuite_file1_elf_len);
+ ElfProgram prog2(reinterpret_cast<const unsigned int*>(testsuite_file2_elf),
+ testsuite_file2_elf_len);
pid_t p1 = Process::create(prog1);
pid_t p2 = Process::create(prog2);
@@ -405,8 +403,8 @@ void process_test_file_concurrency()
Process::waitpid(p1, &res1, 0);
Process::waitpid(p2, &res2, 0);
- FILE *f1 = fopen("/file1.bin", "rb");
- FILE *f2 = fopen("/file2.bin", "rb");
+ FILE* f1 = fopen("/file1.bin", "rb");
+ FILE* f2 = fopen("/file2.bin", "rb");
if (!f1)
fail("Unable to open first file");
@@ -438,9 +436,8 @@ void process_test_file_concurrency()
void process_test_process_ret()
{
test_name("Process return value");
- ElfProgram prog(
- reinterpret_cast<const unsigned int *>(testsuite_simple_elf),
- testsuite_simple_elf_len);
+ ElfProgram prog(reinterpret_cast<const unsigned int*>(testsuite_simple_elf),
+ testsuite_simple_elf_len);
int ret = 0;
pid_t p = Process::create(prog);
Process::waitpid(p, &ret, 0);
@@ -454,7 +451,7 @@ void syscall_test_mpu_open()
{
test_name("open and MPU");
ElfProgram prog(
- reinterpret_cast<const unsigned int *>(testsuite_syscall_mpu_open_elf),
+ reinterpret_cast<const unsigned int*>(testsuite_syscall_mpu_open_elf),
testsuite_syscall_mpu_open_elf_len);
int ret = 0;
pid_t p = Process::create(prog);
@@ -469,7 +466,7 @@ void syscall_test_mpu_read()
{
test_name("read calls and MPU");
ElfProgram prog(
- reinterpret_cast<const unsigned int *>(testsuite_syscall_mpu_read_elf),
+ reinterpret_cast<const unsigned int*>(testsuite_syscall_mpu_read_elf),
testsuite_syscall_mpu_read_elf_len);
int ret = 0;
pid_t p = Process::create(prog);
@@ -484,7 +481,7 @@ void syscall_test_mpu_write()
{
test_name("write and MPU");
ElfProgram prog(
- reinterpret_cast<const unsigned int *>(testsuite_syscall_mpu_write_elf),
+ reinterpret_cast<const unsigned int*>(testsuite_syscall_mpu_write_elf),
testsuite_syscall_mpu_write_elf_len);
int ret = 0;
pid_t p = Process::create(prog);
@@ -504,7 +501,7 @@ void syscall_test_system()
iprintf("The system lookup table is empty. Correct.\n");
SystemMap::instance().addElfProgram(
- "test", reinterpret_cast<const unsigned int *>(testsuite_simple_elf),
+ "test", reinterpret_cast<const unsigned int*>(testsuite_simple_elf),
testsuite_simple_elf_len);
if (SystemMap::instance().getElfCount() != 1)
@@ -512,17 +509,18 @@ void syscall_test_system()
else
iprintf("The system lookup table contain one program. Correct.\n");
- std::pair<const unsigned int *, unsigned int> sysret =
+ std::pair<const unsigned int*, unsigned int> sysret =
SystemMap::instance().getElfProgram("test");
if (sysret.first == 0 || sysret.second == 0)
+ {
fail(
"The system lookup table has returned an invalid process size or "
"an invalid elf pointer for the process");
+ }
- ElfProgram prog(
- reinterpret_cast<const unsigned int *>(testsuite_system_elf),
- testsuite_system_elf_len);
+ ElfProgram prog(reinterpret_cast<const unsigned int*>(testsuite_system_elf),
+ testsuite_system_elf_len);
int ret = 0;
pid_t p = Process::create(prog);
@@ -545,7 +543,7 @@ void syscall_test_system()
void syscall_test_sleep()
{
test_name("System Call: sleep");
- ElfProgram prog(reinterpret_cast<const unsigned int *>(testsuite_sleep_elf),
+ ElfProgram prog(reinterpret_cast<const unsigned int*>(testsuite_sleep_elf),
testsuite_sleep_elf_len);
int ret = 0;
@@ -566,7 +564,7 @@ void syscall_test_files()
test_name("System Call: open, read, write, seek, close, system");
ElfProgram prog(
- reinterpret_cast<const unsigned int *>(testsuite_syscall_elf),
+ reinterpret_cast<const unsigned int*>(testsuite_syscall_elf),
testsuite_syscall_elf_len);
int ret = 0;
@@ -636,7 +634,7 @@ and test argv pointer passing
static volatile bool t1_v1;
-static void t1_p1(void *argv __attribute__((unused)))
+static void t1_p1(void* argv __attribute__((unused)))
{
for (;;)
{
@@ -649,13 +647,13 @@ static void t1_p1(void *argv __attribute__((unused)))
}
}
-static void t1_p3(void *argv)
+static void t1_p3(void* argv)
{
if (reinterpret_cast<unsigned int>(argv) != 0xdeadbeef)
fail("argv passing");
}
-static void t1_f1(Thread *p)
+static void t1_f1(Thread* p)
{
// This test is very strict and sometimes might fail. To see why consider
// this: yield() moves control flow to the second thread, but a preemption
@@ -708,18 +706,18 @@ static void test_1()
{
test_name("thread creation/deletion");
// Testing getStackBottom()
- const unsigned int *y = Thread::getStackBottom();
+ const unsigned int* y = Thread::getStackBottom();
if (*y != STACK_FILL)
fail("getStackBottom() (1)");
y--; // Now should point to last word of watermark
if (*y != WATERMARK_FILL)
fail("getStackBottom() (2)");
// Testing thread termination
- Thread *p = Thread::create(t1_p1, STACK_SMALL, 0, NULL);
+ Thread* p = Thread::create(t1_p1, STACK_SMALL, 0, NULL);
t1_f1(p);
// Testing argv passing
p = Thread::create(t1_p3, STACK_SMALL, 0,
- reinterpret_cast<void *>(0xdeadbeef));
+ reinterpret_cast<void*>(0xdeadbeef));
Thread::sleep(5);
if (Thread::exists(p))
fail("thread not deleted (2)");
@@ -737,9 +735,9 @@ Thread::getCurrentThread
*/
static volatile bool t2_v1;
-static Thread *t2_p_v1;
+static Thread* t2_p_v1;
-static void t2_p1(void *argv __attribute__((unused)))
+static void t2_p1(void* argv __attribute__((unused)))
{
// This is to fix a race condition: the immediately after the thread
// creation a yield occurs, t2_p_v1 is not yet assigned so the check fails
@@ -757,7 +755,7 @@ static void t2_p1(void *argv __attribute__((unused)))
}
}
-static void t2_p2(void *argv __attribute__((unused)))
+static void t2_p2(void* argv __attribute__((unused)))
{
while (Thread::testTerminate() == false)
t2_v1 = true;
@@ -830,7 +828,7 @@ getTime()
also tests creation of multiple instances of the same thread
*/
-static void t3_p1(void *argv __attribute__((unused)))
+static void t3_p1(void* argv __attribute__((unused)))
{
const int SLEEP_TIME = 100; // ms
for (;;)
@@ -849,7 +847,7 @@ static void t3_p1(void *argv __attribute__((unused)))
static volatile bool t3_v2; // Set to true by t3_p2
static volatile bool t3_deleted; // Set when an instance of t3_p2 is deleted
-static void t3_p2(void *argv __attribute__((unused)))
+static void t3_p2(void* argv __attribute__((unused)))
{
const int SLEEP_TIME = 15;
for (;;)
@@ -867,7 +865,7 @@ static void t3_p2(void *argv __attribute__((unused)))
static void test_3()
{
test_name("time and sleep");
- Thread *p = Thread::create(t3_p1, STACK_SMALL, 0, NULL);
+ Thread* p = Thread::create(t3_p1, STACK_SMALL, 0, NULL);
for (int i = 0; i < 4; i++)
{
// The other thread is running getTime() test
@@ -896,7 +894,7 @@ static void test_3()
t3_v2 = false;
// Creating another instance of t3_p2 to check what happens when 3 threads
// are sleeping
- Thread *p2 = Thread::create(t3_p2, STACK_SMALL, 0, NULL);
+ Thread* p2 = Thread::create(t3_p2, STACK_SMALL, 0, NULL);
// p will wake @ t=45, main will wake @ t=47 and p2 @ t=50ms
// this will test proper sorting of sleeping_list in the kernel
Thread::sleep(12);
@@ -952,7 +950,7 @@ Thread::IRQgetPriority
static volatile bool t4_v1;
-static void t4_p1(void *argv __attribute__((unused)))
+static void t4_p1(void* argv __attribute__((unused)))
{
for (;;)
{
@@ -967,7 +965,7 @@ static void t4_p1(void *argv __attribute__((unused)))
#ifdef SCHED_TYPE_EDF
// This takes .014/.03=47% of CPU time
-static void t4_p2(void *argv)
+static void t4_p2(void* argv)
{
const long long period = msInNs(30); // 30ms
long long time = getTime();
@@ -987,13 +985,13 @@ static void t4_p2(void *argv)
static void test_4()
{
test_name("disableInterrupts and priority");
- Thread *p = Thread::create(t4_p1, STACK_SMALL, 0, NULL);
+ Thread* p = Thread::create(t4_p1, STACK_SMALL, 0, NULL);
// Check getPriority()
if (p->getPriority() != 0)
fail("getPriority (0)");
// Check that getCurrentThread() and IRQgetCurrentThread() return the
// same value
- Thread *q = Thread::getCurrentThread();
+ Thread* q = Thread::getCurrentThread();
disableInterrupts(); //
if (q != Thread::IRQgetCurrentThread())
fail("IRQgetCurrentThread");
@@ -1102,7 +1100,7 @@ static volatile bool t5_v1;
static volatile bool
t5_v2; // False=testing Thread::wait() else Thread::IRQwait()
-static void t5_p1(void *argv __attribute__((unused)))
+static void t5_p1(void* argv __attribute__((unused)))
{
for (;;)
{
@@ -1110,7 +1108,9 @@ static void t5_p1(void *argv __attribute__((unused)))
break;
t5_v1 = true;
if (t5_v2)
+ {
Thread::wait();
+ }
else
{
disableInterrupts();
@@ -1126,7 +1126,7 @@ static void test_5()
test_name("wait, wakeup, IRQwait, IRQwakeup");
t5_v2 = false; // Testing wait
t5_v1 = false;
- Thread *p = Thread::create(t5_p1, STACK_SMALL, 0, NULL);
+ Thread* p = Thread::create(t5_p1, STACK_SMALL, 0, NULL);
// Should not happen, since already tested
Thread::sleep(5);
if (t5_v1 == false)
@@ -1208,7 +1208,7 @@ public:
strcat(s, t);
}
- char *read() { return s; }
+ char* read() { return s; }
void clear() { s[0] = '\0'; }
@@ -1220,7 +1220,7 @@ static Sequence seq;
static Mutex t6_m1;
static FastMutex t6_m1a;
-static void t6_p1(void *argv __attribute__((unused)))
+static void t6_p1(void* argv __attribute__((unused)))
{
t6_m1.lock();
seq.add('1');
@@ -1232,7 +1232,7 @@ static void t6_p1(void *argv __attribute__((unused)))
t6_m1.unlock();
}
-static void t6_p2(void *argv __attribute__((unused)))
+static void t6_p2(void* argv __attribute__((unused)))
{
t6_m1.lock();
seq.add('2');
@@ -1243,7 +1243,7 @@ static void t6_p2(void *argv __attribute__((unused)))
t6_m1.unlock();
}
-static void t6_p3(void *argv __attribute__((unused)))
+static void t6_p3(void* argv __attribute__((unused)))
{
t6_m1.lock();
seq.add('3');
@@ -1254,7 +1254,7 @@ static void t6_p3(void *argv __attribute__((unused)))
t6_m1.unlock();
}
-static void t6_p4(void *argv __attribute__((unused)))
+static void t6_p4(void* argv __attribute__((unused)))
{
t6_m1.lock();
for (;;)
@@ -1272,7 +1272,7 @@ static void t6_p4(void *argv __attribute__((unused)))
}
}
-static void t6_p1a(void *argv __attribute__((unused)))
+static void t6_p1a(void* argv __attribute__((unused)))
{
t6_m1a.lock();
seq.add('1');
@@ -1280,7 +1280,7 @@ static void t6_p1a(void *argv __attribute__((unused)))
t6_m1a.unlock();
}
-static void t6_p2a(void *argv __attribute__((unused)))
+static void t6_p2a(void* argv __attribute__((unused)))
{
t6_m1a.lock();
seq.add('2');
@@ -1288,7 +1288,7 @@ static void t6_p2a(void *argv __attribute__((unused)))
t6_m1a.unlock();
}
-static void t6_p3a(void *argv __attribute__((unused)))
+static void t6_p3a(void* argv __attribute__((unused)))
{
t6_m1a.lock();
seq.add('3');
@@ -1296,7 +1296,7 @@ static void t6_p3a(void *argv __attribute__((unused)))
t6_m1a.unlock();
}
-static void t6_p4a(void *argv __attribute__((unused)))
+static void t6_p4a(void* argv __attribute__((unused)))
{
t6_m1a.lock();
for (;;)
@@ -1318,7 +1318,7 @@ static volatile bool t6_v1;
static Mutex t6_m2;
static FastMutex t6_m2a;
-static void t6_p5(void *argv __attribute__((unused)))
+static void t6_p5(void* argv __attribute__((unused)))
{
for (;;)
{
@@ -1334,7 +1334,7 @@ static void t6_p5(void *argv __attribute__((unused)))
}
}
-static void t6_p5a(void *argv __attribute__((unused)))
+static void t6_p5a(void* argv __attribute__((unused)))
{
for (;;)
{
@@ -1353,18 +1353,18 @@ static void t6_p5a(void *argv __attribute__((unused)))
static Mutex t6_m3;
static Mutex t6_m4;
-static void t6_p6(void *argv)
+static void t6_p6(void* argv)
{
- Mutex *m = reinterpret_cast<Mutex *>(argv);
+ Mutex* m = reinterpret_cast<Mutex*>(argv);
{
Lock<Mutex> l(*m);
Thread::sleep(1);
}
}
-static void t6_p6a(void *argv)
+static void t6_p6a(void* argv)
{
- FastMutex *m = reinterpret_cast<FastMutex *>(argv);
+ FastMutex* m = reinterpret_cast<FastMutex*>(argv);
{
Lock<FastMutex> l(*m);
Thread::sleep(1);
@@ -1374,34 +1374,34 @@ static void t6_p6a(void *argv)
static Mutex t6_m5(Mutex::RECURSIVE);
static FastMutex t6_m5a(FastMutex::RECURSIVE);
-static void *t6_p7(void *argv __attribute__((unused)))
+static void* t6_p7(void* argv __attribute__((unused)))
{
if (t6_m5.tryLock() == false)
- return reinterpret_cast<void *>(1); // 1 = locked
+ return reinterpret_cast<void*>(1); // 1 = locked
t6_m5.unlock();
- return reinterpret_cast<void *>(0); // 0 = unlocked
+ return reinterpret_cast<void*>(0); // 0 = unlocked
}
bool checkIft6_m5IsLocked()
{
- Thread *t = Thread::create(t6_p7, STACK_SMALL, 0, 0, Thread::JOINABLE);
- void *result;
+ Thread* t = Thread::create(t6_p7, STACK_SMALL, 0, 0, Thread::JOINABLE);
+ void* result;
t->join(&result);
return reinterpret_cast<int>(result) == 0 ? false : true;
}
-static void *t6_p7a(void *argv __attribute__((unused)))
+static void* t6_p7a(void* argv __attribute__((unused)))
{
if (t6_m5a.tryLock() == false)
- return reinterpret_cast<void *>(1); // 1 = locked
+ return reinterpret_cast<void*>(1); // 1 = locked
t6_m5a.unlock();
- return reinterpret_cast<void *>(0); // 0 = unlocked
+ return reinterpret_cast<void*>(0); // 0 = unlocked
}
bool checkIft6_m5aIsLocked()
{
- Thread *t = Thread::create(t6_p7a, STACK_SMALL, 0, 0, Thread::JOINABLE);
- void *result;
+ Thread* t = Thread::create(t6_p7a, STACK_SMALL, 0, 0, Thread::JOINABLE);
+ void* result;
t->join(&result);
return reinterpret_cast<int>(result) == 0 ? false : true;
}
@@ -1448,7 +1448,7 @@ static void test_6()
//
// This thread will hold the lock until we terminate it
- Thread *t = Thread::create(t6_p4, STACK_SMALL, 0);
+ Thread* t = Thread::create(t6_p4, STACK_SMALL, 0);
Thread::yield();
if (t6_m1.tryLock() == true)
fail("Mutex::tryLock() (1)");
@@ -1466,7 +1466,7 @@ static void test_6()
fail("Mutex::tryLock() (3)");
t6_m1.unlock();
t6_v1 = false;
- Thread *t2 = Thread::create(t6_p5, STACK_SMALL, 1);
+ Thread* t2 = Thread::create(t6_p5, STACK_SMALL, 1);
Thread::sleep(30);
if (t6_v1 == false)
fail("Thread not created");
@@ -1485,8 +1485,8 @@ static void test_6()
//
// Testing full priority inheritance algorithm
//
- Thread *t3;
- Thread *t4;
+ Thread* t3;
+ Thread* t4;
{
Lock<Mutex> l1(t6_m3);
{
@@ -1496,21 +1496,21 @@ static void test_6()
fail("priority inheritance (5)");
// This thread will increase priority to 1
t = Thread::create(t6_p6, STACK_SMALL, priorityAdapter(1),
- reinterpret_cast<void *>(&t6_m4),
+ reinterpret_cast<void*>(&t6_m4),
Thread::JOINABLE);
Thread::sleep(10);
if (Thread::getCurrentThread()->getPriority() != priorityAdapter(1))
fail("priority inheritance (6)");
// This thread will do nothing
t2 = Thread::create(t6_p6, STACK_SMALL, priorityAdapter(1),
- reinterpret_cast<void *>(&t6_m3),
+ reinterpret_cast<void*>(&t6_m3),
Thread::JOINABLE);
Thread::sleep(10);
if (Thread::getCurrentThread()->getPriority() != priorityAdapter(1))
fail("priority inheritance (7)");
// This thread will increase priority to 2
t3 = Thread::create(t6_p6, STACK_SMALL, priorityAdapter(2),
- reinterpret_cast<void *>(&t6_m4),
+ reinterpret_cast<void*>(&t6_m4),
Thread::JOINABLE);
Thread::sleep(10);
if (Thread::getCurrentThread()->getPriority() != priorityAdapter(2))
@@ -1536,7 +1536,7 @@ static void test_6()
Thread::setPriority(priorityAdapter(1));
// This thread will increase priority to 2
t4 = Thread::create(t6_p6, STACK_SMALL, priorityAdapter(2),
- reinterpret_cast<void *>(&t6_m3), Thread::JOINABLE);
+ reinterpret_cast<void*>(&t6_m3), Thread::JOINABLE);
Thread::sleep(10);
if (Thread::getCurrentThread()->getPriority() != priorityAdapter(2))
fail("priority inheritance (13)");
@@ -1563,7 +1563,7 @@ static void test_6()
{
Lock<Mutex> l3(t6_m5);
t = Thread::create(t6_p6, STACK_SMALL, 0,
- reinterpret_cast<void *>(&t6_m5));
+ reinterpret_cast<void*>(&t6_m5));
Thread::sleep(10);
// If thread does not exist it means it has locked the mutex
// even if we locked it first
@@ -1694,7 +1694,7 @@ static void test_6()
{
Lock<FastMutex> l3(t6_m5a);
t = Thread::create(t6_p6a, STACK_SMALL, 0,
- reinterpret_cast<void *>(&t6_m5a));
+ reinterpret_cast<void*>(&t6_m5a));
Thread::sleep(10);
// If thread does not exist it means it has locked the mutex
// even if we locked it first
@@ -1758,7 +1758,7 @@ std::chrono::system_clock
std::chrono::steady_clock
*/
-static void fail_time(const char *msg, long long time) // time in ms
+static void fail_time(const char* msg, long long time) // time in ms
{
fail((std::string(msg) + std::to_string(time)).c_str());
}
@@ -1779,7 +1779,9 @@ static void test_7()
if (llabs(duration_cast<milliseconds>(steadyEnd - steadyStart).count() -
i) > 4)
+ {
fail_time("steady_clock not precise ", i);
+ }
auto sysStart = system_clock::now();
Thread::sleep(i);
@@ -1787,7 +1789,9 @@ static void test_7()
if (llabs(duration_cast<milliseconds>(sysEnd - sysStart).count() - i) >
4)
+ {
fail_time("system_clock not precise ", i);
+ }
}
pass();
@@ -1813,7 +1817,7 @@ FIXME: The overloaded versions of IRQput and IRQget are not tested
static Queue<char, 4> t8_q1;
static Queue<char, 4> t8_q2;
-static void t8_p1(void *argv __attribute__((unused)))
+static void t8_p1(void* argv __attribute__((unused)))
{
for (;;)
{
@@ -1895,7 +1899,7 @@ static void test_8()
// Test queue between threads
t8_q1.reset();
t8_q2.reset();
- Thread *p = Thread::create(t8_p1, STACK_SMALL, 0, NULL);
+ Thread* p = Thread::create(t8_p1, STACK_SMALL, 0, NULL);
char write = 'A', read = 'A';
for (int i = 1; i <= 8; i++)
{
@@ -2037,13 +2041,13 @@ void t10_f2()
t10_f1();
fail("Exception not thrown (1)");
}
- catch (std::logic_error &e)
+ catch (std::logic_error& e)
{
throw;
}
}
-void t10_p1(void *argv __attribute__((unused)))
+void t10_p1(void* argv __attribute__((unused)))
{
t10_f2();
fail("Exception not thrown");
@@ -2053,7 +2057,7 @@ void test_10()
{
test_name("Exception handling");
Thread::sleep(10);
- Thread *t = Thread::create(t10_p1, 1024 + 512, 0, NULL);
+ Thread* t = Thread::create(t10_p1, 1024 + 512, 0, NULL);
Thread::sleep(80);
if (Thread::exists(t))
fail("Thread not deleted");
@@ -2070,7 +2074,7 @@ tests class MemoryProfiling
static volatile unsigned int t11_v1; // Free heap after spawning thread
-void t11_p1(void *argv __attribute__((unused)))
+void t11_p1(void* argv __attribute__((unused)))
{
if (MemoryProfiling::getStackSize() != STACK_SMALL)
fail("getStackSize (2)");
@@ -2103,7 +2107,7 @@ void test_11()
if (MemoryProfiling::getAbsoluteFreeHeap() > heapSize)
fail("getAbsoluteFreeHeap");
// Multithread test
- Thread *t = Thread::create(t11_p1, STACK_SMALL, 0, 0, Thread::JOINABLE);
+ Thread* t = Thread::create(t11_p1, STACK_SMALL, 0, 0, Thread::JOINABLE);
t11_v1 = MemoryProfiling::getCurrentFreeHeap();
t->join(0);
Thread::sleep(
@@ -2121,20 +2125,20 @@ Additional test for priority inheritance
Mutex t12_m1;
Mutex t12_m2;
-void t12_p1(void *argv __attribute__((unused)))
+void t12_p1(void* argv __attribute__((unused)))
{
Lock<Mutex> l1(t12_m1);
Lock<Mutex> l2(t12_m2);
}
-void t12_p2(void *argv __attribute__((unused))) { Lock<Mutex> l(t12_m1); }
+void t12_p2(void* argv __attribute__((unused))) { Lock<Mutex> l(t12_m1); }
void test_12()
{
test_name("Priority inheritance 2");
Thread::setPriority(priorityAdapter(0)); // For EDF
- Thread *t1;
- Thread *t2;
+ Thread* t1;
+ Thread* t2;
{
// First, we lock the second Mutex
Lock<Mutex> l(t12_m2);
@@ -2191,7 +2195,7 @@ Tests:
- Thread::detach
*/
-void *t14_p1(void *argv)
+void* t14_p1(void* argv)
{
for (;;)
{
@@ -2206,16 +2210,16 @@ void *t14_p1(void *argv)
return argv;
}
-void *t14_p2(void *argv)
+void* t14_p2(void* argv)
{
Thread::sleep(50);
return argv;
}
-void t14_p3(void *argv)
+void t14_p3(void* argv)
{
Thread::sleep(20);
- Thread *t = reinterpret_cast<Thread *>(argv);
+ Thread* t = reinterpret_cast<Thread*>(argv);
t->detach();
}
@@ -2230,7 +2234,7 @@ void test_14()
//
// Test 1: detached thread that returns void*
- Thread *t = Thread::create(t14_p1, STACK_SMALL, 0, 0);
+ Thread* t = Thread::create(t14_p1, STACK_SMALL, 0, 0);
t->terminate();
Thread::sleep(10);
if (Thread::exists(t))
@@ -2252,7 +2256,7 @@ void test_14()
Thread::sleep(10);
// Test 5: detaching a thread on which some other thread called join
t = Thread::create(t14_p2, STACK_SMALL, 0, 0, Thread::JOINABLE);
- Thread::create(t14_p3, STACK_SMALL, 0, reinterpret_cast<void *>(t));
+ Thread::create(t14_p3, STACK_SMALL, 0, reinterpret_cast<void*>(t));
if (t->join() == true)
fail("thread not detached (1)");
@@ -2262,8 +2266,8 @@ void test_14()
//
// Test 1: join on joinable, not already deleted
- void *result = 0;
- t = Thread::create(t14_p2, STACK_SMALL, 0, (void *)0xdeadbeef,
+ void* result = 0;
+ t = Thread::create(t14_p2, STACK_SMALL, 0, (void*)0xdeadbeef,
Thread::JOINABLE);
Thread::yield();
if (t->join(&result) == false)
@@ -2284,7 +2288,7 @@ void test_14()
// Test 3: join on joinable, but detach called after
t = Thread::create(t14_p1, STACK_SMALL, 0, 0, Thread::JOINABLE);
- Thread::create(t14_p3, STACK_SMALL, 0, reinterpret_cast<void *>(t));
+ Thread::create(t14_p3, STACK_SMALL, 0, reinterpret_cast<void*>(t));
if (t->join() == true)
fail("Thread::join (3)");
t->terminate();
@@ -2303,7 +2307,7 @@ void test_14()
// Test 6: join on already deleted
result = 0;
- t = Thread::create(t14_p1, STACK_SMALL, 0, (void *)0xdeadbeef,
+ t = Thread::create(t14_p1, STACK_SMALL, 0, (void*)0xdeadbeef,
Thread::JOINABLE);
t->terminate();
Thread::sleep(10);
@@ -2345,7 +2349,7 @@ static int t15_v3;
static ConditionVariable t15_c1;
static Mutex t15_m1;
-void t15_p1(void *argv __attribute__((unused)))
+void t15_p1(void* argv __attribute__((unused)))
{
for (int i = 0; i < 10; i++)
{
@@ -2356,7 +2360,7 @@ void t15_p1(void *argv __attribute__((unused)))
}
}
-void t15_p2(void *argv __attribute__((unused)))
+void t15_p2(void* argv __attribute__((unused)))
{
for (int i = 0; i < 10; i++)
{
@@ -2374,8 +2378,8 @@ static void test_15()
t15_v1 = false;
t15_v2 = false;
t15_v3 = 0;
- Thread *p1 = Thread::create(t15_p1, STACK_SMALL, 0);
- Thread *p2 = Thread::create(t15_p2, STACK_SMALL, 0);
+ Thread* p1 = Thread::create(t15_p1, STACK_SMALL, 0);
+ Thread* p2 = Thread::create(t15_p2, STACK_SMALL, 0);
for (int i = 0; i < 20; i++)
{
Thread::sleep(10);
@@ -2455,9 +2459,9 @@ posix threads API
pthread_once
*/
-inline Thread *toThread(pthread_t t) { return reinterpret_cast<Thread *>(t); }
+inline Thread* toThread(pthread_t t) { return reinterpret_cast<Thread*>(t); }
-void *t16_p1(void *argv)
+void* t16_p1(void* argv)
{
toThread(pthread_self())->wait();
return argv;
@@ -2466,9 +2470,9 @@ void *t16_p1(void *argv)
volatile bool t16_v1;
pthread_mutex_t t16_m1 = PTHREAD_MUTEX_INITIALIZER;
-void *t16_p2(void *argv)
+void* t16_p2(void* argv)
{
- pthread_mutex_t *mutex = (pthread_mutex_t *)argv;
+ pthread_mutex_t* mutex = (pthread_mutex_t*)argv;
if (pthread_mutex_lock(mutex) != 0)
fail("mutex_lock (2)");
t16_v1 = true;
@@ -2480,7 +2484,7 @@ void *t16_p2(void *argv)
pthread_cond_t t16_c1 = PTHREAD_COND_INITIALIZER;
-void *t16_p3(void *argv __attribute__((unused)))
+void* t16_p3(void* argv __attribute__((unused)))
{
Thread::sleep(30);
if (pthread_mutex_trylock(&t16_m1) != 0)
@@ -2495,7 +2499,7 @@ void *t16_p3(void *argv __attribute__((unused)))
pthread_cond_t t16_c2;
-void *t16_p4(void *argv __attribute__((unused)))
+void* t16_p4(void* argv __attribute__((unused)))
{
Thread::sleep(30);
if (pthread_mutex_trylock(&t16_m1) != 0)
@@ -2567,7 +2571,7 @@ static void test_16()
pthread_t thread;
if (pthread_create(&thread, &attr, t16_p1, NULL) != 0)
fail("pthread_create (1)");
- Thread *t = toThread(thread);
+ Thread* t = toThread(thread);
if (Thread::exists(t) == false)
fail("thread not created");
if (t->isDetached() == false)
@@ -2591,7 +2595,7 @@ static void test_16()
//
pthread_attr_init(&attr);
pthread_attr_setstacksize(&attr, STACK_SMALL);
- if (pthread_create(&thread, &attr, t16_p1, (void *)0xdeadbeef) != 0)
+ if (pthread_create(&thread, &attr, t16_p1, (void*)0xdeadbeef) != 0)
fail("pthread_create (2)");
t = toThread(thread);
if (Thread::exists(t) == false)
@@ -2600,7 +2604,7 @@ static void test_16()
fail("detached by mistake (1)");
Thread::sleep(10); // Give the other thread time to call wait()
t->wakeup();
- void *res;
+ void* res;
if (pthread_join(thread, &res) != 0)
fail("join return value");
if (((unsigned)res) != 0xdeadbeef)
@@ -2631,7 +2635,7 @@ static void test_16()
if (pthread_mutex_lock(&t16_m1) != 0)
fail("mutex lock");
t16_v1 = false;
- if (pthread_create(&thread, NULL, t16_p2, (void *)&t16_m1) != 0)
+ if (pthread_create(&thread, NULL, t16_p2, (void*)&t16_m1) != 0)
fail("pthread_create (4)");
t = toThread(thread);
if (Thread::exists(t) == false)
@@ -2650,7 +2654,7 @@ static void test_16()
Thread::sleep(10);
// testing trylock, after the thread is created it will lock the mutex
// for 50ms
- if (pthread_create(&thread, NULL, t16_p2, (void *)&t16_m1) != 0)
+ if (pthread_create(&thread, NULL, t16_p2, (void*)&t16_m1) != 0)
fail("pthread_create (5)");
Thread::sleep(10);
if (pthread_mutex_trylock(&t16_m1) == 0)
@@ -2668,7 +2672,7 @@ static void test_16()
if (pthread_mutex_lock(&mutex) != 0)
fail("mutex lock (4)");
t16_v1 = false;
- if (pthread_create(&thread, NULL, t16_p2, (void *)&mutex) != 0)
+ if (pthread_create(&thread, NULL, t16_p2, (void*)&mutex) != 0)
fail("pthread_create (6)");
t = toThread(thread);
if (Thread::exists(t) == false)
@@ -2686,7 +2690,7 @@ static void test_16()
pthread_join(thread, NULL);
Thread::sleep(10);
// testing pthread_mutex_destroy
- if (pthread_create(&thread, NULL, t16_p2, (void *)&mutex) != 0)
+ if (pthread_create(&thread, NULL, t16_p2, (void*)&mutex) != 0)
fail("pthread_create (7)");
t = toThread(thread);
if (Thread::exists(t) == false)
@@ -2785,7 +2789,7 @@ public:
unsigned int a, b;
};
-static TestStaticConstructor &instance()
+static TestStaticConstructor& instance()
{
static TestStaticConstructor singleton;
return singleton;
@@ -2833,8 +2837,8 @@ void __attribute__((noinline)) check32(unsigned int a, unsigned int b)
fail("swapBytes32");
}
-void __attribute__((noinline))
-check64(unsigned long long a, unsigned long long b)
+void __attribute__((noinline)) check64(unsigned long long a,
+ unsigned long long b)
{
if (swapBytes64(a) != b)
fail("swapBytes64");
@@ -2847,10 +2851,14 @@ static void test_18()
fail("swapBytes16");
if (swapBytes32(0x12345678) != 0x78563412 ||
swapBytes32(0x55aa00ff) != 0xff00aa55)
+ {
fail("swapBytes32");
+ }
if (swapBytes64(0x0123456789abcdefull) != 0xefcdab8967452301ull ||
swapBytes64(0x55aa00ffcc33ab56ull) != 0x56ab33ccff00aa55ull)
+ {
fail("swapBytes64");
+ }
check16(0x1234, 0x3412);
check16(0x55aa, 0xaa55);
check32(0x12345678, 0x78563412);
@@ -2869,19 +2877,27 @@ static void test_18()
if (toBigEndian16(0x0123) != 0x0123 ||
toBigEndian32(0x01234567) != 0x01234567 ||
toBigEndian64(0x0123456789abcdef) != 0x0123456789abcdef)
+ {
fail("toBigEndian");
+ }
if (fromBigEndian16(0x0123) != 0x0123 ||
fromBigEndian32(0x01234567) != 0x01234567 ||
fromBigEndian64(0x0123456789abcdef) != 0x0123456789abcdef)
+ {
fail("fromBigEndian");
+ }
if (toLittleEndian16(0x0123) != 0x2301 ||
toLittleEndian32(0x01234567) != 0x67452301 ||
toLittleEndian64(0x0123456789abcdef) != 0xefcdab8967452301)
+ {
fail("toLittleEndian");
+ }
if (fromLittleEndian16(0x0123) != 0x2301 ||
fromLittleEndian32(0x01234567) != 0x67452301 ||
fromLittleEndian64(0x0123456789abcdef) != 0xefcdab8967452301)
+ {
fail("fromLittleEndian");
+ }
}
else
{
@@ -2889,19 +2905,27 @@ static void test_18()
if (toLittleEndian16(0x0123) != 0x0123 ||
toLittleEndian32(0x01234567) != 0x01234567 ||
toLittleEndian64(0x0123456789abcdef) != 0x0123456789abcdef)
+ {
fail("toLittleEndian");
+ }
if (fromLittleEndian16(0x0123) != 0x0123 ||
fromLittleEndian32(0x01234567) != 0x01234567 ||
fromLittleEndian64(0x0123456789abcdef) != 0x0123456789abcdef)
+ {
fail("fromLittleEndian");
+ }
if (toBigEndian16(0x0123) != 0x2301 ||
toBigEndian32(0x01234567) != 0x67452301 ||
toBigEndian64(0x0123456789abcdef) != 0xefcdab8967452301)
+ {
fail("toBigEndian");
+ }
if (fromBigEndian16(0x0123) != 0x2301 ||
fromBigEndian32(0x01234567) != 0x67452301 ||
fromBigEndian64(0x0123456789abcdef) != 0xefcdab8967452301)
+ {
fail("fromBigEndian");
+ }
}
pass();
}
@@ -2915,16 +2939,16 @@ class BufferQueue
*/
BufferQueue<char, 10, 3> bq;
-Thread *t19_v1;
+Thread* t19_v1;
static const char b1c[] = "b1c----";
static const char b2c[] = "b2c----x";
static const char b3c[] = "b3c----xx";
static const char b4c[] = "";
-static char *IRQgbw(FastInterruptDisableLock &dLock)
+static char* IRQgbw(FastInterruptDisableLock& dLock)
{
- char *buffer = 0;
+ char* buffer = 0;
if (bq.tryGetWritableBuffer(buffer) == false)
{
FastInterruptEnableLock eLock(dLock);
@@ -2933,7 +2957,7 @@ static char *IRQgbw(FastInterruptDisableLock &dLock)
return buffer;
}
-static void gbr(const char *&buffer, unsigned int &size)
+static void gbr(const char*& buffer, unsigned int& size)
{
FastInterruptDisableLock dLock;
while (bq.tryGetReadableBuffer(buffer, size) == false)
@@ -2952,12 +2976,12 @@ static void be()
bq.bufferEmptied();
}
-static void t19_p1(void *argv __attribute__((unused)))
+static void t19_p1(void* argv __attribute__((unused)))
{
Thread::sleep(50);
{
FastInterruptDisableLock dLock;
- char *buffer = IRQgbw(dLock);
+ char* buffer = IRQgbw(dLock);
strcpy(buffer, b1c);
bq.bufferFilled(strlen(b1c));
t19_v1->IRQwakeup();
@@ -3003,8 +3027,8 @@ static void test_19()
fail("IRQisFull");
// Test filling only one slot
- char *buf = 0;
- const char *buffer = 0;
+ char* buf = 0;
+ const char* buffer = 0;
unsigned int size;
if (bq.tryGetReadableBuffer(buffer, size) == true)
fail("IRQgetReadableBuffer");
@@ -3105,7 +3129,7 @@ static void test_19()
// Now real multithreaded test
t19_v1 = Thread::getCurrentThread();
- Thread *t = Thread::create(t19_p1, STACK_MIN, 0, 0, Thread::JOINABLE);
+ Thread* t = Thread::create(t19_p1, STACK_MIN, 0, 0, Thread::JOINABLE);
gbr(buffer, size);
if (size != strlen(b1c))
fail("returned size");
@@ -3184,9 +3208,9 @@ private:
void thrower() { throw 5; }
-void t20_t1(void *arg)
+void t20_t1(void* arg)
{
- EventQueue *eq = reinterpret_cast<EventQueue *>(arg);
+ EventQueue* eq = reinterpret_cast<EventQueue*>(arg);
t20_v1 = 0;
eq->post(t20_f1);
Thread::sleep(10);
@@ -3203,9 +3227,9 @@ void t20_t1(void *arg)
eq->post(thrower);
}
-void t20_t2(void *arg)
+void t20_t2(void* arg)
{
- FixedEventQueue<2> *eq = reinterpret_cast<FixedEventQueue<2> *>(arg);
+ FixedEventQueue<2>* eq = reinterpret_cast<FixedEventQueue<2>*>(arg);
t20_v1 = 0;
eq->post(t20_f1);
eq->post(t20_f1);
@@ -3309,7 +3333,7 @@ static void test_20()
fail("Empty EventQueue");
#ifndef __NO_EXCEPTIONS
- Thread *t = Thread::create(t20_t1, STACK_SMALL, 0, &eq, Thread::JOINABLE);
+ Thread* t = Thread::create(t20_t1, STACK_SMALL, 0, &eq, Thread::JOINABLE);
try
{
eq.run();
@@ -3436,7 +3460,7 @@ static float t21_f2()
return result;
}
-static void *t21_t1(void *)
+static void* t21_t1(void*)
{
for (int i = 0; i < 5; i++)
{
@@ -3486,7 +3510,7 @@ struct t22_s1
int b;
};
-static void t22_t2(void *argv __attribute__((unused)))
+static void t22_t2(void* argv __attribute__((unused)))
{
while (Thread::testTerminate() == false)
{
@@ -3495,7 +3519,7 @@ static void t22_t2(void *argv __attribute__((unused)))
}
}
-static void *t22_t1(void *)
+static void* t22_t1(void*)
{
for (int i = 0; i < 100000; i++)
{
@@ -3556,9 +3580,9 @@ static void test_22()
fail("atomicCompareAndSwap 4");
t22_s1 data1;
- t22_s1 *dataPtr1 = &data1;
- void *const volatile *ptr1 =
- reinterpret_cast<void *const volatile *>(&dataPtr1);
+ t22_s1* dataPtr1 = &data1;
+ void* const volatile* ptr1 =
+ reinterpret_cast<void* const volatile*>(&dataPtr1);
data1.a = 0;
data1.b = 10;
@@ -3573,7 +3597,7 @@ static void test_22()
// Check that the implementation works with interrupts disabled too
bool error = false;
- Thread *t2 = Thread::create(t22_t2, STACK_MIN, 0, 0, Thread::JOINABLE);
+ Thread* t2 = Thread::create(t22_t2, STACK_MIN, 0, 0, Thread::JOINABLE);
{
FastInterruptDisableLock dLock;
t22_v5 = false;
@@ -3614,9 +3638,9 @@ static void test_22()
delayMs(5); // Wait to check that interrupts are disabled
t22_s1 data2;
- t22_s1 *dataPtr2 = &data2;
- void *const volatile *ptr2 =
- reinterpret_cast<void *const volatile *>(&dataPtr2);
+ t22_s1* dataPtr2 = &data2;
+ void* const volatile* ptr2 =
+ reinterpret_cast<void* const volatile*>(&dataPtr2);
data2.a = 0;
data2.b = 10;
if (atomicFetchAndIncrement(ptr2, 0, 2) != dataPtr2)
@@ -3658,19 +3682,19 @@ static ConditionVariable t23_c2;
static pthread_mutex_t t23_m3 = PTHREAD_MUTEX_RECURSIVE_INITIALIZER_NP;
static pthread_cond_t t23_c3 = PTHREAD_COND_INITIALIZER;
-static void t23_f1(void *)
+static void t23_f1(void*)
{
Lock<Mutex> l(t23_m1);
t23_c1.signal();
}
-static void t23_f2(void *)
+static void t23_f2(void*)
{
Lock<FastMutex> l(t23_m2);
t23_c2.signal();
}
-static void t23_f3(void *)
+static void t23_f3(void*)
{
pthread_mutex_lock(&t23_m3);
pthread_cond_signal(&t23_c3);
@@ -3684,7 +3708,7 @@ static void test_23()
{
Lock<Mutex> l(t23_m1);
Lock<Mutex> l2(t23_m1);
- Thread *t =
+ Thread* t =
Thread::create(t23_f1, 2 * STACK_MIN, 1, 0, Thread::JOINABLE);
t23_c1.wait(l2);
t->join();
@@ -3692,14 +3716,14 @@ static void test_23()
{
Lock<FastMutex> l(t23_m2);
Lock<FastMutex> l2(t23_m2);
- Thread *t =
+ Thread* t =
Thread::create(t23_f2, 2 * STACK_MIN, 1, 0, Thread::JOINABLE);
t23_c2.wait(l2);
t->join();
}
pthread_mutex_lock(&t23_m3);
pthread_mutex_lock(&t23_m3);
- Thread *t = Thread::create(t23_f3, 2 * STACK_MIN, 1, 0, Thread::JOINABLE);
+ Thread* t = Thread::create(t23_f3, 2 * STACK_MIN, 1, 0, Thread::JOINABLE);
pthread_cond_wait(&t23_c3, &t23_m3);
t->join();
pthread_mutex_unlock(&t23_m3);
@@ -3899,10 +3923,10 @@ static void test_24()
intrusive_ref_ptr<Base0> ptr1(new Base0);
ptr1->check();
- Base0 *p = ptr1.get();
+ Base0* p = ptr1.get();
p->check();
- Base0 &r = *ptr1;
+ Base0& r = *ptr1;
r.check();
}
assert(dtorCalled);
@@ -3922,9 +3946,9 @@ static void test_24()
// Copy construction, interleaved
dtorCalled = false;
{
- intrusive_ref_ptr<Base0> *ptr1 =
+ intrusive_ref_ptr<Base0>* ptr1 =
new intrusive_ref_ptr<Base0>(new Base0);
- intrusive_ref_ptr<Base0> *ptr2 = new intrusive_ref_ptr<Base0>(*ptr1);
+ intrusive_ref_ptr<Base0>* ptr2 = new intrusive_ref_ptr<Base0>(*ptr1);
(*ptr2)->check();
delete ptr1;
assert(dtorCalled == false);
@@ -4085,7 +4109,7 @@ static void test_24()
}
#if defined(_ARCH_CORTEXM7_STM32F7) || defined(_ARCH_CORTEXM7_STM32H7)
-static Thread *waiting = nullptr; /// Thread waiting on DMA completion IRQ
+static Thread* waiting = nullptr; /// Thread waiting on DMA completion IRQ
/**
* DMA completion IRQ
@@ -4107,16 +4131,18 @@ void dma2s0irq()
waiting->IRQwakeup();
if (waiting->IRQgetPriority() >
Thread::IRQgetCurrentThread()->IRQgetPriority())
+ {
Scheduler::IRQfindNextThread();
+ }
waiting = nullptr;
}
/**
* Copy memory to memory using DMA, used to test cache and DMA consistency
*/
-void dmaMemcpy(void *dest, const void *source, int size, void *slackBeforeDest,
- void *slackBeforeSource, int slackBeforeSize,
- void *slackAfterDest, void *slackAfterSource, int slackAfterSize)
+void dmaMemcpy(void* dest, const void* source, int size, void* slackBeforeDest,
+ void* slackBeforeSource, int slackBeforeSize,
+ void* slackAfterDest, void* slackAfterSource, int slackAfterSize)
{
FastInterruptDisableLock dLock;
DMA2_Stream1->NDTR = size;
@@ -4152,21 +4178,21 @@ void testOneDmaTransaction(unsigned int size, unsigned int offset)
{
// Pointer to buffer where the DMA will write, with the desired offset from
// perfect cache line alignment
- char *source = src + offset;
- char *dest = dst + offset;
+ char* source = src + offset;
+ char* dest = dst + offset;
// If the DMA memory buffer beginning is misaligned, get pointer and size to
// the cache line that includes the buffer beginning
- char *slackBeforeSource = reinterpret_cast<char *>(
+ char* slackBeforeSource = reinterpret_cast<char*>(
reinterpret_cast<unsigned int>(source) & (~(cacheLine - 1)));
- char *slackBeforeDest = reinterpret_cast<char *>(
+ char* slackBeforeDest = reinterpret_cast<char*>(
reinterpret_cast<unsigned int>(dest) & (~(cacheLine - 1)));
unsigned int slackBeforeSize = source - slackBeforeSource;
// If the DMA memory buffer end is misaligned, get pointer and size to
// the cache line that includes the buffer end
- char *slackAfterSource = source + size;
- char *slackAfterDest = dest + size;
+ char* slackAfterSource = source + size;
+ char* slackAfterDest = dest + size;
unsigned int slackAfterSize =
cacheLine -
(reinterpret_cast<unsigned int>(slackAfterSource) & (cacheLine - 1));
@@ -4285,16 +4311,16 @@ Also tests concurrent write by opening and writing 3 files from 3 threads
*/
static volatile bool fs_1_error;
-static void fs_t1_p1(void *argv __attribute__((unused)))
+static void fs_t1_p1(void* argv __attribute__((unused)))
{
- FILE *f;
+ FILE* f;
if ((f = fopen("/sd/testdir/file_1.txt", "w")) == NULL)
{
fs_1_error = true;
return;
}
setbuf(f, NULL);
- char *buf = new char[512];
+ char* buf = new char[512];
memset(buf, '1', 512);
for (int i = 0; i < 512; i++)
{
@@ -4316,16 +4342,16 @@ static void fs_t1_p1(void *argv __attribute__((unused)))
}
}
-static void fs_t1_p2(void *argv __attribute__((unused)))
+static void fs_t1_p2(void* argv __attribute__((unused)))
{
- FILE *f;
+ FILE* f;
if ((f = fopen("/sd/testdir/file_2.txt", "w")) == NULL)
{
fs_1_error = true;
return;
}
setbuf(f, NULL);
- char *buf = new char[512];
+ char* buf = new char[512];
memset(buf, '2', 512);
for (int i = 0; i < 512; i++)
{
@@ -4347,16 +4373,16 @@ static void fs_t1_p2(void *argv __attribute__((unused)))
}
}
-static void fs_t1_p3(void *argv __attribute__((unused)))
+static void fs_t1_p3(void* argv __attribute__((unused)))
{
- FILE *f;
+ FILE* f;
if ((f = fopen("/sd/testdir/file_3.txt", "w")) == NULL)
{
fs_1_error = true;
return;
}
setbuf(f, NULL);
- char *buf = new char[512];
+ char* buf = new char[512];
memset(buf, '3', 512);
for (int i = 0; i < 512; i++)
{
@@ -4402,11 +4428,11 @@ static void fs_test_1()
}
// Test concurrent file write access
fs_1_error = false;
- Thread *t1 =
+ Thread* t1 =
Thread::create(fs_t1_p1, 2048 + 512, 1, NULL, Thread::JOINABLE);
- Thread *t2 =
+ Thread* t2 =
Thread::create(fs_t1_p2, 2048 + 512, 1, NULL, Thread::JOINABLE);
- Thread *t3 =
+ Thread* t3 =
Thread::create(fs_t1_p3, 2048 + 512, 1, NULL, Thread::JOINABLE);
t1->join();
t2->join();
@@ -4414,9 +4440,9 @@ static void fs_test_1()
if (fs_1_error)
fail("Concurrent write");
// Testing file read
- char *buf = new char[1024];
+ char* buf = new char[1024];
int i, j, k;
- FILE *f;
+ FILE* f;
// file_1.txt
if ((f = fopen("/sd/testdir/file_1.txt", "r")) == NULL)
fail("can't open file_1.txt");
@@ -4528,7 +4554,9 @@ static void fs_test_1()
fseek(f, 21 + 17, SEEK_SET); // Seek to 002\n
if ((fgetc(f) != '0') | (fgetc(f) != '0') | (fgetc(f) != '2') |
(fgetc(f) != '\n'))
+ {
fail("fgetc SEEK_SET");
+ }
if (ftell(f) != (21 * 2))
{
iprintf("ftell=%ld\n", ftell(f));
@@ -4537,7 +4565,9 @@ static void fs_test_1()
fseek(f, 21 * 50 + 17, SEEK_CUR); // Seek to 053\n
if ((fgetc(f) != '0') | (fgetc(f) != '5') | (fgetc(f) != '3') |
(fgetc(f) != '\n'))
+ {
fail("fgetc SEEK_CUR");
+ }
if (ftell(f) != (21 * 53))
{
iprintf("ftell=%ld\n", ftell(f));
@@ -4570,13 +4600,13 @@ mkdir/unlink/rename
* \param b if not null, this file most not be in the directory
* \return true on success, false on failure
*/
-static bool checkDirContent(const std::string &d, const char *a, const char *b)
+static bool checkDirContent(const std::string& d, const char* a, const char* b)
{
- DIR *dir = opendir(d.c_str());
+ DIR* dir = opendir(d.c_str());
bool found = false;
for (;;)
{
- struct dirent *de = readdir(dir);
+ struct dirent* de = readdir(dir);
if (de == NULL)
break;
if (a && !strcasecmp(de->d_name, a))
@@ -4594,7 +4624,7 @@ static bool checkDirContent(const std::string &d, const char *a, const char *b)
return true;
}
-static void checkInDir(const std::string &d, bool createFile)
+static void checkInDir(const std::string& d, bool createFile)
{
using namespace std;
const char dirname1[] = "test1";
@@ -4615,7 +4645,7 @@ static void checkInDir(const std::string &d, bool createFile)
if (createFile == false)
return;
const char filename1[] = "test.txt";
- FILE *f;
+ FILE* f;
if ((f = fopen((d + filename1).c_str(), "w")) == NULL)
fail("fopen");
const char teststr[] = "Testing\n";
@@ -4647,7 +4677,7 @@ static void fs_test_2()
{
test_name("mkdir/rename/unlink");
checkInDir("/", false);
- DIR *d = opendir("/sd");
+ DIR* d = opendir("/sd");
if (d != NULL)
{
// the /sd mountpoint exists, check mkdir/rename/unlink also here
@@ -4674,11 +4704,11 @@ static void fs_test_3()
const unsigned int size = 1024;
const unsigned int numBlocks = 2048;
- FILE *f;
+ FILE* f;
if ((f = fopen(name, "w")) == NULL)
fail("open 1");
setbuf(f, NULL); // cppcheck-suppress nullPointerRedundantCheck
- char *buf = new char[size];
+ char* buf = new char[size];
unsigned short checksum = 0;
for (unsigned int i = 0; i < numBlocks; i++)
{
@@ -4721,14 +4751,14 @@ tests:
opendir()/readdir()
*/
-unsigned int checkInodes(const char *dir, unsigned int curInode,
+unsigned int checkInodes(const char* dir, unsigned int curInode,
unsigned int parentInode, short curDev,
short parentDev)
{
if (chdir(dir))
fail("chdir");
- DIR *d = opendir(".");
+ DIR* d = opendir(".");
if (d == NULL)
fail("opendir");
puts(dir);
@@ -4736,7 +4766,7 @@ unsigned int checkInodes(const char *dir, unsigned int curInode,
unsigned int result = 0;
for (;;)
{
- struct dirent *de = readdir(d);
+ struct dirent* de = readdir(d);
if (de == NULL)
break;
@@ -4772,7 +4802,9 @@ unsigned int checkInodes(const char *dir, unsigned int curInode,
fail("parent dev");
}
else if (st.st_dev != curDev)
+ {
fail("cur dev");
+ }
if (mustBeDir)
{
@@ -4781,20 +4813,17 @@ unsigned int checkInodes(const char *dir, unsigned int curInode,
if (!S_ISDIR(st.st_mode))
fail("st_mode");
}
- else
+ else if (!S_ISDIR(st.st_mode))
{
- if (!S_ISDIR(st.st_mode))
- {
- int fd = open(de->d_name, O_RDONLY);
- if (fd < 0)
- fail("open");
- struct stat st2;
- if (fstat(fd, &st2))
- fail("fstat");
- close(fd);
- if (memcmp(&st, &st2, sizeof(struct stat)))
- fail("stat/fstat mismatch");
- }
+ int fd = open(de->d_name, O_RDONLY);
+ if (fd < 0)
+ fail("open");
+ struct stat st2;
+ if (fstat(fd, &st2))
+ fail("fstat");
+ close(fd);
+ if (memcmp(&st, &st2, sizeof(struct stat)))
+ fail("stat/fstat mismatch");
}
if ((de->d_type == DT_DIR) ^ (S_ISDIR(st.st_mode)))
@@ -4822,13 +4851,13 @@ static void fs_test_4()
unsigned int curInode = 0, parentInode = 0, devFsInode = 0, sdInode = 0;
// cppcheck-suppress unreadVariable
short curDevice = 0, devDevice = 0, sdDevice = 0;
- DIR *d = opendir("/");
+ DIR* d = opendir("/");
if (d == NULL)
fail("opendir");
puts("/");
for (;;)
{
- struct dirent *de = readdir(d);
+ struct dirent* de = readdir(d);
if (de == NULL)
break;
// de->d_ino may differ from st.st_ino across mountpoints, such as /dev
@@ -4905,11 +4934,11 @@ static void fs_test_4()
const int nThreads = 8;
bool flags[nThreads];
-static int throwable(std::vector<int> &v) __attribute__((noinline));
+static int throwable(std::vector<int>& v) __attribute__((noinline));
// cppcheck-suppress containerOutOfBounds
-static int throwable(std::vector<int> &v) { return v.at(10); }
+static int throwable(std::vector<int>& v) { return v.at(10); }
-static void test(void *argv)
+static void test(void* argv)
{
const int n = reinterpret_cast<int>(argv);
for (;;)
@@ -4921,7 +4950,7 @@ static void test(void *argv)
throwable(v);
fail("Exception not thrown");
}
- catch (std::out_of_range &e)
+ catch (std::out_of_range& e)
{
flags[n] = true;
}
@@ -4933,7 +4962,7 @@ static void exception_test()
test_name("C++ exception thread safety");
iprintf("Note: test never ends. Reset the board when you are satisfied\n");
for (int i = 0; i < nThreads; i++)
- Thread::create(test, 1024 + 512, 0, reinterpret_cast<void *>(i));
+ Thread::create(test, 1024 + 512, 0, reinterpret_cast<void*>(i));
bool toggle = false;
for (int j = 0;; j++)
{
@@ -4973,7 +5002,7 @@ serial write speed
static void benchmark_1()
{
extern unsigned long _data asm("_data");
- char *data = reinterpret_cast<char *>(&_data);
+ char* data = reinterpret_cast<char*>(&_data);
using namespace std::chrono;
auto start = system_clock::now();
@@ -5007,7 +5036,7 @@ tests:
context switch speed
*/
-static void b2_p1(void *argv __attribute__((unused)))
+static void b2_p1(void* argv __attribute__((unused)))
{
for (;;)
{
@@ -5037,7 +5066,7 @@ static void benchmark_2()
#ifndef SCHED_TYPE_EDF
// Test context switch time at maximum priority
Thread::setPriority(3); // Using max priority
- Thread *p = Thread::create(b2_p1, STACK_SMALL, 3, NULL);
+ Thread* p = Thread::create(b2_p1, STACK_SMALL, 3, NULL);
int i = b2_f1();
p->terminate();
iprintf("%d context switch per second (max priority)\n", i);
@@ -5069,9 +5098,9 @@ static void benchmark_3()
// Write benchmark
const char FILENAME[] = "/sd/speed.txt";
const unsigned int BUFSIZE = 1024;
- char *buf = new char[BUFSIZE];
- memset((void *)buf, '0', BUFSIZE);
- FILE *f;
+ char* buf = new char[BUFSIZE];
+ memset((void*)buf, '0', BUFSIZE);
+ FILE* f;
if ((f = fopen(FILENAME, "w")) == NULL)
{
iprintf("Filesystem write benchmark not made. Can't open file\n");
@@ -5131,11 +5160,13 @@ static void benchmark_3()
if (diff > max)
max = diff;
for (unsigned j = 0; j < BUFSIZE; j++)
+ {
if (buf[j] != '0')
{
iprintf("Read error 2\n");
goto quit;
}
+ }
}
quit:
endTotal = system_clock::now();
@@ -5161,7 +5192,7 @@ Mutex lock/unlock time
volatile bool b4_end = false;
-void b4_t1(void *argv __attribute__((unused)))
+void b4_t1(void* argv __attribute__((unused)))
{
Thread::sleep(1000);
b4_end = true;
@@ -5254,9 +5285,9 @@ static void benchmark_4()
#ifdef WITH_PROCESSES
-unsigned int *memAllocation(unsigned int size)
+unsigned int* memAllocation(unsigned int size)
{
- unsigned int *p = ProcessPool::instance().allocate(size);
+ unsigned int* p = ProcessPool::instance().allocate(size);
memset(p, WATERMARK_FILL, size);
iprintf("Allocated %d bytes. Base: %p. Size: 0x%x.\n\n", size, p, size);
return p;
@@ -5264,37 +5295,35 @@ unsigned int *memAllocation(unsigned int size)
// Returns true if a watermark filled memory zone is not corrupted.
// 'base' must be 4-byte aligned
-bool memCheck(unsigned int *base, unsigned int size)
+bool memCheck(unsigned int* base, unsigned int size)
{
for (unsigned int i = 0; i < size / 4; i++)
- {
if (*(base + i) != WATERMARK_FILL)
return false;
- }
return true;
}
-void runElfTest(const char *name, const unsigned char *filename,
+void runElfTest(const char* name, const unsigned char* filename,
unsigned int file_length)
{
iprintf("Executing %s...", name);
try
{
- ElfProgram prog(reinterpret_cast<const unsigned int *>(filename),
+ ElfProgram prog(reinterpret_cast<const unsigned int*>(filename),
file_length);
iprintf("not passed.\n");
}
- catch (std::runtime_error &err)
+ catch (std::runtime_error& err)
{
iprintf("passed.\n");
}
}
// It runs the program, waits for its exit, and returns the exit code
-int runProgram(const unsigned char *filename, unsigned int file_length)
+int runProgram(const unsigned char* filename, unsigned int file_length)
{
int ec;
- ElfProgram prog(reinterpret_cast<const unsigned int *>(filename),
+ ElfProgram prog(reinterpret_cast<const unsigned int*>(filename),
file_length);
pid_t child = Process::create(prog);
Process::waitpid(child, &ec, 0);
@@ -5305,28 +5334,32 @@ int runProgram(const unsigned char *filename, unsigned int file_length)
bool isSignaled(int exit_code)
{
if (WIFSIGNALED(exit_code) && WTERMSIG(exit_code) == SIGSEGV)
- {
return true;
- }
return false;
}
void mpuTest1()
{
int ec;
- unsigned int *addr = (unsigned int *)0x64100000;
+ unsigned int* addr = (unsigned int*)0x64100000;
iprintf("Executing MPU Test 1...\n");
ec = runProgram(test1_elf, test1_elf_len);
if (isSignaled(ec))
{
if (*addr == 0xbbbbbbbb)
+ {
iprintf(
"...not passed! The process has written a forbidden memory "
"location.\n\n");
+ }
else if (*addr == WATERMARK_FILL)
+ {
iprintf("...passed!\n\n");
+ }
else
+ {
iprintf("...not passed! Memory has been somehow corrupted.\n\n");
+ }
}
else
{
@@ -5337,36 +5370,36 @@ void mpuTest1()
void mpuTest2()
{
int ec;
- unsigned int *addr = (unsigned int *)0x64100200;
+ unsigned int* addr = (unsigned int*)0x64100200;
iprintf("Executing MPU Test 2...\n");
ec = runProgram(test2_elf, test2_elf_len);
if (isSignaled(ec))
- {
if (*addr == WATERMARK_FILL)
iprintf("...passed!\n\n");
else
iprintf("...not passed! Memory has been somehow corrupted.\n\n");
- }
else
- {
iprintf("...not passed! Process exited normally.\n\n");
- }
}
void mpuTest3()
{
int ec;
- unsigned int *addr = (unsigned int *)0x64100200;
+ unsigned int* addr = (unsigned int*)0x64100200;
iprintf("Executing MPU Test 3...\n");
ec = runProgram(test3_elf, test3_elf_len);
if (isSignaled(ec))
{
if (*addr == 0xbbbbbbbb)
+ {
iprintf(
"...not passed! The process has written a forbidden memory "
"location.\n\n");
+ }
else
+ {
iprintf("...passed!\n\n");
+ }
}
else
{
@@ -5380,29 +5413,29 @@ void mpuTest4()
iprintf("Executing MPU Test 4...\n");
ec = runProgram(test4_elf, test4_elf_len);
if (isSignaled(ec))
- {
iprintf("...passed!.\n\n");
- }
else
- {
iprintf("...not passed! Process exited normally.\n\n");
- }
}
void mpuTest5()
{
int ec;
- unsigned int *addr = (unsigned int *)0x64101000;
+ unsigned int* addr = (unsigned int*)0x64101000;
iprintf("Executing MPU Test 5...\n");
ec = runProgram(test5_elf, test5_elf_len);
if (isSignaled(ec))
{
if (*addr == 0xbbbbbbbb)
+ {
iprintf(
"...not passed! The process has written a forbidden memory "
"location.\n\n");
+ }
else
+ {
iprintf("...passed!.\n\n");
+ }
}
else
{
@@ -5413,17 +5446,21 @@ void mpuTest5()
void mpuTest6()
{
int ec;
- unsigned int *addr = (unsigned int *)0x64101404;
+ unsigned int* addr = (unsigned int*)0x64101404;
iprintf("Executing MPU Test 6...\n");
ec = runProgram(test6_elf, test6_elf_len);
if (isSignaled(ec))
{
if (*addr == 0xbbbbbbbb)
+ {
iprintf(
"...not passed! The process has written a forbidden memory "
"location.\n\n");
+ }
else
+ {
iprintf("...passed!.\n\n");
+ }
}
else
{
@@ -5437,9 +5474,9 @@ void mpuTest7()
unsigned int memSize = 8192;
iprintf("Executing MPU Test 7...\n");
- unsigned int *p = ProcessPool::instance().allocate(memSize);
+ unsigned int* p = ProcessPool::instance().allocate(memSize);
memset(p, WATERMARK_FILL, memSize);
- ElfProgram prog(reinterpret_cast<const unsigned int *>(test7_elf),
+ ElfProgram prog(reinterpret_cast<const unsigned int*>(test7_elf),
test7_elf_len);
pid_t child = Process::create(prog);
delayMs(1000);
@@ -5464,11 +5501,11 @@ void mpuTest8()
// We create two processes. The first goes to sleep for 2 seconds,
// while the second process tries to access the data region of the
// first.
- unsigned int *addr = (unsigned int *)0x64104004;
+ unsigned int* addr = (unsigned int*)0x64104004;
iprintf("Executing MPU Test 8...\n");
- ElfProgram prog1(reinterpret_cast<const unsigned int *>(test8_1_elf),
+ ElfProgram prog1(reinterpret_cast<const unsigned int*>(test8_1_elf),
test8_1_elf_len);
- ElfProgram prog2(reinterpret_cast<const unsigned int *>(test8_2_elf),
+ ElfProgram prog2(reinterpret_cast<const unsigned int*>(test8_2_elf),
test8_2_elf_len);
pid_t child1 = Process::create(prog1);
pid_t child2 = Process::create(prog2);
@@ -5478,11 +5515,15 @@ void mpuTest8()
if (WIFSIGNALED(ec2) && (WTERMSIG(ec2) == SIGSEGV) && WIFEXITED(ec1))
{
if (*addr == 0xbbbbbbbb)
+ {
iprintf(
"...not passed! The process has written a forbidden memory "
"location.\n\n");
+ }
else
+ {
iprintf("...passed!.\n\n");
+ }
}
else
{
@@ -5493,7 +5534,7 @@ void mpuTest8()
void mpuTest9()
{
iprintf("Executing MPU Test 9...\n");
- ElfProgram prog(reinterpret_cast<const unsigned int *>(test9_elf),
+ ElfProgram prog(reinterpret_cast<const unsigned int*>(test9_elf),
test9_elf_len);
std::vector<pid_t> pids;
int ec;
@@ -5505,7 +5546,7 @@ void mpuTest9()
pid = Process::create(prog);
pids.push_back(pid);
}
- catch (std::bad_alloc &ex)
+ catch (std::bad_alloc& ex)
{
iprintf("Bad alloc raised: %s\nIteration is: %d\n", ex.what(), i);
break;
@@ -5530,9 +5571,9 @@ void mpuTest10()
// should end properly, the second process should fault.
int ec1, ec2;
iprintf("Executing MPU Test 10...\n");
- ElfProgram prog1(reinterpret_cast<const unsigned int *>(test10_1_elf),
+ ElfProgram prog1(reinterpret_cast<const unsigned int*>(test10_1_elf),
test10_1_elf_len);
- ElfProgram prog2(reinterpret_cast<const unsigned int *>(test10_2_elf),
+ ElfProgram prog2(reinterpret_cast<const unsigned int*>(test10_2_elf),
test10_2_elf_len);
pid_t child1 = Process::create(prog1);
pid_t child2 = Process::create(prog2);
@@ -5540,12 +5581,8 @@ void mpuTest10()
Process::waitpid(child2, &ec2, 0);
if (!isSignaled(ec1) && isSignaled(ec2))
- {
iprintf("...passed!.\n\n");
- }
else
- {
iprintf("...not passed!\n\n");
- }
}
#endif // WITH_PROCESSES
diff --git a/src/entrypoints/runcam-settings.cpp b/src/entrypoints/runcam-settings.cpp
index 17ca888b3..824623c2b 100644
--- a/src/entrypoints/runcam-settings.cpp
+++ b/src/entrypoints/runcam-settings.cpp
@@ -57,9 +57,7 @@ int main()
Runcam test(usart1);
if (!test.init())
- {
return -1;
- }
char c;
while (true)
@@ -72,17 +70,11 @@ int main()
test.selectSetting();
test.openMenu();
if (c == 'd')
- {
test.moveDown();
- }
else if (c == 'c')
- {
test.selectSetting();
- }
else if (c == 'o')
- {
test.openMenu();
- }
}
test.close();
diff --git a/src/entrypoints/sdcard-benchmark.cpp b/src/entrypoints/sdcard-benchmark.cpp
index 9a54a3a63..f5219b2f6 100644
--- a/src/entrypoints/sdcard-benchmark.cpp
+++ b/src/entrypoints/sdcard-benchmark.cpp
@@ -76,10 +76,14 @@ int main()
for (size_t bufferSize : BUFFER_SIZES)
{
if (benchmark(bufferSize, data))
+ {
printResults(bufferSize, data);
+ }
else
+ {
printf("Error while performing the benchmark (buffer size: %lu)\n",
(unsigned long)bufferSize);
+ }
}
printf("Test completed\n");
diff --git a/src/entrypoints/sx1278-serial.cpp b/src/entrypoints/sx1278-serial.cpp
index ede273cb2..196bc3d48 100644
--- a/src/entrypoints/sx1278-serial.cpp
+++ b/src/entrypoints/sx1278-serial.cpp
@@ -78,8 +78,8 @@ using sck = radio::sck;
using miso = radio::miso;
using mosi = radio::mosi;
-using txen = radio::txEn;
-using rxen = radio::rxEn;
+using txen = radio::txEn;
+using rxen = radio::rxEn;
#define SX1278_SPI SPI4
@@ -146,10 +146,10 @@ using rst = miosix::radio2::nrst;
#ifdef SX1278_IS_LORA
static constexpr size_t SX1278_MTU = Boardcore::SX1278Lora::MTU;
-Boardcore::SX1278Lora *sx1278 = nullptr;
+Boardcore::SX1278Lora* sx1278 = nullptr;
#else
static constexpr size_t SX1278_MTU = Boardcore::SX1278Fsk::MTU;
-Boardcore::SX1278Fsk *sx1278 = nullptr;
+Boardcore::SX1278Fsk* sx1278 = nullptr;
#endif
volatile int dio0_cnt = 0;
@@ -220,9 +220,7 @@ void sendLoop()
auto serial = miosix::DefaultConsole::instance().get();
int len = serial->readBlock(msg, sizeof(msg), 0);
if (len > 0)
- {
sx1278->send(msg, len);
- }
}
}
@@ -239,11 +237,11 @@ int main()
#elif defined SX1278_IS_SKYWARD433
printf("[sx1278] Confuring Skyward 433 frontend...\n");
std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
- new Boardcore::Skyward433Frontend());
+ new Boardcore::Skyward433Frontend());
#else
printf("[sx1278] Confuring RA01 frontend...\n");
std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
- new Boardcore::RA01Frontend());
+ new Boardcore::RA01Frontend());
#endif
#ifdef SX1278_IS_LORA
@@ -273,14 +271,14 @@ int main()
config.enable_crc = false;
sx1278 = new Boardcore::SX1278Fsk(sx1278_bus, cs::getPin(), dio0::getPin(),
- dio1::getPin(), dio3::getPin(),
- Boardcore::SPI::ClockDivider::DIV_256,
- std::move(frontend));
+ dio1::getPin(), dio3::getPin(),
+ Boardcore::SPI::ClockDivider::DIV_256,
+ std::move(frontend));
printf("\n[sx1278] Configuring sx1278 fsk...\n");
if ((err = sx1278->init(config)) != Boardcore::SX1278Fsk::Error::NONE)
{
- // FIXME: Why does clang-format put this line up here?
+ // FIXME: Why does clang-format put this line up here?
printf("[sx1278] sx1278->init error\n");
return false;
}
diff --git a/src/shared/ActiveObject.h b/src/shared/ActiveObject.h
index abecefa32..2d952b453 100644
--- a/src/shared/ActiveObject.h
+++ b/src/shared/ActiveObject.h
@@ -37,7 +37,6 @@ namespace Boardcore
*/
class ActiveObject
{
-
public:
/**
* Constructor. This will create the AO, but will NOT start the thread
@@ -48,7 +47,7 @@ public:
ActiveObject(unsigned int stacksize = miosix::STACK_DEFAULT_FOR_PTHREAD,
miosix::Priority priority = miosix::MAIN_PRIORITY);
- virtual ~ActiveObject(){};
+ virtual ~ActiveObject() {};
/**
* @brief Start the thread associated with this active object.
@@ -125,9 +124,7 @@ inline bool ActiveObject::start()
miosix::Thread::JOINABLE);
if (thread == nullptr)
- {
running = false;
- }
return running;
}
diff --git a/src/shared/actuators/Buzzer.h b/src/shared/actuators/Buzzer.h
index 207c49d8a..b359b40c5 100644
--- a/src/shared/actuators/Buzzer.h
+++ b/src/shared/actuators/Buzzer.h
@@ -42,7 +42,7 @@ public:
* @param timer Timer used to provide the alternating on and off signal.
* @param channel Timer channel to output the signal.
*/
- Buzzer(TIM_TypeDef *timer, TimerUtils::Channel channel);
+ Buzzer(TIM_TypeDef* timer, TimerUtils::Channel channel);
/**
* @brief Turns on the buzzer.
@@ -80,7 +80,7 @@ private:
TimerUtils::Channel channel;
};
-inline Buzzer::Buzzer(TIM_TypeDef *timer, TimerUtils::Channel channel)
+inline Buzzer::Buzzer(TIM_TypeDef* timer, TimerUtils::Channel channel)
: timer(timer), channel(channel)
{
}
diff --git a/src/shared/actuators/stepper/Stepper.cpp b/src/shared/actuators/stepper/Stepper.cpp
index 52804e9fa..6eb23fb02 100644
--- a/src/shared/actuators/stepper/Stepper.cpp
+++ b/src/shared/actuators/stepper/Stepper.cpp
@@ -45,26 +45,18 @@ Stepper::Stepper(miosix::GpioPin stepPin, miosix::GpioPin directionPin,
void Stepper::enable()
{
if (pinConfig == PinConfiguration::COMMON_CATHODE)
- {
enablePin.low();
- }
else
- {
enablePin.high();
- }
enabled = true;
}
void Stepper::disable()
{
if (pinConfig == PinConfiguration::COMMON_CATHODE)
- {
enablePin.high();
- }
else
- {
enablePin.low();
- }
enabled = false;
}
@@ -138,24 +130,16 @@ void Stepper::move(int16_t steps)
for (int i = 0; i < stepsAbs; i++)
{
if (pinConfig == PinConfiguration::COMMON_CATHODE)
- {
stepPin.high();
- }
else
- {
stepPin.low();
- }
miosix::delayUs(halfStepDelay);
if (pinConfig == PinConfiguration::COMMON_CATHODE)
- {
stepPin.low();
- }
else
- {
stepPin.high();
- }
miosix::delayUs(halfStepDelay);
}
@@ -170,4 +154,4 @@ StepperData Stepper::getState(float moveDeg)
speed, moveDeg};
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/actuators/stepper/Stepper.h b/src/shared/actuators/stepper/Stepper.h
index 6e9d25dca..a1a3ca890 100644
--- a/src/shared/actuators/stepper/Stepper.h
+++ b/src/shared/actuators/stepper/Stepper.h
@@ -195,4 +195,4 @@ inline int16_t Stepper::getCurrentPosition()
inline float Stepper::getCurrentDegPosition() { return currentPositionDeg; }
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/actuators/stepper/StepperPWM.cpp b/src/shared/actuators/stepper/StepperPWM.cpp
index 4f04532df..9071485ca 100644
--- a/src/shared/actuators/stepper/StepperPWM.cpp
+++ b/src/shared/actuators/stepper/StepperPWM.cpp
@@ -24,7 +24,7 @@
namespace Boardcore
{
-StepperPWM::StepperPWM(CountedPWM &pwm, miosix::GpioPin stepPin,
+StepperPWM::StepperPWM(CountedPWM& pwm, miosix::GpioPin stepPin,
miosix::GpioPin directionPin, float speed,
float stepAngle, bool revertDirection,
uint16_t microStep, PinConfiguration pinConfiguration,
@@ -96,4 +96,4 @@ float StepperPWM::getCurrentDegPosition()
currentDirection * pwm.getCurrentCount() * stepAngle / microStep;
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/actuators/stepper/StepperPWM.h b/src/shared/actuators/stepper/StepperPWM.h
index 6c91c24b7..c7de4c427 100644
--- a/src/shared/actuators/stepper/StepperPWM.h
+++ b/src/shared/actuators/stepper/StepperPWM.h
@@ -49,7 +49,7 @@ public:
* @param revertDirection Whether or not revert the direction signal.
*/
StepperPWM(
- CountedPWM &pwm, miosix::GpioPin stepPin, miosix::GpioPin directionPin,
+ CountedPWM& pwm, miosix::GpioPin stepPin, miosix::GpioPin directionPin,
float speed = 1, float stepAngle = 1.8, bool revertDirection = false,
uint16_t microStep = 1,
PinConfiguration pinConfiguration = PinConfiguration::COMMON_CATHODE,
@@ -93,12 +93,12 @@ public:
private:
// This class is not copyable!
- StepperPWM &operator=(const StepperPWM &) = delete;
- StepperPWM(const StepperPWM &p) = delete;
+ StepperPWM& operator=(const StepperPWM&) = delete;
+ StepperPWM(const StepperPWM& p) = delete;
void setDirection();
- CountedPWM &pwm;
+ CountedPWM& pwm;
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp b/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
index 4fa04719f..b758acc0b 100644
--- a/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
+++ b/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
@@ -35,9 +35,9 @@ namespace Boardcore
AirBrakesInterp::AirBrakesInterp(
std::function<TimedTrajectoryPoint()> getCurrentPosition,
- const TrajectorySet &trajectoryOpenSet,
- const TrajectorySet &trajectoryCloseSet,
- const AirBrakesInterpConfig &configInterp,
+ const TrajectorySet& trajectoryOpenSet,
+ const TrajectorySet& trajectoryCloseSet,
+ const AirBrakesInterpConfig& configInterp,
std::function<void(float)> setActuator)
: getCurrentPosition(getCurrentPosition), setActuator(setActuator),
trajectoryOpenSet(trajectoryOpenSet),
@@ -149,12 +149,18 @@ float AirBrakesInterp::controlInterp(TrajectoryPoint currentPosition)
// trjPointOpen.vz);
if (currentPosition.vz <= trjPointClosed.vz)
+ {
return 0;
+ }
else if (currentPosition.vz >= trjPointOpen.vz)
+ {
return 1;
+ }
else
+ {
return (currentPosition.vz - trjPointClosed.vz) /
(trjPointOpen.vz - trjPointClosed.vz);
+ }
}
} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/AirBrakesInterp.h b/src/shared/algorithms/AirBrakes/AirBrakesInterp.h
index f2e9ee6f3..4d52c2ba2 100644
--- a/src/shared/algorithms/AirBrakes/AirBrakesInterp.h
+++ b/src/shared/algorithms/AirBrakes/AirBrakesInterp.h
@@ -37,9 +37,9 @@ class AirBrakesInterp : public Algorithm
{
public:
AirBrakesInterp(std::function<TimedTrajectoryPoint()> getCurrentPosition,
- const TrajectorySet &trajectoryOpenSet,
- const TrajectorySet &trajectoryCloseSet,
- const AirBrakesInterpConfig &configInterp,
+ const TrajectorySet& trajectoryOpenSet,
+ const TrajectorySet& trajectoryCloseSet,
+ const AirBrakesInterpConfig& configInterp,
std::function<void(float)> setActuator);
bool init() override;
@@ -74,12 +74,12 @@ private:
// Trajectory sets (open and closed) from which the algorithm will choose at
// the beginning the tuple with which interpolate the data. The selection
// depends on the rocket mass.
- const TrajectorySet &trajectoryOpenSet;
- const TrajectorySet &trajectoryCloseSet;
+ const TrajectorySet& trajectoryOpenSet;
+ const TrajectorySet& trajectoryCloseSet;
// Choosen trajectories from the begin function
- Trajectory *choosenCloseTrajectory = nullptr;
- Trajectory *choosenOpenTrajectory = nullptr;
+ Trajectory* choosenCloseTrajectory = nullptr;
+ Trajectory* choosenOpenTrajectory = nullptr;
AirBrakesInterpConfig configInterp; ///< specialized config
float lastPercentage = 0; ///< last opening of the airbrakes
diff --git a/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp b/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp
index bd1866637..4455d2230 100644
--- a/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp
+++ b/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp
@@ -38,7 +38,7 @@ namespace Boardcore
AirBrakesPI::AirBrakesPI(
std::function<TimedTrajectoryPoint()> getCurrentPosition,
- const TrajectorySet &trajectorySet, const AirBrakesPIConfig &config,
+ const TrajectorySet& trajectorySet, const AirBrakesPIConfig& config,
std::function<void(float)> setActuator)
: getCurrentPosition(getCurrentPosition), config(config),
setActuator(setActuator), pi(config.KP, config.KI, config.TS),
@@ -81,7 +81,7 @@ float AirBrakesPI::getRho(float z)
return Constants::RHO_0 * expf(-z / Constants::Hn);
}
-float AirBrakesPI::getSurface(const TimedTrajectoryPoint ¤tPosition,
+float AirBrakesPI::getSurface(const TimedTrajectoryPoint& currentPosition,
float rho, float targetDrag)
{
float bestDDrag = numeric_limits<float>::infinity();
@@ -168,7 +168,7 @@ void AirBrakesPI::chooseTrajectory(TrajectoryPoint currentPosition)
for (uint8_t trjIndex = 0; trjIndex < trajectorySet.length(); trjIndex++)
{
- Trajectory &trajectory = trajectorySet.trajectories[trjIndex];
+ Trajectory& trajectory = trajectorySet.trajectories[trjIndex];
for (uint32_t ptIndex = 0; ptIndex < trajectory.size(); ptIndex++)
{
diff --git a/src/shared/algorithms/AirBrakes/AirBrakesPI.h b/src/shared/algorithms/AirBrakes/AirBrakesPI.h
index ce72b5a42..be8db3d18 100644
--- a/src/shared/algorithms/AirBrakes/AirBrakesPI.h
+++ b/src/shared/algorithms/AirBrakes/AirBrakesPI.h
@@ -39,8 +39,8 @@ class AirBrakesPI : public Algorithm
{
public:
AirBrakesPI(std::function<TimedTrajectoryPoint()> getCurrentPosition,
- const TrajectorySet &trajectorySet,
- const AirBrakesPIConfig &config,
+ const TrajectorySet& trajectorySet,
+ const AirBrakesPIConfig& config,
std::function<void(float)> setActuator);
bool init() override;
@@ -76,7 +76,7 @@ private:
* @param drag Target drag force.
* @return AirBrakes surface [m];
*/
- float getSurface(const TimedTrajectoryPoint ¤tPosition, float rho,
+ float getSurface(const TimedTrajectoryPoint& currentPosition, float rho,
float drag);
/**
@@ -131,7 +131,7 @@ private:
private:
std::function<TimedTrajectoryPoint()> getCurrentPosition;
- const AirBrakesPIConfig &config;
+ const AirBrakesPIConfig& config;
std::function<void(float)> setActuator;
TimedTrajectoryPoint lastPosition;
@@ -140,9 +140,9 @@ private:
PIController pi;
// Trajectory set from which the used trajectory can be choosen
- const TrajectorySet &trajectorySet;
+ const TrajectorySet& trajectorySet;
- Trajectory *chosenTrajectory = nullptr;
+ Trajectory* chosenTrajectory = nullptr;
};
} // namespace Boardcore
diff --git a/src/shared/algorithms/AirBrakes/Trajectory.h b/src/shared/algorithms/AirBrakes/Trajectory.h
index 3c139cd22..a585d50ba 100644
--- a/src/shared/algorithms/AirBrakes/Trajectory.h
+++ b/src/shared/algorithms/AirBrakes/Trajectory.h
@@ -31,7 +31,7 @@ class Trajectory
{
public:
float extension; ///< AirBrakes target extension for this trajectory [m].
- TrajectoryPoint *points;
+ TrajectoryPoint* points;
uint16_t trjSize;
Trajectory(float extension, TrajectoryPoint points[], uint16_t trjSize)
diff --git a/src/shared/algorithms/Algorithm.h b/src/shared/algorithms/Algorithm.h
index 0dfbc0275..4f4dcf4d7 100644
--- a/src/shared/algorithms/Algorithm.h
+++ b/src/shared/algorithms/Algorithm.h
@@ -54,9 +54,7 @@ public:
void update()
{
if (running)
- {
step();
- }
}
bool isRunning() { return running; }
diff --git a/src/shared/algorithms/Follower/Follower.cpp b/src/shared/algorithms/Follower/Follower.cpp
index 07fd53198..46beec180 100644
--- a/src/shared/algorithms/Follower/Follower.cpp
+++ b/src/shared/algorithms/Follower/Follower.cpp
@@ -43,13 +43,9 @@ namespace Boardcore
float minimizeRotation(float angle)
{
if (angle > 180)
- {
angle -= 360;
- }
else if (angle < -180)
- {
angle += 360;
- }
return angle;
}
@@ -180,11 +176,11 @@ void Follower::step()
setState(newState);
#ifndef NDEBUG
- std::cout << "[FOLLOWER] STEPPER "
- << "Angles: [" << newState.yaw << ", " << newState.pitch << "] "
- << "Speed: [" << newState.horizontalSpeed << ", "
- << newState.verticalSpeed << "] VN300 measure: [" << vn300.yaw
- << ", " << vn300.pitch << "]\n";
+ std::cout << "[FOLLOWER] STEPPER " << "Angles: [" << newState.yaw << ", "
+ << newState.pitch << "] " << "Speed: ["
+ << newState.horizontalSpeed << ", " << newState.verticalSpeed
+ << "] VN300 measure: [" << vn300.yaw << ", " << vn300.pitch
+ << "]\n";
#endif
}
diff --git a/src/shared/algorithms/Follower/FollowerData.h b/src/shared/algorithms/Follower/FollowerData.h
index e30123af7..d8e2c9df0 100644
--- a/src/shared/algorithms/Follower/FollowerData.h
+++ b/src/shared/algorithms/Follower/FollowerData.h
@@ -48,10 +48,10 @@ struct AntennaAngles
AntennaAngles() : timestamp{0}, yaw{0}, pitch{0} {};
AntennaAngles(uint64_t timestamp, float yaw, float pitch)
- : timestamp{timestamp}, yaw(yaw), pitch(pitch){};
+ : timestamp{timestamp}, yaw(yaw), pitch(pitch) {};
AntennaAngles(uint64_t timestamp, float yaw, float pitch,
uint32_t nrPropagations)
- : timestamp{timestamp}, yaw(yaw), pitch(pitch){};
+ : timestamp{timestamp}, yaw(yaw), pitch(pitch) {};
};
/**
@@ -62,13 +62,13 @@ struct AntennaAnglesLog : public AntennaAngles
uint32_t nrPropagations =
0; //!< Nr of propagations by the propagator (0 if no propagation)
- AntennaAnglesLog() : AntennaAngles(), nrPropagations(0){};
+ AntennaAnglesLog() : AntennaAngles(), nrPropagations(0) {};
AntennaAnglesLog(uint64_t timestamp, float yaw, float pitch)
: AntennaAngles(timestamp, yaw, pitch), nrPropagations{0} {};
AntennaAnglesLog(uint64_t timestamp, float yaw, float pitch,
uint32_t nrPropagations)
- : AntennaAngles(timestamp, yaw, pitch), nrPropagations{
- nrPropagations} {};
+ : AntennaAngles(timestamp, yaw, pitch),
+ nrPropagations{nrPropagations} {};
AntennaAnglesLog(AntennaAngles angle, uint32_t nrPropagations)
: AntennaAngles(angle), nrPropagations{nrPropagations} {};
diff --git a/src/shared/algorithms/MEA/MEA.cpp b/src/shared/algorithms/MEA/MEA.cpp
index 0b4108a07..0856368cb 100644
--- a/src/shared/algorithms/MEA/MEA.cpp
+++ b/src/shared/algorithms/MEA/MEA.cpp
@@ -58,20 +58,19 @@ void MEA::Step::withSpeedAndAlt(float verticalSpeed, float mslAltitude)
hasSpeedAndAlt = true;
}
-MEA::MEA(const Config &config)
+MEA::MEA(const Config& config)
: F{config.F}, Q{config.Q}, G{config.G}, baroH{config.baroH},
baroR{config.baroR}, P{config.P}, x{0, 0, config.initialMass},
mass{config.initialMass}, accelThresh{config.accelThresh},
speedThresh{config.speedThresh}, Kt{config.Kt}, alpha{config.alpha},
- c{config.c}, coeffs{config.coeffs},
- crossSection{config.crossSection}, ae{config.ae}, p0{config.p0},
- minMass{config.minMass}, maxMass{config.maxMass},
- cdCorrectionFactor(config.cdCorrectionFactor)
+ c{config.c}, coeffs{config.coeffs}, crossSection{config.crossSection},
+ ae{config.ae}, p0{config.p0}, minMass{config.minMass},
+ maxMass{config.maxMass}, cdCorrectionFactor(config.cdCorrectionFactor)
{
updateState();
}
-void MEA::update(const Step &step)
+void MEA::update(const Step& step)
{
// First run the prediction step
predict(step);
@@ -97,13 +96,13 @@ void MEA::update(const Step &step)
MEAState MEA::getState() { return state; }
-void MEA::predict(const Step &step)
+void MEA::predict(const Step& step)
{
x = F * x + G * step.mainValveOpen;
P = F * P * F.transpose() + Q;
}
-void MEA::computeForce(const Step &step)
+void MEA::computeForce(const Step& step)
{
if (!step.hasSpeedAndAlt)
return;
@@ -133,7 +132,7 @@ void MEA::computeForce(const Step &step)
}
}
-void MEA::correctBaro(const Step &step)
+void MEA::correctBaro(const Step& step)
{
if (!step.hasCCPressure)
return;
@@ -150,7 +149,7 @@ void MEA::correctBaro(const Step &step)
x = x + K * (step.ccPressure - baroH * x);
}
-void MEA::correctAccel(const Step &step)
+void MEA::correctAccel(const Step& step)
{
if (!step.hasAcceleration || !step.hasSpeedAndAlt)
return;
@@ -158,7 +157,9 @@ void MEA::correctAccel(const Step &step)
// Do not correct at low speed/acceleration
if (step.acceleration.norm() < accelThresh ||
step.verticalSpeed < speedThresh)
+ {
return;
+ }
float y = (Kt * (float)(baroH * x) - force) / x(2);
@@ -188,7 +189,7 @@ void MEA::computeMass()
mass = std::max(std::min(x(2), maxMass), minMass);
}
-void MEA::computeApogee(const Step &step)
+void MEA::computeApogee(const Step& step)
{
if (!step.hasSpeedAndAlt)
return;
@@ -214,4 +215,4 @@ void MEA::updateState()
state.estimatedPressure = baroH * x;
state.estimatedApogee = apogee;
state.estimatedForce = force;
-}
\ No newline at end of file
+}
diff --git a/src/shared/algorithms/MEA/MEA.h b/src/shared/algorithms/MEA/MEA.h
index fbe18c7e6..feaf1a83a 100644
--- a/src/shared/algorithms/MEA/MEA.h
+++ b/src/shared/algorithms/MEA/MEA.h
@@ -99,19 +99,19 @@ public:
void withSpeedAndAlt(float verticalSpeed, float mslAltitude);
};
- explicit MEA(const Config &config);
+ explicit MEA(const Config& config);
- void update(const Step &step);
+ void update(const Step& step);
MEAState getState();
private:
- void predict(const Step &step);
- void computeForce(const Step &step);
- void correctBaro(const Step &step);
- void correctAccel(const Step &step);
+ void predict(const Step& step);
+ void computeForce(const Step& step);
+ void correctBaro(const Step& step);
+ void correctAccel(const Step& step);
void computeMass();
- void computeApogee(const Step &step);
+ void computeApogee(const Step& step);
void updateState();
Eigen::Matrix<float, 3, 3> F; //< State propagation matrix
@@ -155,4 +155,4 @@ private:
MEAState state;
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/algorithms/MEA/MEAData.h b/src/shared/algorithms/MEA/MEAData.h
index 8e26d62a4..bb515b8ff 100644
--- a/src/shared/algorithms/MEA/MEAData.h
+++ b/src/shared/algorithms/MEA/MEAData.h
@@ -47,7 +47,7 @@ struct MEAState
"estimatedForce,x0,x1,x2\n";
}
- void print(std::ostream &os) const
+ void print(std::ostream& os) const
{
os << timestamp << "," << estimatedPressure << "," << estimatedMass
<< "," << estimatedApogee << "," << estimatedForce << "," << x0
@@ -55,4 +55,4 @@ struct MEAState
}
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/algorithms/NAS/NAS.cpp b/src/shared/algorithms/NAS/NAS.cpp
index 1b162b6a1..e200f046f 100644
--- a/src/shared/algorithms/NAS/NAS.cpp
+++ b/src/shared/algorithms/NAS/NAS.cpp
@@ -173,9 +173,7 @@ void NAS::correctBaro(const float pressure)
// If not invertible, don't do the correction and return
if (S < 1e-3)
- {
return;
- }
float y_hat =
Aeroutils::relPressure(reference.refAltitude - x(2),
@@ -236,9 +234,7 @@ void NAS::correctGPS(const Vector4f& gps)
// If not invertible, don't do the correction and return
if (S.determinant() < 1e-3)
- {
return;
- }
Matrix<float, 6, 4> K = Pl * H_gps_tr * S.inverse();
@@ -357,9 +353,7 @@ void NAS::correctPitot(const float staticPressure, const float dynamicPressure)
// If a nan is generated, don't do the correction
if (isnan(H(0, 5)))
- {
return;
- }
float R = config.SIGMA_PITOT * config.SIGMA_PITOT;
@@ -368,9 +362,7 @@ void NAS::correctPitot(const float staticPressure, const float dynamicPressure)
// If not invertible, don't do the correction and return
if (S < 1e-3)
- {
return;
- }
float y_hat =
std::pow(temp, (GAMMA_AIR / (GAMMA_AIR - 1))) - 1; // pRatio_model
diff --git a/src/shared/algorithms/PIController.h b/src/shared/algorithms/PIController.h
index c30e3e409..a39db5f21 100644
--- a/src/shared/algorithms/PIController.h
+++ b/src/shared/algorithms/PIController.h
@@ -32,7 +32,6 @@ namespace Boardcore
* */
class PIController
{
-
public:
PIController(float Kp, float Ki, float Ts = 1,
float uMin = -std::numeric_limits<float>::infinity(),
diff --git a/src/shared/algorithms/ReferenceValues.h b/src/shared/algorithms/ReferenceValues.h
index 62dcddd50..d4141ab6d 100644
--- a/src/shared/algorithms/ReferenceValues.h
+++ b/src/shared/algorithms/ReferenceValues.h
@@ -46,7 +46,7 @@ struct ReferenceValues
float mslPressure = Constants::MSL_PRESSURE;
float mslTemperature = Constants::MSL_TEMPERATURE;
- ReferenceValues(){};
+ ReferenceValues() {};
ReferenceValues(float altitude, float pressure, float temperature,
float refLatitude = Constants::B21_LATITUDE,
diff --git a/src/shared/diagnostic/PrintLogger.cpp b/src/shared/diagnostic/PrintLogger.cpp
index 2b74b1df0..1b1d83107 100644
--- a/src/shared/diagnostic/PrintLogger.cpp
+++ b/src/shared/diagnostic/PrintLogger.cpp
@@ -55,9 +55,7 @@ static string truncateFileName(const string& name, int depth = 0)
// Now traverse the path until we reach the end or the required depth
for (int i = 0; i < depth && start != string::npos; i++)
- {
start = name.find_last_of("\\/", start - 1);
- }
// Truncate the path if needed
return start == string::npos
@@ -143,12 +141,8 @@ void PrintLogger::vlogAsync(uint8_t level, const string& function,
void Logging::log(const LogRecord& record)
{
for (auto& s : sinks)
- {
if (s->isEnabled())
- {
s->log(record);
- }
- }
}
void Logging::logAsync(const LogRecord& record) { asyncLog.log(record); }
@@ -173,9 +167,7 @@ void Logging::AsyncLogger::run()
{
Lock<FastMutex> l(mutex);
while (records.isEmpty())
- {
cv.wait(mutex);
- }
rec = records.pop();
}
diff --git a/src/shared/diagnostic/StackLogger.h b/src/shared/diagnostic/StackLogger.h
index 7be7d81de..d615f10df 100644
--- a/src/shared/diagnostic/StackLogger.h
+++ b/src/shared/diagnostic/StackLogger.h
@@ -74,9 +74,7 @@ public:
{
Lock<FastMutex> l(mutex);
for (auto it = stacks.begin(); it != stacks.end(); it++)
- {
Logger::getInstance().log(it->second);
- }
}
}
diff --git a/src/shared/drivers/WIZ5500/WIZ5500.cpp b/src/shared/drivers/WIZ5500/WIZ5500.cpp
index 89577709c..43dc983de 100644
--- a/src/shared/drivers/WIZ5500/WIZ5500.cpp
+++ b/src/shared/drivers/WIZ5500/WIZ5500.cpp
@@ -46,7 +46,7 @@ SPIBusConfig getSpiBusConfig(SPI::ClockDivider clock_divider)
return bus_config;
}
-Wiz5500::Wiz5500(SPIBus &bus, miosix::GpioPin cs, miosix::GpioPin intn,
+Wiz5500::Wiz5500(SPIBus& bus, miosix::GpioPin cs, miosix::GpioPin intn,
SPI::ClockDivider clock_divider)
: intn(intn), slave(bus, cs, getSpiBusConfig(clock_divider))
{
@@ -114,9 +114,7 @@ void Wiz5500::reset()
// Reset all socketsOSI
for (int i = 0; i < NUM_SOCKETS; i++)
- {
spiWrite8(Wiz::getSocketRegBlock(i), Wiz::Socket::REG_MR, 0);
- }
}
void Wiz5500::handleINTn()
@@ -163,9 +161,7 @@ bool Wiz5500::connectTcp(int sock_n, uint16_t src_port, WizIp dst_ip,
// Check that we are closed
if (socket_infos[sock_n].mode != Wiz5500::SocketMode::CLOSED)
- {
return false;
- }
// Setup the socket
spiWrite8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_MR,
@@ -182,9 +178,7 @@ bool Wiz5500::connectTcp(int sock_n, uint16_t src_port, WizIp dst_ip,
// Ok now check that we actually went into that mode
int status = spiRead8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_SR);
if (status != Wiz::Socket::STAT_INIT)
- {
return false;
- }
// Connect the socket
spiWrite8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_CR,
@@ -196,24 +190,20 @@ bool Wiz5500::connectTcp(int sock_n, uint16_t src_port, WizIp dst_ip,
// Connection failed
if ((irq & Wiz::Socket::Irq::CON) == 0)
- {
return false;
- }
socket_infos[sock_n].mode = Wiz5500::SocketMode::TCP;
return true;
}
-bool Wiz5500::listenTcp(int sock_n, uint16_t src_port, WizIp &dst_ip,
- uint16_t &dst_port, int timeout)
+bool Wiz5500::listenTcp(int sock_n, uint16_t src_port, WizIp& dst_ip,
+ uint16_t& dst_port, int timeout)
{
Lock<FastMutex> l(mutex);
// Check that we are closed
if (socket_infos[sock_n].mode != Wiz5500::SocketMode::CLOSED)
- {
return false;
- }
// Setup the socket
spiWrite8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_MR,
@@ -227,9 +217,7 @@ bool Wiz5500::listenTcp(int sock_n, uint16_t src_port, WizIp &dst_ip,
// Ok now check that we actually went into that mode
int status = spiRead8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_SR);
if (status != Wiz::Socket::STAT_INIT)
- {
return false;
- }
// Connect the socket
spiWrite8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_CR,
@@ -244,9 +232,7 @@ bool Wiz5500::listenTcp(int sock_n, uint16_t src_port, WizIp &dst_ip,
// Connection failed
if ((irq & Wiz::Socket::Irq::CON) == 0)
- {
return false;
- }
// Read remote side infos
dst_ip = spiReadIp(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_DIPR);
@@ -264,9 +250,7 @@ bool Wiz5500::openUdp(int sock_n, uint16_t src_port, WizIp dst_ip,
// Check that we are closed
if (socket_infos[sock_n].mode != Wiz5500::SocketMode::CLOSED)
- {
return false;
- }
// Setup the socket
spiWrite8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_MR,
@@ -283,23 +267,19 @@ bool Wiz5500::openUdp(int sock_n, uint16_t src_port, WizIp dst_ip,
// Ok now check that we actually went into that mode
int status = spiRead8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_SR);
if (status != Wiz::Socket::STAT_UDP)
- {
return false;
- }
socket_infos[sock_n].mode = Wiz5500::SocketMode::UDP;
return true;
}
-bool Wiz5500::send(int sock_n, const uint8_t *data, size_t len, int timeout)
+bool Wiz5500::send(int sock_n, const uint8_t* data, size_t len, int timeout)
{
Lock<FastMutex> l(mutex);
// We cannot send through a closed socket
if (socket_infos[sock_n].mode == Wiz5500::SocketMode::CLOSED)
- {
return false;
- }
// First get the start write address
uint16_t start_addr =
@@ -319,31 +299,25 @@ bool Wiz5500::send(int sock_n, const uint8_t *data, size_t len, int timeout)
// It didn't signal it as an error
if ((irq & Wiz::Socket::Irq::SEND_OK) == 0)
- {
return false;
- }
return true;
}
-ssize_t Wiz5500::recv(int sock_n, uint8_t *data, size_t len, int timeout)
+ssize_t Wiz5500::recv(int sock_n, uint8_t* data, size_t len, int timeout)
{
Lock<FastMutex> l(mutex);
// This is only valid for TCP
if (socket_infos[sock_n].mode != Wiz5500::SocketMode::TCP)
- {
return -1;
- }
// Wait for the device to signal that we received something, or a
// disconnection
int irq = waitForSocketIrq(
l, sock_n, Wiz::Socket::Irq::RECV | Wiz::Socket::Irq::DISCON, timeout);
if ((irq & Wiz::Socket::Irq::RECV) == 0)
- {
return -1;
- }
// Ok we received something, get the received length
uint16_t recv_len =
@@ -353,9 +327,7 @@ ssize_t Wiz5500::recv(int sock_n, uint8_t *data, size_t len, int timeout)
// Check if we actually have space
if (recv_len < len)
- {
spiRead(Wiz::getSocketRxBlock(sock_n), addr, data, recv_len);
- }
addr += recv_len;
spiWrite16(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_RX_RD, addr);
@@ -367,25 +339,21 @@ ssize_t Wiz5500::recv(int sock_n, uint8_t *data, size_t len, int timeout)
return recv_len < len ? recv_len : -1;
}
-ssize_t Wiz5500::recvfrom(int sock_n, uint8_t *data, size_t len, WizIp &dst_ip,
- uint16_t &dst_port, int timeout)
+ssize_t Wiz5500::recvfrom(int sock_n, uint8_t* data, size_t len, WizIp& dst_ip,
+ uint16_t& dst_port, int timeout)
{
Lock<FastMutex> l(mutex);
// This is only valid for UDP
if (socket_infos[sock_n].mode != Wiz5500::SocketMode::UDP)
- {
return -1;
- }
// Wait for the device to signal that we received something, or a
// disconnection
int irq = waitForSocketIrq(
l, sock_n, Wiz::Socket::Irq::RECV | Wiz::Socket::Irq::DISCON, timeout);
if ((irq & Wiz::Socket::Irq::RECV) == 0)
- {
return -1;
- }
// Ok we received something, get the received length
uint16_t recv_len =
@@ -395,16 +363,16 @@ ssize_t Wiz5500::recvfrom(int sock_n, uint8_t *data, size_t len, WizIp &dst_ip,
// First read the internal header
spiRead(Wiz::getSocketRxBlock(sock_n), addr,
- reinterpret_cast<uint8_t *>(&dst_ip), sizeof(WizIp));
+ reinterpret_cast<uint8_t*>(&dst_ip), sizeof(WizIp));
addr += sizeof(WizIp);
spiRead(Wiz::getSocketRxBlock(sock_n), addr,
- reinterpret_cast<uint8_t *>(&dst_port), sizeof(uint16_t));
+ reinterpret_cast<uint8_t*>(&dst_port), sizeof(uint16_t));
addr += sizeof(uint16_t);
// Now, what's this?
uint16_t what = 0;
spiRead(Wiz::getSocketRxBlock(sock_n), addr,
- reinterpret_cast<uint8_t *>(&what), sizeof(uint16_t));
+ reinterpret_cast<uint8_t*>(&what), sizeof(uint16_t));
addr += sizeof(uint16_t);
// Remove what we have already read.
@@ -412,9 +380,7 @@ ssize_t Wiz5500::recvfrom(int sock_n, uint8_t *data, size_t len, WizIp &dst_ip,
// Check if we actually have space
if (recv_len < len)
- {
spiRead(Wiz::getSocketRxBlock(sock_n), addr, data, recv_len);
- }
addr += recv_len;
spiWrite16(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_RX_RD, addr);
@@ -432,9 +398,7 @@ void Wiz5500::close(int sock_n, int timeout)
// We cannot receive close a closed socket
if (socket_infos[sock_n].mode == Wiz5500::SocketMode::CLOSED)
- {
return;
- }
spiWrite8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_CR,
Wiz::Socket::CMD_DISCON);
@@ -443,7 +407,7 @@ void Wiz5500::close(int sock_n, int timeout)
socket_infos[sock_n].mode = Wiz5500::SocketMode::CLOSED;
}
-void Wiz5500::waitForINTn(Lock<FastMutex> &l)
+void Wiz5500::waitForINTn(Lock<FastMutex>& l)
{
long long start = Kernel::getOldTick();
TimedWaitResult result = TimedWaitResult::NoTimeout;
@@ -457,21 +421,19 @@ void Wiz5500::waitForINTn(Lock<FastMutex> &l)
}
}
-int Wiz5500::waitForSocketIrq(miosix::Lock<miosix::FastMutex> &l, int sock_n,
+int Wiz5500::waitForSocketIrq(miosix::Lock<miosix::FastMutex>& l, int sock_n,
uint8_t irq_mask, int timeout)
{
// Check that someone else isn't already waiting for one of ours interrupts
if ((socket_infos[sock_n].irq_mask & irq_mask) != 0)
- {
return 0;
- }
// Enable the interrupts requested, updating the IRQ mask
socket_infos[sock_n].irq_mask |= irq_mask;
spiWrite8(Wiz::getSocketRegBlock(sock_n), Wiz::Socket::REG_IMR,
socket_infos[sock_n].irq_mask);
- Thread *this_thread = Thread::getCurrentThread();
+ Thread* this_thread = Thread::getCurrentThread();
// Find a free slot in the data structure
int i = 0;
@@ -491,9 +453,7 @@ int Wiz5500::waitForSocketIrq(miosix::Lock<miosix::FastMutex> &l, int sock_n,
// We didn't find any, return with failure
if (i == NUM_THREAD_WAIT_INFOS)
- {
return 0;
- }
long long start = Kernel::getOldTick();
TimedWaitResult result = TimedWaitResult::NoTimeout;
@@ -561,7 +521,7 @@ int Wiz5500::waitForSocketIrq(miosix::Lock<miosix::FastMutex> &l, int sock_n,
return wait_infos[i].irq;
}
-void Wiz5500::runInterruptServiceRoutine(Lock<FastMutex> &l)
+void Wiz5500::runInterruptServiceRoutine(Lock<FastMutex>& l)
{
// Other threads might wake us up in order to
waitForINTn(l);
@@ -626,7 +586,7 @@ void Wiz5500::runInterruptServiceRoutine(Lock<FastMutex> &l)
}
}
-void Wiz5500::spiRead(uint8_t block, uint16_t address, uint8_t *data,
+void Wiz5500::spiRead(uint8_t block, uint16_t address, uint8_t* data,
size_t len)
{
// Do a manual SPI transaction
@@ -639,7 +599,7 @@ void Wiz5500::spiRead(uint8_t block, uint16_t address, uint8_t *data,
slave.bus.deselect(slave.cs);
}
-void Wiz5500::spiWrite(uint8_t block, uint16_t address, const uint8_t *data,
+void Wiz5500::spiWrite(uint8_t block, uint16_t address, const uint8_t* data,
size_t len)
{
// Do a manual SPI transaction
@@ -662,7 +622,7 @@ uint8_t Wiz5500::spiRead8(uint8_t block, uint16_t address)
uint16_t Wiz5500::spiRead16(uint8_t block, uint16_t address)
{
uint16_t data;
- spiRead(block, address, reinterpret_cast<uint8_t *>(&data),
+ spiRead(block, address, reinterpret_cast<uint8_t*>(&data),
sizeof(uint16_t));
return fromBigEndian16(data);
}
@@ -670,7 +630,7 @@ uint16_t Wiz5500::spiRead16(uint8_t block, uint16_t address)
WizIp Wiz5500::spiReadIp(uint8_t block, uint16_t address)
{
WizIp data;
- spiRead(block, address, reinterpret_cast<uint8_t *>(&data), sizeof(WizIp));
+ spiRead(block, address, reinterpret_cast<uint8_t*>(&data), sizeof(WizIp));
return data;
}
@@ -689,17 +649,16 @@ void Wiz5500::spiWrite8(uint8_t block, uint16_t address, uint8_t data)
void Wiz5500::spiWrite16(uint8_t block, uint16_t address, uint16_t data)
{
data = toBigEndian16(data);
- spiWrite(block, address, reinterpret_cast<uint8_t *>(&data),
+ spiWrite(block, address, reinterpret_cast<uint8_t*>(&data),
sizeof(uint16_t));
}
void Wiz5500::spiWriteIp(uint8_t block, uint16_t address, WizIp data)
{
- spiWrite(block, address, reinterpret_cast<uint8_t *>(&data), sizeof(WizIp));
+ spiWrite(block, address, reinterpret_cast<uint8_t*>(&data), sizeof(WizIp));
}
void Wiz5500::spiWriteMac(uint8_t block, uint16_t address, WizMac data)
{
- spiWrite(block, address, reinterpret_cast<uint8_t *>(&data),
- sizeof(WizMac));
-}
\ No newline at end of file
+ spiWrite(block, address, reinterpret_cast<uint8_t*>(&data), sizeof(WizMac));
+}
diff --git a/src/shared/drivers/WIZ5500/WIZ5500.h b/src/shared/drivers/WIZ5500/WIZ5500.h
index 9d76cec26..728b50916 100644
--- a/src/shared/drivers/WIZ5500/WIZ5500.h
+++ b/src/shared/drivers/WIZ5500/WIZ5500.h
@@ -327,4 +327,4 @@ inline ostream& operator<<(ostream& os, const Boardcore::WizMac& mac)
os.flags(old_flags);
return os;
}
-} // namespace std
\ No newline at end of file
+} // namespace std
diff --git a/src/shared/drivers/WIZ5500/WIZ5500Defs.h b/src/shared/drivers/WIZ5500/WIZ5500Defs.h
index 096ab3ff0..e5ff7acb3 100644
--- a/src/shared/drivers/WIZ5500/WIZ5500Defs.h
+++ b/src/shared/drivers/WIZ5500/WIZ5500Defs.h
@@ -172,4 +172,4 @@ inline uint8_t buildModeMacraw(bool enable_mac_filter, bool block_broadcast,
} // namespace Wiz
-}; // namespace Boardcore
\ No newline at end of file
+}; // namespace Boardcore
diff --git a/src/shared/drivers/adc/InternalADC.cpp b/src/shared/drivers/adc/InternalADC.cpp
index f5dbbe0af..c0829a3c8 100644
--- a/src/shared/drivers/adc/InternalADC.cpp
+++ b/src/shared/drivers/adc/InternalADC.cpp
@@ -31,17 +31,17 @@ namespace Boardcore
{
#if defined(STM32F407xx) || defined(STM32F429xx)
-#define CAL_PT1_VALUE ((uint16_t volatile *)((uint32_t)0x1FFF7A2C))
-#define CAL_PT2_VALUE ((uint16_t volatile *)((uint32_t)0x1FFF7A2E))
+#define CAL_PT1_VALUE ((uint16_t volatile*)((uint32_t)0x1FFF7A2C))
+#define CAL_PT2_VALUE ((uint16_t volatile*)((uint32_t)0x1FFF7A2E))
static const float CAL_PT1_TEMP = 30;
static const float CAL_PT2_TEMP = 110;
static const float CAL_V_DDA = 3.3f;
#elif defined(STM32F767xx) || defined(STM32F769xx) || defined(STM32F756xx)
-#define CAL_PT1_VALUE ((uint16_t volatile *)((uint32_t)0x1FF0F44C))
-#define CAL_PT2_VALUE ((uint16_t volatile *)((uint32_t)0x1FF0F44E))
-static const float CAL_PT1_TEMP = 30;
-static const float CAL_PT2_TEMP = 110;
-static const float CAL_V_DDA = 3.3f;
+#define CAL_PT1_VALUE ((uint16_t volatile*)((uint32_t)0x1FF0F44C))
+#define CAL_PT2_VALUE ((uint16_t volatile*)((uint32_t)0x1FF0F44E))
+static const float CAL_PT1_TEMP = 30;
+static const float CAL_PT2_TEMP = 110;
+static const float CAL_V_DDA = 3.3f;
#else
#warning This micro controller does not have a calibrated temperature sensor or is not currently supported by this driver
#endif
@@ -65,7 +65,7 @@ static const float VBAT_DIV = 4.0f;
#define V_DDA_VOLTAGE 3.0f
#endif
-InternalADC::InternalADC(ADC_TypeDef *adc) : adc(adc)
+InternalADC::InternalADC(ADC_TypeDef* adc) : adc(adc)
{
#ifndef INTERNAL_ADC_WITHOUT_CALIBRATION
loadCalibrationValues();
@@ -84,9 +84,7 @@ InternalADC::InternalADC(ADC_TypeDef *adc) : adc(adc)
ADC->CCR |= ADC_CCR_ADCPRE_1 | ADC_CCR_ADCPRE_0;
for (int i = 0; i < CH_NUM; i++)
- {
channelsEnabled[i] = false;
- }
}
InternalADC::~InternalADC()
diff --git a/src/shared/drivers/adc/InternalADC.h b/src/shared/drivers/adc/InternalADC.h
index 46e5fdee4..6e642e3f4 100644
--- a/src/shared/drivers/adc/InternalADC.h
+++ b/src/shared/drivers/adc/InternalADC.h
@@ -98,7 +98,7 @@ public:
* @brief Resets the ADC configuration and automatically enables the
* peripheral clock.
*/
- explicit InternalADC(ADC_TypeDef *adc);
+ explicit InternalADC(ADC_TypeDef* adc);
~InternalADC();
@@ -140,7 +140,7 @@ private:
uint16_t readChannel(Channel channel);
- ADC_TypeDef *adc;
+ ADC_TypeDef* adc;
bool channelsEnabled[CH_NUM];
bool tempEnabled = false;
diff --git a/src/shared/drivers/adc/InternalADCData.h b/src/shared/drivers/adc/InternalADCData.h
index 8a4bcfc71..76d0af67e 100644
--- a/src/shared/drivers/adc/InternalADCData.h
+++ b/src/shared/drivers/adc/InternalADCData.h
@@ -49,9 +49,7 @@ struct InternalADCData
os << timestamp << ",";
for (int i = 0; i < 16; i++)
- {
os << voltage[i] << ",";
- }
os << temperature << "," << vBat << "\n";
}
diff --git a/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h b/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
index d635553ac..878ea88e7 100644
--- a/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
+++ b/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
@@ -62,9 +62,7 @@ public:
{
Lock<FastMutex> l(mutex);
if (c.count() < 2)
- {
return {0, 0, 0};
- }
float dt =
(c.get(c.count() - 1).timestamp - c.get(0).timestamp) / 1000.0f;
@@ -72,9 +70,7 @@ public:
uint32_t sizeFrames = 0;
for (size_t i = 0; i < c.count(); ++i)
- {
sizePayload += c.get(i).dataLength * 8;
- }
sizeFrames = sizePayload + (64 + 8) * c.count();
return BusLoadInfo{(sizePayload / dt), (sizeFrames / dt),
diff --git a/src/shared/drivers/canbus/CanDriver/CanDriver.cpp b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
index 61c57cb5d..2d4fa7213 100644
--- a/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
+++ b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
@@ -136,9 +136,7 @@ CanbusDriver::~CanbusDriver()
{
ClockUtils::disablePeripheralClock(can);
if (can == CAN2)
- {
ClockUtils::disablePeripheralClock(CAN1);
- }
}
CanbusDriver::BitTiming CanbusDriver::calcBitTiming(AutoBitTiming autoBt)
@@ -239,9 +237,7 @@ bool CanbusDriver::addFilter(FilterBank filter)
// CAN2 filters start from the 15th position
if (can == CAN2)
- {
index = index + 14;
- }
if (isInit)
{
@@ -341,12 +337,10 @@ uint32_t CanbusDriver::send(CanPacket packet)
// Fill data registers
for (uint8_t i = 0; i < packet.length; ++i)
- {
if (i < 4)
mailbox->TDLR |= packet.data[i] << i * 8;
else
mailbox->TDHR |= packet.data[i] << (i - 4) * 8;
- }
// Finally send the packet
can->sTxMailBox[mbxCode].TIR |= CAN_TI0R_TXRQ;
@@ -395,12 +389,10 @@ void CanbusDriver::handleRXInterrupt(int fifo)
p.length = mailbox->RDTR & CAN_RDT0R_DLC;
for (uint8_t i = 0; i < p.length; i++)
- {
if (i < 4) // Low register
p.data[i] = (mailbox->RDLR >> (i * 8)) & 0xFF;
else // High register
p.data[i] = (mailbox->RDHR >> ((i - 4) * 8)) & 0xFF;
- }
*RFR |= CAN_RF0R_RFOM0;
diff --git a/src/shared/drivers/canbus/CanDriver/Filters.h b/src/shared/drivers/canbus/CanDriver/Filters.h
index 54bf0decf..9adda08d5 100644
--- a/src/shared/drivers/canbus/CanDriver/Filters.h
+++ b/src/shared/drivers/canbus/CanDriver/Filters.h
@@ -65,13 +65,9 @@ protected:
{
uint32_t reg = 0;
if (isExt)
- {
reg = ((id & 0x1FFFFFFF) << 3);
- }
else
- {
reg = ((id & 0x7FF) << 21);
- }
reg |= ((ide & 0x1) << 2) | ((rtr & 0x1) << 1);
return reg;
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
index c17b89b1e..25518b18a 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
@@ -174,7 +174,9 @@ bool CanProtocol::enqueueSimplePacket(uint8_t priority, uint8_t primaryType,
{
if (priority > 0xF || primaryType > 0x3F || source > 0xF ||
destination > 0xF || secondaryType > 0xF)
+ {
return false;
+ }
CanMessage msg{};
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
index 128d23a6e..daaf99270 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
@@ -195,7 +195,9 @@ bool CanProtocol::enqueueData(uint8_t priority, uint8_t primaryType,
{
if (priority > 0xF || primaryType > 0x3F || source > 0xF ||
destination > 0xF || secondaryType > 0xF)
+ {
return false;
+ }
CanMessage msg = toCanMessage(t);
diff --git a/src/shared/drivers/dma/DMAStream.h b/src/shared/drivers/dma/DMAStream.h
index f1785adb0..ad3fd03b8 100644
--- a/src/shared/drivers/dma/DMAStream.h
+++ b/src/shared/drivers/dma/DMAStream.h
@@ -131,11 +131,11 @@ public:
MEM_TO_MEM = DMA_SxCR_DIR_1,
};
- DMAStream(DMA_Stream_TypeDef *dmaStream);
+ DMAStream(DMA_Stream_TypeDef* dmaStream);
- DMA_TypeDef *getController();
+ DMA_TypeDef* getController();
- DMA_Stream_TypeDef *getStream();
+ DMA_Stream_TypeDef* getStream();
void reset();
@@ -210,64 +210,47 @@ public:
uint16_t readNumberOfDataItems();
- void setPeripheralAddress(uint32_t *address);
+ void setPeripheralAddress(uint32_t* address);
- void setMemory0Address(uint32_t *address);
+ void setMemory0Address(uint32_t* address);
/**
* @brief Sets the memory address used only in double buffer mode.
*/
- void setMemory1Address(uint32_t *address);
+ void setMemory1Address(uint32_t* address);
void clearStatusRegister();
private:
- DMA_TypeDef *dmaController;
- DMA_Stream_TypeDef *dmaStream;
+ DMA_TypeDef* dmaController;
+ DMA_Stream_TypeDef* dmaStream;
// Interrupt status flags
- volatile uint32_t *IFCR; ///< Interrupt flags clear register
+ volatile uint32_t* IFCR; ///< Interrupt flags clear register
uint32_t IFCR_MASK; ///< Clear mask for all interrupt flags
PrintLogger logger = Logging::getLogger("DMAStream");
};
-inline DMAStream::DMAStream(DMA_Stream_TypeDef *dmaStream)
+inline DMAStream::DMAStream(DMA_Stream_TypeDef* dmaStream)
: dmaStream(dmaStream)
{
// Find the correct DMA controller
- if (reinterpret_cast<uint32_t *>(dmaStream) < &(DMA2->LISR))
- {
+ if (reinterpret_cast<uint32_t*>(dmaStream) < &(DMA2->LISR))
dmaController = DMA1;
- }
else
- {
dmaController = DMA2;
- }
// Find the corret interrupt flags clear register
if (dmaController == DMA1)
- {
if (dmaStream <= DMA1_Stream3)
- {
IFCR = &(DMA1->LIFCR);
- }
else
- {
IFCR = &(DMA1->HIFCR);
- }
- }
+ else if (dmaStream <= DMA2_Stream3)
+ IFCR = &(DMA2->LIFCR);
else
- {
- if (dmaStream <= DMA2_Stream3)
- {
- IFCR = &(DMA2->LIFCR);
- }
- else
- {
- IFCR = &(DMA2->HIFCR);
- }
- }
+ IFCR = &(DMA2->HIFCR);
// Find the correct clear mask
if (dmaStream == DMA1_Stream0 || dmaStream == DMA2_Stream0)
@@ -317,9 +300,9 @@ inline DMAStream::DMAStream(DMA_Stream_TypeDef *dmaStream)
}
}
-inline DMA_TypeDef *DMAStream::getController() { return dmaController; }
+inline DMA_TypeDef* DMAStream::getController() { return dmaController; }
-inline DMA_Stream_TypeDef *DMAStream::getStream() { return dmaStream; }
+inline DMA_Stream_TypeDef* DMAStream::getStream() { return dmaStream; }
inline void DMAStream::reset()
{
@@ -507,17 +490,17 @@ inline void DMAStream::setNumberOfDataItems(uint16_t numberOfDataItems)
inline uint16_t DMAStream::readNumberOfDataItems() { return dmaStream->NDTR; }
-inline void DMAStream::setPeripheralAddress(uint32_t *address)
+inline void DMAStream::setPeripheralAddress(uint32_t* address)
{
dmaStream->PAR = reinterpret_cast<uint32_t>(address);
}
-inline void DMAStream::setMemory0Address(uint32_t *address)
+inline void DMAStream::setMemory0Address(uint32_t* address)
{
dmaStream->M0AR = reinterpret_cast<uint32_t>(address);
}
-inline void DMAStream::setMemory1Address(uint32_t *address)
+inline void DMAStream::setMemory1Address(uint32_t* address)
{
dmaStream->M1AR = reinterpret_cast<uint32_t>(address);
}
diff --git a/src/shared/drivers/i2c/I2C.cpp b/src/shared/drivers/i2c/I2C.cpp
index 56b2a9f4d..398ff1756 100644
--- a/src/shared/drivers/i2c/I2C.cpp
+++ b/src/shared/drivers/i2c/I2C.cpp
@@ -25,37 +25,37 @@
namespace Boardcore
{
-I2C::I2C(I2C_TypeDef *i2c, const miosix::GpioPin &scl,
- const miosix::GpioPin &sda)
+I2C::I2C(I2C_TypeDef* i2c, const miosix::GpioPin& scl,
+ const miosix::GpioPin& sda)
: i2c(i2c, scl, sda)
{
}
-bool I2C::read(const I2CDriver::I2CSlaveConfig &slaveConfig, void *buffer,
+bool I2C::read(const I2CDriver::I2CSlaveConfig& slaveConfig, void* buffer,
const size_t nBytes)
{
i2c.flushBus();
return i2c.read(slaveConfig, buffer, nBytes);
}
-bool I2C::write(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t nBytes)
+bool I2C::write(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const void* buffer, const size_t nBytes)
{
i2c.flushBus();
return i2c.write(slaveConfig, buffer, nBytes);
}
-bool I2C::readRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint8_t ®isterContent)
+bool I2C::readRegister(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint8_t& registerContent)
{
i2c.flushBus();
return i2c.write(slaveConfig, ®isterAddress, 1, false) &&
i2c.read(slaveConfig, ®isterContent, 1);
}
-bool I2C::readRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool I2C::readRegister16(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
- uint16_t ®isterContent)
+ uint16_t& registerContent)
{
i2c.flushBus();
uint8_t buf[2] = {0};
@@ -70,9 +70,9 @@ bool I2C::readRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
return false;
}
-bool I2C::readRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool I2C::readRegister24(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
- uint32_t ®isterContent)
+ uint32_t& registerContent)
{
i2c.flushBus();
uint8_t buf[3] = {0};
@@ -88,9 +88,9 @@ bool I2C::readRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
return false;
}
-bool I2C::readRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool I2C::readRegister32(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
- uint32_t ®isterContent)
+ uint32_t& registerContent)
{
i2c.flushBus();
uint8_t buf[4] = {0};
@@ -108,7 +108,7 @@ bool I2C::readRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
return false;
}
-bool I2C::writeRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool I2C::writeRegister(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
const uint8_t registerContent)
{
@@ -117,7 +117,7 @@ bool I2C::writeRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
return i2c.write(slaveConfig, reg, 2);
}
-bool I2C::writeRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool I2C::writeRegister16(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
const uint16_t registerContent)
{
@@ -138,7 +138,7 @@ bool I2C::writeRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
}
}
-bool I2C::writeRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool I2C::writeRegister24(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
const uint32_t registerContent)
{
@@ -161,7 +161,7 @@ bool I2C::writeRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
}
}
-bool I2C::writeRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool I2C::writeRegister32(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
const uint32_t registerContent)
{
@@ -186,8 +186,8 @@ bool I2C::writeRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
}
}
-bool I2C::readFromRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, void *buffer,
+bool I2C::readFromRegister(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, void* buffer,
const size_t nBytes)
{
i2c.flushBus();
@@ -195,7 +195,7 @@ bool I2C::readFromRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
i2c.read(slaveConfig, buffer, nBytes);
}
-bool I2C::probe(const I2CDriver::I2CSlaveConfig &slaveConfig)
+bool I2C::probe(const I2CDriver::I2CSlaveConfig& slaveConfig)
{
i2c.flushBus();
return i2c.write(slaveConfig, nullptr, 0);
@@ -203,59 +203,59 @@ bool I2C::probe(const I2CDriver::I2CSlaveConfig &slaveConfig)
uint16_t I2C::getLastError() { return i2c.getLastError(); }
-SyncedI2C::SyncedI2C(I2C_TypeDef *i2c, const miosix::GpioPin &scl,
- const miosix::GpioPin &sda)
+SyncedI2C::SyncedI2C(I2C_TypeDef* i2c, const miosix::GpioPin& scl,
+ const miosix::GpioPin& sda)
: I2C(i2c, scl, sda)
{
}
-bool SyncedI2C::read(const I2CDriver::I2CSlaveConfig &slaveConfig, void *buffer,
+bool SyncedI2C::read(const I2CDriver::I2CSlaveConfig& slaveConfig, void* buffer,
const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::read(slaveConfig, buffer, nBytes);
}
-bool SyncedI2C::write(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t nBytes)
+bool SyncedI2C::write(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const void* buffer, const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::write(slaveConfig, buffer, nBytes);
}
-bool SyncedI2C::readRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool SyncedI2C::readRegister(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
- uint8_t ®isterContent)
+ uint8_t& registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister(slaveConfig, registerAddress, registerContent);
}
-bool SyncedI2C::readRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool SyncedI2C::readRegister16(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
- uint16_t ®isterContent)
+ uint16_t& registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister16(slaveConfig, registerAddress, registerContent);
}
-bool SyncedI2C::readRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool SyncedI2C::readRegister24(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
- uint32_t ®isterContent)
+ uint32_t& registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister24(slaveConfig, registerAddress, registerContent);
}
-bool SyncedI2C::readRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool SyncedI2C::readRegister32(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
- uint32_t ®isterContent)
+ uint32_t& registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister32(slaveConfig, registerAddress, registerContent);
}
-bool SyncedI2C::writeRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool SyncedI2C::writeRegister(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
const uint8_t registerContent)
{
@@ -263,7 +263,7 @@ bool SyncedI2C::writeRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
return I2C::writeRegister(slaveConfig, registerAddress, registerContent);
}
-bool SyncedI2C::writeRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool SyncedI2C::writeRegister16(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
const uint16_t registerContent)
{
@@ -271,7 +271,7 @@ bool SyncedI2C::writeRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
return I2C::writeRegister16(slaveConfig, registerAddress, registerContent);
}
-bool SyncedI2C::writeRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool SyncedI2C::writeRegister24(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
const uint32_t registerContent)
{
@@ -279,7 +279,7 @@ bool SyncedI2C::writeRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
return I2C::writeRegister24(slaveConfig, registerAddress, registerContent);
}
-bool SyncedI2C::writeRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
+bool SyncedI2C::writeRegister32(const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress,
const uint32_t registerContent)
{
@@ -287,15 +287,15 @@ bool SyncedI2C::writeRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
return I2C::writeRegister32(slaveConfig, registerAddress, registerContent);
}
-bool SyncedI2C::readFromRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, void *buffer,
+bool SyncedI2C::readFromRegister(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, void* buffer,
const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readFromRegister(slaveConfig, registerAddress, buffer, nBytes);
}
-bool SyncedI2C::probe(const I2CDriver::I2CSlaveConfig &slaveConfig)
+bool SyncedI2C::probe(const I2CDriver::I2CSlaveConfig& slaveConfig)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::probe(slaveConfig);
@@ -307,4 +307,4 @@ uint16_t SyncedI2C::getLastError()
return i2c.getLastError();
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/drivers/i2c/I2C.h b/src/shared/drivers/i2c/I2C.h
index 507239b10..fb2f34edc 100644
--- a/src/shared/drivers/i2c/I2C.h
+++ b/src/shared/drivers/i2c/I2C.h
@@ -52,14 +52,14 @@ public:
* @param scl Serial clock GpioPin of the relative I2C peripheral.
* @param sda Serial data GpioPin of the relative I2C peripheral.
*/
- I2C(I2C_TypeDef *i2c, const miosix::GpioPin &scl,
- const miosix::GpioPin &sda);
+ I2C(I2C_TypeDef* i2c, const miosix::GpioPin& scl,
+ const miosix::GpioPin& sda);
///< Delete copy/move constructors/operators.
- I2C(const I2C &) = delete;
- I2C &operator=(const I2C &) = delete;
- I2C(I2C &&) = delete;
- I2C &operator=(I2C &&) = delete;
+ I2C(const I2C&) = delete;
+ I2C& operator=(const I2C&) = delete;
+ I2C(I2C&&) = delete;
+ I2C& operator=(I2C&&) = delete;
/**
* @brief Non blocking read operation to read nBytes.
@@ -73,8 +73,8 @@ public:
* @param nBytes Number of bytes to read.
* @returns True if the read is successful, false otherwise.
*/
- [[nodiscard]] bool read(const I2CDriver::I2CSlaveConfig &slaveConfig,
- void *buffer, const size_t nBytes);
+ [[nodiscard]] bool read(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ void* buffer, const size_t nBytes);
/**
* @brief Non blocking write operation to write nBytes.
@@ -88,8 +88,8 @@ public:
* @param nBytes Number of bytes to send.
* @returns True if the write is successful, false otherwise.
*/
- [[nodiscard]] bool write(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t nBytes);
+ [[nodiscard]] bool write(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const void* buffer, const size_t nBytes);
/**
* @brief Non blocking operation to read an 8-bit register from a slave.
@@ -104,8 +104,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint8_t ®isterContent);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint8_t& registerContent);
/**
* @brief Non blocking operation to read a 16-bit register from a slave.
@@ -120,8 +120,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister16(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint16_t ®isterContent);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint16_t& registerContent);
/**
* @brief Non blocking operation to read a 24-bit register from a slave.
@@ -136,8 +136,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister24(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint32_t ®isterContent);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint32_t& registerContent);
/**
* @brief Non blocking operation to read a 32-bit register from a slave.
@@ -152,8 +152,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister32(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint32_t ®isterContent);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint32_t& registerContent);
/**
* @brief Non blocking operation to write an 8-bit register from a slave.
@@ -168,7 +168,7 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress, const uint8_t registerContent);
/**
@@ -184,7 +184,7 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister16(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress, const uint16_t registerContent);
/**
@@ -200,7 +200,7 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister24(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress, const uint32_t registerContent);
/**
@@ -216,7 +216,7 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister32(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress, const uint32_t registerContent);
/**
@@ -233,8 +233,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readFromRegister(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, void *buffer, const size_t nBytes);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, void* buffer, const size_t nBytes);
/**
* @brief Non blocking operation to check if a slave is available.
@@ -243,7 +243,7 @@ public:
* @param slaveConfig The configuration struct of the slave device.
* @returns True if the device is available, false otherwise.
*/
- [[nodiscard]] bool probe(const I2CDriver::I2CSlaveConfig &slaveConfig);
+ [[nodiscard]] bool probe(const I2CDriver::I2CSlaveConfig& slaveConfig);
/**
* @brief Returns the last errors happened in the communication.
@@ -277,14 +277,14 @@ public:
* @param scl Serial clock GpioPin of the relative I2C peripheral.
* @param sda Serial data GpioPin of the relative I2C peripheral.
*/
- SyncedI2C(I2C_TypeDef *i2c, const miosix::GpioPin &scl,
- const miosix::GpioPin &sda);
+ SyncedI2C(I2C_TypeDef* i2c, const miosix::GpioPin& scl,
+ const miosix::GpioPin& sda);
///< Delete copy/move constructors/operators.
- SyncedI2C(const SyncedI2C &) = delete;
- SyncedI2C &operator=(const SyncedI2C &) = delete;
- SyncedI2C(SyncedI2C &&) = delete;
- SyncedI2C &operator=(SyncedI2C &&) = delete;
+ SyncedI2C(const SyncedI2C&) = delete;
+ SyncedI2C& operator=(const SyncedI2C&) = delete;
+ SyncedI2C(SyncedI2C&&) = delete;
+ SyncedI2C& operator=(SyncedI2C&&) = delete;
/**
* @brief Read operation to read nBytes.
@@ -298,8 +298,8 @@ public:
* @param nBytes Number of bytes to read.
* @returns True if the read is successful, false otherwise.
*/
- [[nodiscard]] bool read(const I2CDriver::I2CSlaveConfig &slaveConfig,
- void *buffer, const size_t nBytes);
+ [[nodiscard]] bool read(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ void* buffer, const size_t nBytes);
/**
* @brief Write operation to write nBytes.
@@ -313,8 +313,8 @@ public:
* @param nBytes Number of bytes to send.
* @returns True if the write is successful, false otherwise.
*/
- [[nodiscard]] bool write(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t nBytes);
+ [[nodiscard]] bool write(const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const void* buffer, const size_t nBytes);
/**
* @brief Read an 8-bit register from the device.
@@ -329,8 +329,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint8_t ®isterContent);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint8_t& registerContent);
/**
* @brief Read a 16-bit register from the device.
@@ -345,8 +345,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister16(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint16_t ®isterContent);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint16_t& registerContent);
/**
* @brief Read a 24-bit register from the device.
@@ -361,8 +361,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister24(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint32_t ®isterContent);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint32_t& registerContent);
/**
* @brief Read a 32-bit register from the device.
@@ -377,8 +377,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister32(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, uint32_t ®isterContent);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, uint32_t& registerContent);
/**
* @brief Write an 8-bit register from the device.
@@ -393,7 +393,7 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress, const uint8_t registerContent);
/**
@@ -409,7 +409,7 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister16(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress, const uint16_t registerContent);
/**
@@ -425,7 +425,7 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister24(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress, const uint32_t registerContent);
/**
@@ -441,7 +441,7 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister32(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
const uint8_t registerAddress, const uint32_t registerContent);
/**
@@ -458,8 +458,8 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readFromRegister(
- const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t registerAddress, void *buffer, const size_t nBytes);
+ const I2CDriver::I2CSlaveConfig& slaveConfig,
+ const uint8_t registerAddress, void* buffer, const size_t nBytes);
/**
* @brief Check if a slave is available.
@@ -470,7 +470,7 @@ public:
* @param slaveConfig The configuration struct of the slave device.
* @returns true if the device is available, false otherwise.
*/
- [[nodiscard]] bool probe(const I2CDriver::I2CSlaveConfig &slaveConfig);
+ [[nodiscard]] bool probe(const I2CDriver::I2CSlaveConfig& slaveConfig);
/**
* @brief Returns the last errors happened in the communication.
@@ -491,4 +491,4 @@ private:
miosix::FastMutex mutex; ///< Mutex for rx/tx
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/drivers/i2c/I2CDriver-f4.cpp b/src/shared/drivers/i2c/I2CDriver-f4.cpp
index 79288dc17..b9a500530 100644
--- a/src/shared/drivers/i2c/I2CDriver-f4.cpp
+++ b/src/shared/drivers/i2c/I2CDriver-f4.cpp
@@ -31,7 +31,7 @@
namespace I2CConsts
{
-static Boardcore::I2CDriver *ports[N_I2C_PORTS] =
+static Boardcore::I2CDriver* ports[N_I2C_PORTS] =
{}; ///< Pointer to serial port classes to
///< let interrupts access the classes
static const int MAX_N_POLLING =
@@ -59,11 +59,9 @@ void __attribute__((naked)) I2C1_EV_IRQHandler()
*/
void __attribute__((used)) I2C1HandlerImpl()
{
- auto *port = I2CConsts::ports[0];
+ auto* port = I2CConsts::ports[0];
if (port)
- {
port->IRQhandleInterrupt();
- }
}
/**
@@ -81,11 +79,9 @@ void __attribute__((naked)) I2C1_ER_IRQHandler()
*/
void __attribute__((used)) I2C1errHandlerImpl()
{
- auto *port = I2CConsts::ports[0];
+ auto* port = I2CConsts::ports[0];
if (port)
- {
port->IRQhandleErrInterrupt();
- }
}
#endif
@@ -105,11 +101,9 @@ void __attribute__((naked)) I2C2_EV_IRQHandler()
*/
void __attribute__((used)) I2C2HandlerImpl()
{
- auto *port = I2CConsts::ports[1];
+ auto* port = I2CConsts::ports[1];
if (port)
- {
port->IRQhandleInterrupt();
- }
}
/**
@@ -127,11 +121,9 @@ void __attribute__((naked)) I2C2_ER_IRQHandler()
*/
void __attribute__((used)) I2C2errHandlerImpl()
{
- auto *port = I2CConsts::ports[1];
+ auto* port = I2CConsts::ports[1];
if (port)
- {
port->IRQhandleErrInterrupt();
- }
}
#endif
@@ -151,11 +143,9 @@ void __attribute__((naked)) I2C3_EV_IRQHandler()
*/
void __attribute__((used)) I2C3HandlerImpl()
{
- auto *port = I2CConsts::ports[2];
+ auto* port = I2CConsts::ports[2];
if (port)
- {
port->IRQhandleInterrupt();
- }
}
/**
@@ -173,11 +163,9 @@ void __attribute__((naked)) I2C3_ER_IRQHandler()
*/
void __attribute__((used)) I2C3errHandlerImpl()
{
- auto *port = I2CConsts::ports[2];
+ auto* port = I2CConsts::ports[2];
if (port)
- {
port->IRQhandleErrInterrupt();
- }
}
#endif
@@ -197,11 +185,9 @@ void __attribute__((naked)) I2C4_EV_IRQHandler()
*/
void __attribute__((used)) I2C4HandlerImpl()
{
- auto *port = I2CConsts::ports[3];
+ auto* port = I2CConsts::ports[3];
if (port)
- {
port->IRQhandleInterrupt();
- }
}
/**
@@ -219,18 +205,16 @@ void __attribute__((naked)) I2C4_ER_IRQHandler()
*/
void __attribute__((used)) I2C4errHandlerImpl()
{
- auto *port = I2CConsts::ports[3];
+ auto* port = I2CConsts::ports[3];
if (port)
- {
port->IRQhandleErrInterrupt();
- }
}
#endif
namespace Boardcore
{
-I2CDriver::I2CDriver(I2C_TypeDef *i2c, miosix::GpioPin scl, miosix::GpioPin sda)
+I2CDriver::I2CDriver(I2C_TypeDef* i2c, miosix::GpioPin scl, miosix::GpioPin sda)
: i2c(i2c), scl(scl), sda(sda), transaction()
{
// Setting the id and irqn of the right i2c peripheral
@@ -341,7 +325,7 @@ void I2CDriver::init()
I2C_CR2_ITBUFEN; // enabling interrupts for rx/tx byte
}
-void I2CDriver::setupPeripheral(const I2CSlaveConfig &slaveConfig)
+void I2CDriver::setupPeripheral(const I2CSlaveConfig& slaveConfig)
{
// Frequency < 2MHz in standard mode or < 4MHz in fast mode not allowed by
// the peripheral
@@ -387,13 +371,13 @@ void I2CDriver::setupPeripheral(const I2CSlaveConfig &slaveConfig)
i2c->CR1 |= I2C_CR1_PE;
}
-bool I2CDriver::read(const I2CSlaveConfig &slaveConfig, void *buffer,
- const size_t &nBytes)
+bool I2CDriver::read(const I2CSlaveConfig& slaveConfig, void* buffer,
+ const size_t& nBytes)
{
// Setting up the read transaction
transaction.operation = Operation::READ;
transaction.buffWrite = nullptr;
- transaction.buffRead = static_cast<uint8_t *>(buffer);
+ transaction.buffRead = static_cast<uint8_t*>(buffer);
transaction.nBytes = nBytes;
transaction.nBytesDone = 0;
transaction.generateStop = true;
@@ -407,12 +391,12 @@ bool I2CDriver::read(const I2CSlaveConfig &slaveConfig, void *buffer,
return doOperation(slaveConfig);
};
-bool I2CDriver::write(const I2CSlaveConfig &slaveConfig, const void *buffer,
- const size_t &nBytes, bool generateStop)
+bool I2CDriver::write(const I2CSlaveConfig& slaveConfig, const void* buffer,
+ const size_t& nBytes, bool generateStop)
{
// Setting up the write transaction
transaction.operation = Operation::WRITE;
- transaction.buffWrite = static_cast<const uint8_t *>(buffer);
+ transaction.buffWrite = static_cast<const uint8_t*>(buffer);
transaction.buffRead = nullptr;
transaction.nBytes = nBytes;
transaction.nBytesDone = 0;
@@ -422,7 +406,7 @@ bool I2CDriver::write(const I2CSlaveConfig &slaveConfig, const void *buffer,
return doOperation(slaveConfig);
};
-bool I2CDriver::doOperation(const I2CSlaveConfig &slaveConfig)
+bool I2CDriver::doOperation(const I2CSlaveConfig& slaveConfig)
{
// Not yet supported
D(assert(slaveConfig.addressing == Addressing::BIT7 &&
@@ -512,9 +496,7 @@ void I2CDriver::flushBus()
{
// If there isn't any locked state return immediately
if (!(lastError & Errors::BUS_LOCKED))
- {
return;
- }
// Set the period of the bit-banged clock (Default to standard mode)
uint8_t toggleDelay = 5;
@@ -557,7 +539,7 @@ void I2CDriver::flushBus()
uint16_t I2CDriver::getLastError() { return lastError; }
inline bool I2CDriver::IRQwaitForOperationCompletion(
- miosix::FastInterruptDisableLock &dLock)
+ miosix::FastInterruptDisableLock& dLock)
{
// Saving the current thread in order to be waken up by interrupts
waiting = miosix::Thread::IRQgetCurrentThread();
@@ -644,9 +626,7 @@ void I2CDriver::IRQhandleInterrupt()
// Clearing the ACK flag in order to send a NACK on the last byte
// that will be read
if (transaction.nBytesDone >= transaction.nBytes - 2)
- {
i2c->CR1 &= ~I2C_CR1_ACK;
- }
if (transaction.nBytesDone < transaction.nBytes)
{
@@ -700,9 +680,7 @@ void I2CDriver::IRQhandleErrInterrupt()
// lines. Do not send STOP condition. In the other cases, the software must
// issue the STOP condition.
if (!(error & I2C_SR1_ARLO))
- {
i2c->CR1 |= I2C_CR1_STOP;
- }
// Waking up the waiting thread
IRQwakeUpWaitingThread();
@@ -710,4 +688,4 @@ void I2CDriver::IRQhandleErrInterrupt()
} // namespace Boardcore
-#endif // _ARCH_CORTEXM4_STM32F4
\ No newline at end of file
+#endif // _ARCH_CORTEXM4_STM32F4
diff --git a/src/shared/drivers/i2c/I2CDriver-f7.cpp b/src/shared/drivers/i2c/I2CDriver-f7.cpp
index 38b591ed3..0b039630b 100644
--- a/src/shared/drivers/i2c/I2CDriver-f7.cpp
+++ b/src/shared/drivers/i2c/I2CDriver-f7.cpp
@@ -31,7 +31,7 @@
namespace I2CConsts
{
-static Boardcore::I2CDriver *ports[N_I2C_PORTS] =
+static Boardcore::I2CDriver* ports[N_I2C_PORTS] =
{}; ///< Pointer to serial port classes to
///< let interrupts access the classes
static const int MAX_N_POLLING =
@@ -86,17 +86,11 @@ I2CTimings calculateTimings(uint32_t f, uint32_t fi2c)
// presc is 4 bit long, so avoiding overflow
if (temp_presc >= 16)
- {
i2cTimings.presc = 15;
- }
else if (temp_presc == 0)
- {
i2cTimings.presc = 0;
- }
else
- {
i2cTimings.presc = temp_presc - 1;
- }
// calculating SCLL and SCLH in order to have duty cycle of 50%. Also,
// correcting for the 250ns delay of the peripheral (250ns = 12 I2C clocks)
@@ -141,7 +135,7 @@ I2CTimings calculateTimings(uint32_t f, uint32_t fi2c)
* @param speed Speed mode for which we want the timing parameters.
* @return The struct with the timing parameters for the speed mode passed.
*/
-const I2CTimings &getTimings(Boardcore::I2CDriver::Speed speed)
+const I2CTimings& getTimings(Boardcore::I2CDriver::Speed speed)
{
// Retrieving the frequency of the APB relative to the I2C peripheral
// [kHz] (I2C peripherals are always connected to APB1, Low speed bus). In
@@ -186,11 +180,9 @@ void __attribute__((naked)) I2C1_EV_IRQHandler()
*/
void __attribute__((used)) I2C1HandlerImpl()
{
- auto *port = I2CConsts::ports[0];
+ auto* port = I2CConsts::ports[0];
if (port)
- {
port->IRQhandleInterrupt();
- }
}
/**
@@ -208,11 +200,9 @@ void __attribute__((naked)) I2C1_ER_IRQHandler()
*/
void __attribute__((used)) I2C1errHandlerImpl()
{
- auto *port = I2CConsts::ports[0];
+ auto* port = I2CConsts::ports[0];
if (port)
- {
port->IRQhandleErrInterrupt();
- }
}
#endif
@@ -232,11 +222,9 @@ void __attribute__((naked)) I2C2_EV_IRQHandler()
*/
void __attribute__((used)) I2C2HandlerImpl()
{
- auto *port = I2CConsts::ports[1];
+ auto* port = I2CConsts::ports[1];
if (port)
- {
port->IRQhandleInterrupt();
- }
}
/**
@@ -254,11 +242,9 @@ void __attribute__((naked)) I2C2_ER_IRQHandler()
*/
void __attribute__((used)) I2C2errHandlerImpl()
{
- auto *port = I2CConsts::ports[1];
+ auto* port = I2CConsts::ports[1];
if (port)
- {
port->IRQhandleErrInterrupt();
- }
}
#endif
@@ -278,11 +264,9 @@ void __attribute__((naked)) I2C3_EV_IRQHandler()
*/
void __attribute__((used)) I2C3HandlerImpl()
{
- auto *port = I2CConsts::ports[2];
+ auto* port = I2CConsts::ports[2];
if (port)
- {
port->IRQhandleInterrupt();
- }
}
/**
@@ -300,11 +284,9 @@ void __attribute__((naked)) I2C3_ER_IRQHandler()
*/
void __attribute__((used)) I2C3errHandlerImpl()
{
- auto *port = I2CConsts::ports[2];
+ auto* port = I2CConsts::ports[2];
if (port)
- {
port->IRQhandleErrInterrupt();
- }
}
#endif
@@ -324,11 +306,9 @@ void __attribute__((naked)) I2C4_EV_IRQHandler()
*/
void __attribute__((used)) I2C4HandlerImpl()
{
- auto *port = I2CConsts::ports[3];
+ auto* port = I2CConsts::ports[3];
if (port)
- {
port->IRQhandleInterrupt();
- }
}
/**
@@ -346,18 +326,16 @@ void __attribute__((naked)) I2C4_ER_IRQHandler()
*/
void __attribute__((used)) I2C4errHandlerImpl()
{
- auto *port = I2CConsts::ports[3];
+ auto* port = I2CConsts::ports[3];
if (port)
- {
port->IRQhandleErrInterrupt();
- }
}
#endif
namespace Boardcore
{
-I2CDriver::I2CDriver(I2C_TypeDef *i2c, miosix::GpioPin scl, miosix::GpioPin sda)
+I2CDriver::I2CDriver(I2C_TypeDef* i2c, miosix::GpioPin scl, miosix::GpioPin sda)
: i2c(i2c), scl(scl), sda(sda), transaction()
{
// Setting the id and irqn of the right i2c peripheral
@@ -461,13 +439,13 @@ void I2CDriver::init()
i2c->CR1 |= I2C_CR1_PE;
}
-bool I2CDriver::read(const I2CSlaveConfig &slaveConfig, void *buffer,
- const size_t &nBytes)
+bool I2CDriver::read(const I2CSlaveConfig& slaveConfig, void* buffer,
+ const size_t& nBytes)
{
// Setting up the read transaction
transaction.operation = Operation::READ;
transaction.buffWrite = nullptr;
- transaction.buffRead = static_cast<uint8_t *>(buffer);
+ transaction.buffRead = static_cast<uint8_t*>(buffer);
transaction.nBytes = nBytes;
transaction.nBytesDone = 0;
transaction.generateStop = true;
@@ -480,12 +458,12 @@ bool I2CDriver::read(const I2CSlaveConfig &slaveConfig, void *buffer,
return doOperation(slaveConfig);
};
-bool I2CDriver::write(const I2CSlaveConfig &slaveConfig, const void *buffer,
- const size_t &nBytes, bool generateStop)
+bool I2CDriver::write(const I2CSlaveConfig& slaveConfig, const void* buffer,
+ const size_t& nBytes, bool generateStop)
{
// Setting up the write transaction
transaction.operation = Operation::WRITE;
- transaction.buffWrite = static_cast<const uint8_t *>(buffer);
+ transaction.buffWrite = static_cast<const uint8_t*>(buffer);
transaction.buffRead = nullptr;
transaction.nBytes = nBytes;
transaction.nBytesDone = 0;
@@ -499,7 +477,7 @@ bool I2CDriver::write(const I2CSlaveConfig &slaveConfig, const void *buffer,
return doOperation(slaveConfig);
};
-bool I2CDriver::doOperation(const I2CSlaveConfig &slaveConfig)
+bool I2CDriver::doOperation(const I2CSlaveConfig& slaveConfig)
{
// 10-bit addressing not supported
D(assert(slaveConfig.addressing == Addressing::BIT7 &&
@@ -563,13 +541,9 @@ bool I2CDriver::doOperation(const I2CSlaveConfig &slaveConfig)
// since, in case of a reStart, this would immediately end the previous
// transaction before the start condition is generated.
if (transaction.generateStop)
- {
i2c->CR2 |= I2C_CR2_AUTOEND;
- }
else
- {
i2c->CR2 &= ~I2C_CR2_AUTOEND;
- }
// Making the thread wait for the operation completion. The next steps
// will be performed in the ISR while the thread stays in waiting state.
@@ -579,7 +553,7 @@ bool I2CDriver::doOperation(const I2CSlaveConfig &slaveConfig)
}
}
-void I2CDriver::setupPeripheral(const I2CSlaveConfig &slaveConfig)
+void I2CDriver::setupPeripheral(const I2CSlaveConfig& slaveConfig)
{
// Disabling the I2C peripheral before setting the registers.
// This will also perform a software reset, useful to restore the internal
@@ -610,13 +584,9 @@ void I2CDriver::setupTransaction()
{
// Setting the direction of the transaction
if (transaction.operation == Operation::READ)
- {
i2c->CR2 |= I2C_CR2_RD_WRN;
- }
else
- {
i2c->CR2 &= ~I2C_CR2_RD_WRN;
- }
// setting registers for the remaining bytes
setupReload();
@@ -692,7 +662,7 @@ void I2CDriver::flushBus()
uint16_t I2CDriver::getLastError() { return lastError; }
inline bool I2CDriver::IRQwaitForOperationCompletion(
- miosix::FastInterruptDisableLock &dLock)
+ miosix::FastInterruptDisableLock& dLock)
{
// Saving the current thread in order to be waken up by interrupts
waiting = miosix::Thread::IRQgetCurrentThread();
@@ -773,9 +743,7 @@ void I2CDriver::IRQhandleInterrupt()
// Transfer complete reload: setting registers for the remaining bytes
if (i2c->ISR & I2C_ISR_TCR)
- {
setupReload();
- }
if (transaction.nBytesDone < transaction.nBytes)
{
@@ -846,4 +814,4 @@ void I2CDriver::IRQhandleErrInterrupt()
} // namespace Boardcore
-#endif // _ARCH_CORTEXM7_STM32F7
\ No newline at end of file
+#endif // _ARCH_CORTEXM7_STM32F7
diff --git a/src/shared/drivers/i2c/I2CDriver.h b/src/shared/drivers/i2c/I2CDriver.h
index fee1e0531..532112c27 100644
--- a/src/shared/drivers/i2c/I2CDriver.h
+++ b/src/shared/drivers/i2c/I2CDriver.h
@@ -132,13 +132,13 @@ public:
* @param scl Serial clock GpioPin of the relative I2C peripheral.
* @param sda Serial data GpioPin of the relative I2C peripheral.
*/
- I2CDriver(I2C_TypeDef *i2c, miosix::GpioPin scl, miosix::GpioPin sda);
+ I2CDriver(I2C_TypeDef* i2c, miosix::GpioPin scl, miosix::GpioPin sda);
///< Delete copy/move constructors/operators.
- I2CDriver(const I2CDriver &) = delete;
- I2CDriver &operator=(const I2CDriver &) = delete;
- I2CDriver(I2CDriver &&) = delete;
- I2CDriver &operator=(I2CDriver &&) = delete;
+ I2CDriver(const I2CDriver&) = delete;
+ I2CDriver& operator=(const I2CDriver&) = delete;
+ I2CDriver(I2CDriver&&) = delete;
+ I2CDriver& operator=(I2CDriver&&) = delete;
/**
* @brief Disables the peripheral, the interrupts in the NVIC and the
@@ -156,8 +156,8 @@ public:
* @param nBytes Number of bytes to read.
* @return True if the read is successful, false otherwise.
*/
- [[nodiscard]] bool read(const I2CSlaveConfig &slaveConfig, void *buffer,
- const size_t &nBytes);
+ [[nodiscard]] bool read(const I2CSlaveConfig& slaveConfig, void* buffer,
+ const size_t& nBytes);
/**
* @brief Write operation to write nBytes. In case of an error during the
@@ -170,8 +170,8 @@ public:
* @param generateStop Flag for the stop condition generation.
* @return True if the write is successful, false otherwise.
*/
- [[nodiscard]] bool write(const I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t &nBytes,
+ [[nodiscard]] bool write(const I2CSlaveConfig& slaveConfig,
+ const void* buffer, const size_t& nBytes,
bool generateStop = true);
/**
@@ -232,8 +232,8 @@ private:
typedef struct
{
Operation operation; ///< Operation to be performed (R/W)
- uint8_t *buffRead; ///< Buffer with the data to read
- const uint8_t *buffWrite; ///< Buffer with the data to write
+ uint8_t* buffRead; ///< Buffer with the data to read
+ const uint8_t* buffWrite; ///< Buffer with the data to write
size_t nBytes; ///< Number of bytes of the buffer
size_t nBytesDone; ///< Number of bytes already processed
bool generateStop; ///< Whether to generate stop condition
@@ -250,7 +250,7 @@ private:
* the speed and the addressing mode specified.
* @param slaveConfig The configuration struct of the slave device.
*/
- void setupPeripheral(const I2CSlaveConfig &slaveConfig);
+ void setupPeripheral(const I2CSlaveConfig& slaveConfig);
#ifdef _ARCH_CORTEXM7_STM32F7
/**
@@ -277,7 +277,7 @@ private:
* @param slaveConfig The configuration struct of the slave device.
* @return True if the operation succeeded, False otherwise.
*/
- [[nodiscard]] bool doOperation(const I2CSlaveConfig &slaveConfig);
+ [[nodiscard]] bool doOperation(const I2CSlaveConfig& slaveConfig);
/**
* @brief This waits until the thread isn't waken up by an I2C interrupt (EV
@@ -293,7 +293,7 @@ private:
* @return True if waken up by an event, false if an error occurred.
*/
inline bool IRQwaitForOperationCompletion(
- miosix::FastInterruptDisableLock &dLock);
+ miosix::FastInterruptDisableLock& dLock);
/**
* @brief This function has the logic to wake up and reschedule the thread
@@ -302,7 +302,7 @@ private:
*/
inline void IRQwakeUpWaitingThread();
- I2C_TypeDef *i2c;
+ I2C_TypeDef* i2c;
uint8_t id;
IRQn_Type irqnEv;
IRQn_Type irqnErr;
@@ -312,10 +312,10 @@ private:
uint16_t lastError = NO_ERROR; ///< Flag for the last error occurred
uint32_t error = 0; ///< Flag that tells if an error occurred
bool reStarting = false; ///< Flag true if not generated a STOP condition
- miosix::Thread *waiting{}; ///< Pointer to the waiting for event thread
+ miosix::Thread* waiting{}; ///< Pointer to the waiting for event thread
I2CTransaction transaction; ///< Struct storing the transaction info
PrintLogger logger = Logging::getLogger("i2c");
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/drivers/i2c/stm32f2_f4_i2c.cpp b/src/shared/drivers/i2c/stm32f2_f4_i2c.cpp
index 3be83ddf4..8ac71a3ee 100644
--- a/src/shared/drivers/i2c/stm32f2_f4_i2c.cpp
+++ b/src/shared/drivers/i2c/stm32f2_f4_i2c.cpp
@@ -30,7 +30,7 @@
using namespace miosix;
static volatile bool error; ///< Set to true by IRQ on error
-static Thread *waiting = 0; ///< Thread waiting for an operation to complete
+static Thread* waiting = 0; ///< Thread waiting for an operation to complete
/* In non-DMA mode the variables below are used to
* handle the reception of 2 or more bytes through
@@ -39,7 +39,7 @@ static Thread *waiting = 0; ///< Thread waiting for an operation to complete
*/
#ifndef I2C_WITH_DMA
-static uint8_t *rxBuf = 0;
+static uint8_t* rxBuf = 0;
static unsigned int rxBufCnt = 0;
static unsigned int rxBufSize = 0;
#endif
@@ -68,7 +68,9 @@ void __attribute__((used)) I2C1rxDmaHandlerImpl()
waiting->IRQwakeup();
if (waiting->IRQgetPriority() >
Thread::IRQgetCurrentThread()->IRQgetPriority())
+ {
Scheduler::IRQfindNextThread();
+ }
waiting = 0;
}
@@ -149,7 +151,9 @@ void __attribute__((used)) I2C1HandlerImpl()
waiting->IRQwakeup();
if (waiting->IRQgetPriority() >
Thread::IRQgetCurrentThread()->IRQgetPriority())
+ {
Scheduler::IRQfindNextThread();
+ }
waiting = 0;
}
@@ -175,7 +179,9 @@ void __attribute__((used)) I2C1errHandlerImpl()
waiting->IRQwakeup();
if (waiting->IRQgetPriority() >
Thread::IRQgetCurrentThread()->IRQgetPriority())
+ {
Scheduler::IRQfindNextThread();
+ }
waiting = 0;
}
@@ -186,7 +192,7 @@ namespace miosix
// class I2C
//
-I2C1Driver &I2C1Driver::instance()
+I2C1Driver& I2C1Driver::instance()
{
static I2C1Driver singleton;
return singleton;
@@ -245,7 +251,7 @@ void I2C1Driver::init()
I2C1->CR1 = I2C_CR1_PE; // Enable peripheral
}
-bool I2C1Driver::send(unsigned char address, const void *data, int len,
+bool I2C1Driver::send(unsigned char address, const void* data, int len,
bool sendStop)
{
/* if sendStop is true user is requesting to have the stop condition sent,
@@ -299,7 +305,7 @@ bool I2C1Driver::send(unsigned char address, const void *data, int len,
I2C1->CR2 |= I2C_CR2_ITERREN;
- const uint8_t *txData = reinterpret_cast<const uint8_t *>(data);
+ const uint8_t* txData = reinterpret_cast<const uint8_t*>(data);
for (int i = 0; i < len; i++)
{
I2C1->DR = txData[i];
@@ -350,7 +356,7 @@ bool I2C1Driver::send(unsigned char address, const void *data, int len,
return true;
}
-bool I2C1Driver::recv(unsigned char address, void *data, int len)
+bool I2C1Driver::recv(unsigned char address, void* data, int len)
{
address |= 0x01;
if (start(address, len == 1) == false || I2C1->SR2 & I2C_SR2_TRA)
@@ -402,7 +408,7 @@ bool I2C1Driver::recv(unsigned char address, void *data, int len)
* greater than one.
*/
- rxBuf = reinterpret_cast<uint8_t *>(data);
+ rxBuf = reinterpret_cast<uint8_t*>(data);
if (len > 1)
{
diff --git a/src/shared/drivers/interrupt/external_interrupts.cpp b/src/shared/drivers/interrupt/external_interrupts.cpp
index 985a7b006..018814dcd 100644
--- a/src/shared/drivers/interrupt/external_interrupts.cpp
+++ b/src/shared/drivers/interrupt/external_interrupts.cpp
@@ -379,11 +379,15 @@ void enableExternalInterrupt(unsigned int gpioPort, unsigned int gpioNum,
if (trigger == InterruptTrigger::RISING_EDGE ||
trigger == InterruptTrigger::RISING_FALLING_EDGE)
+ {
EXTI->RTSR |= 1 << gpioNum;
+ }
if (trigger == InterruptTrigger::FALLING_EDGE ||
trigger == InterruptTrigger::RISING_FALLING_EDGE)
+ {
EXTI->FTSR |= 1 << gpioNum;
+ }
NVIC_EnableIRQ(static_cast<IRQn_Type>(GetEXTI_IRQn(gpioNum)));
NVIC_SetPriority(static_cast<IRQn_Type>(GetEXTI_IRQn(gpioNum)), priority);
@@ -424,4 +428,4 @@ void changeInterruptTrigger(unsigned int gpioPort, unsigned int gpioNum,
EXTI->FTSR |= 1 << gpioNum;
break;
}
-}
\ No newline at end of file
+}
diff --git a/src/shared/drivers/interrupt/external_interrupts.h b/src/shared/drivers/interrupt/external_interrupts.h
index 33885f85f..82224e280 100644
--- a/src/shared/drivers/interrupt/external_interrupts.h
+++ b/src/shared/drivers/interrupt/external_interrupts.h
@@ -98,4 +98,4 @@ inline void changeInterruptTrigger(miosix::GpioPin gpio,
InterruptTrigger trigger)
{
changeInterruptTrigger(gpio.getPort(), gpio.getNumber(), trigger);
-}
\ No newline at end of file
+}
diff --git a/src/shared/drivers/runcam/Runcam.cpp b/src/shared/drivers/runcam/Runcam.cpp
index 95f51480e..d42f2757e 100644
--- a/src/shared/drivers/runcam/Runcam.cpp
+++ b/src/shared/drivers/runcam/Runcam.cpp
@@ -27,7 +27,7 @@
namespace Boardcore
{
-Runcam::Runcam(USARTInterface &usart) : usart(usart) {}
+Runcam::Runcam(USARTInterface& usart) : usart(usart) {}
bool Runcam::init()
{
diff --git a/src/shared/drivers/runcam/Runcam.h b/src/shared/drivers/runcam/Runcam.h
index 3095ae500..f93c4780d 100644
--- a/src/shared/drivers/runcam/Runcam.h
+++ b/src/shared/drivers/runcam/Runcam.h
@@ -116,7 +116,7 @@ namespace Boardcore
class Runcam
{
public:
- explicit Runcam(USARTInterface &serial);
+ explicit Runcam(USARTInterface& serial);
Runcam() = delete;
@@ -149,7 +149,7 @@ private:
*/
uint32_t OPEN_MENU = 0xCC01024D;
- USARTInterface &usart;
+ USARTInterface& usart;
PrintLogger logger = Logging::getLogger("runcam");
};
diff --git a/src/shared/drivers/spi/SPIBus.h b/src/shared/drivers/spi/SPIBus.h
index ef71a7d4c..8eb3081ed 100644
--- a/src/shared/drivers/spi/SPIBus.h
+++ b/src/shared/drivers/spi/SPIBus.h
@@ -451,17 +451,13 @@ inline void SPIBus::select(GpioType cs)
cs.low();
if (config.csSetupTimeUs > 0)
- {
miosix::delayUs(config.csSetupTimeUs);
- }
}
inline void SPIBus::deselect(GpioType cs)
{
if (config.csHoldTimeUs > 0)
- {
miosix::delayUs(config.csHoldTimeUs);
- }
cs.high();
}
diff --git a/src/shared/drivers/spi/SPITransaction.h b/src/shared/drivers/spi/SPITransaction.h
index 10606d840..5a2098f33 100644
--- a/src/shared/drivers/spi/SPITransaction.h
+++ b/src/shared/drivers/spi/SPITransaction.h
@@ -62,7 +62,7 @@ public:
*
* @param slave Slave to communicate with.
*/
- explicit SPITransaction(const SPISlave &slave);
+ explicit SPITransaction(const SPISlave& slave);
// /**
// * @brief Instantiates a new SPITransaction, configuring the bus with the
@@ -75,17 +75,17 @@ public:
// SPITransaction(SPIBusInterface &bus, GpioType cs, SPIBusConfig config);
///< Delete copy/move constructors/operators.
- SPITransaction(const SPITransaction &) = delete;
- SPITransaction &operator=(const SPITransaction &) = delete;
- SPITransaction(SPITransaction &&) = delete;
- SPITransaction &operator=(SPITransaction &&) = delete;
+ SPITransaction(const SPITransaction&) = delete;
+ SPITransaction& operator=(const SPITransaction&) = delete;
+ SPITransaction(SPITransaction&&) = delete;
+ SPITransaction& operator=(SPITransaction&&) = delete;
/**
* @brief Returns the underlying bus for low level access.
*
* @return SPIBusInterface associated with this transaction.
*/
- SPIBusInterface &getBus();
+ SPIBusInterface& getBus();
// Read, write and transfer operations
@@ -123,7 +123,7 @@ public:
* @param data Buffer to be filled with received data.
* @param size Size of the buffer in bytes.
*/
- void read(uint8_t *data, size_t size);
+ void read(uint8_t* data, size_t size);
/**
* @brief Reads multiple half words from the bus
@@ -131,7 +131,7 @@ public:
* @param data Buffer to be filled with received data.
* @param size Size of the buffer in bytes.
*/
- void read16(uint16_t *data, size_t size);
+ void read16(uint16_t* data, size_t size);
/**
* @brief Writes a single byte to the bus.
@@ -167,7 +167,7 @@ public:
* @param data Buffer containing data to write.
* @param size Size of the buffer in bytes.
*/
- void write(uint8_t *data, size_t size);
+ void write(uint8_t* data, size_t size);
/**
* @brief Writes multiple half words to the bus.
@@ -175,7 +175,7 @@ public:
* @param data Buffer containing data to write.
* @param size Size of the buffer in bytes.
*/
- void write16(uint16_t *data, size_t size);
+ void write16(uint16_t* data, size_t size);
/**
* @brief Full duplex transmission of one byte on the bus.
@@ -215,7 +215,7 @@ public:
* @param data Buffer containing data to transfer.
* @param size Size of the buffer in bytes.
*/
- void transfer(uint8_t *data, size_t size);
+ void transfer(uint8_t* data, size_t size);
/**
* @brief Full duplex transmission of multiple half words on the bus.
@@ -223,7 +223,7 @@ public:
* @param data Buffer containing data to transfer.
* @param size Size of the buffer in bytes.
*/
- void transfer16(uint16_t *data, size_t size);
+ void transfer16(uint16_t* data, size_t size);
// Read, write and transfer operations with registers
@@ -261,7 +261,7 @@ public:
* @param data Buffer to be filled with received data.
* @param size Size of the buffer in bytes.
*/
- void readRegisters(uint8_t reg, uint8_t *data, size_t size);
+ void readRegisters(uint8_t reg, uint8_t* data, size_t size);
/**
* @brief Writes an 8 bit register.
@@ -302,10 +302,10 @@ public:
* @param data Buffer containing data to write.
* @param size Size of the buffer in bytes.
*/
- void writeRegisters(uint8_t reg, uint8_t *data, size_t size);
+ void writeRegisters(uint8_t reg, uint8_t* data, size_t size);
private:
- const SPISlave &slave;
+ const SPISlave& slave;
};
} // namespace Boardcore
diff --git a/src/shared/drivers/timer/BasicTimer.h b/src/shared/drivers/timer/BasicTimer.h
index 57c8476a4..5bfd9e543 100644
--- a/src/shared/drivers/timer/BasicTimer.h
+++ b/src/shared/drivers/timer/BasicTimer.h
@@ -82,14 +82,14 @@ public:
* @brief Create a BasicTimer object. Note that this does not resets the
* timer configuration but automatically enables the timer peripheral clock.
*/
- explicit BasicTimer(TIM_TypeDef *timer);
+ explicit BasicTimer(TIM_TypeDef* timer);
/**
* @brief Disables the peripheral clock.
*/
~BasicTimer();
- TIM_TypeDef *getTimer();
+ TIM_TypeDef* getTimer();
uint8_t getTimerNumber();
@@ -198,20 +198,20 @@ public:
virtual void setMasterMode(TimerUtils::MasterMode masterMode);
- static void clearUpdateInterruptFlag(TIM_TypeDef *timer);
+ static void clearUpdateInterruptFlag(TIM_TypeDef* timer);
protected:
- TIM_TypeDef *timer;
+ TIM_TypeDef* timer;
};
-inline BasicTimer::BasicTimer(TIM_TypeDef *timer) : timer(timer)
+inline BasicTimer::BasicTimer(TIM_TypeDef* timer) : timer(timer)
{
ClockUtils::enablePeripheralClock(timer);
}
inline BasicTimer::~BasicTimer() { ClockUtils::disablePeripheralClock(timer); }
-inline TIM_TypeDef *BasicTimer::getTimer() { return timer; }
+inline TIM_TypeDef* BasicTimer::getTimer() { return timer; }
inline uint8_t BasicTimer::getTimerNumber()
{
@@ -360,7 +360,7 @@ inline void BasicTimer::setMasterMode(TimerUtils::MasterMode masterMode)
timer->CR2 |= static_cast<uint32_t>(masterMode);
}
-inline void BasicTimer::clearUpdateInterruptFlag(TIM_TypeDef *timer)
+inline void BasicTimer::clearUpdateInterruptFlag(TIM_TypeDef* timer)
{
timer->SR &= ~TIM_SR_UIF;
}
diff --git a/src/shared/drivers/timer/CountedPWM.cpp b/src/shared/drivers/timer/CountedPWM.cpp
index f5cc4f8c6..f007f0054 100644
--- a/src/shared/drivers/timer/CountedPWM.cpp
+++ b/src/shared/drivers/timer/CountedPWM.cpp
@@ -148,4 +148,4 @@ void CountedPWM::configureTimers()
}
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/drivers/timer/CountedPWM.h b/src/shared/drivers/timer/CountedPWM.h
index 30fe01640..80480ca1f 100644
--- a/src/shared/drivers/timer/CountedPWM.h
+++ b/src/shared/drivers/timer/CountedPWM.h
@@ -195,4 +195,4 @@ inline void CountedPWM::stop()
counterTimer.setCaptureCompareRegister(counterChannel, getCurrentCount());
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/drivers/timer/GeneralPurposeTimer.h b/src/shared/drivers/timer/GeneralPurposeTimer.h
index 3f30bb23e..2cba65fb5 100644
--- a/src/shared/drivers/timer/GeneralPurposeTimer.h
+++ b/src/shared/drivers/timer/GeneralPurposeTimer.h
@@ -107,7 +107,7 @@ public:
* resets the timer configuration but automatically enables the timer
* peripheral clock.
*/
- explicit GeneralPurposeTimer(TIM_TypeDef *timer);
+ explicit GeneralPurposeTimer(TIM_TypeDef* timer);
/**
* @brief Disables the peripheral clock.
@@ -221,7 +221,7 @@ using GP16bitTimer = GeneralPurposeTimer<uint16_t>;
using GP32bitTimer = GeneralPurposeTimer<uint32_t>;
template <typename T>
-inline GeneralPurposeTimer<T>::GeneralPurposeTimer(TIM_TypeDef *timer)
+inline GeneralPurposeTimer<T>::GeneralPurposeTimer(TIM_TypeDef* timer)
: BasicTimer(timer)
{
}
@@ -263,9 +263,7 @@ inline void GeneralPurposeTimer<T>::enable()
// On TIM1 and TIM8 the outputs are enabled only if the MOE bit in the BDTR
// register is set
if (timer == TIM1 || timer == TIM8)
- {
timer->BDTR |= TIM_BDTR_MOE;
- }
}
template <typename T>
@@ -276,9 +274,7 @@ inline void GeneralPurposeTimer<T>::disable()
// On TIM1 and TIM8 the outputs are enabled only if the MOE bit in the BDTR
// register is set
if (timer == TIM1 || timer == TIM8)
- {
timer->BDTR |= TIM_BDTR_MOE;
- }
}
template <typename T>
diff --git a/src/shared/drivers/timer/TimerUtils.h b/src/shared/drivers/timer/TimerUtils.h
index 106c7fbd4..ff80be7ca 100644
--- a/src/shared/drivers/timer/TimerUtils.h
+++ b/src/shared/drivers/timer/TimerUtils.h
@@ -256,7 +256,7 @@ enum class Channel : uint8_t
*
* @return Timer input clock, APB1 or ABP2.
*/
-ClockUtils::APB getTimerInputClock(const TIM_TypeDef *timer);
+ClockUtils::APB getTimerInputClock(const TIM_TypeDef* timer);
/**
* @brief Returns the timer clock frequency before the prescaler.
@@ -266,7 +266,7 @@ ClockUtils::APB getTimerInputClock(const TIM_TypeDef *timer);
* @param timer Timer to use.
* @return Prescaler input frequency.
*/
-uint32_t getPrescalerInputFrequency(const TIM_TypeDef *timer);
+uint32_t getPrescalerInputFrequency(const TIM_TypeDef* timer);
/**
* @brief Return the timer clock frequency.
@@ -274,7 +274,7 @@ uint32_t getPrescalerInputFrequency(const TIM_TypeDef *timer);
* @param timer Timer to use.
* @return Timer frequency.
*/
-uint32_t getFrequency(TIM_TypeDef *timer);
+uint32_t getFrequency(TIM_TypeDef* timer);
/**
* @brief Returns the specified value converted in microseconds based on the
@@ -282,7 +282,7 @@ uint32_t getFrequency(TIM_TypeDef *timer);
*
* @returns Timer counter in microseconds.
*/
-float toMicroSeconds(TIM_TypeDef *timer, uint32_t value);
+float toMicroSeconds(TIM_TypeDef* timer, uint32_t value);
/**
* @brief Returns the timer counter converted in microseconds based on the
@@ -290,7 +290,7 @@ float toMicroSeconds(TIM_TypeDef *timer, uint32_t value);
*
* @returns Timer counter in microseconds.
*/
-float toMicroSeconds(TIM_TypeDef *timer);
+float toMicroSeconds(TIM_TypeDef* timer);
/**
* @brief Returns the specified value converted in microseconds based on the
@@ -300,7 +300,7 @@ float toMicroSeconds(TIM_TypeDef *timer);
*
* @returns Timer counter in microseconds.
*/
-uint64_t toIntMicroSeconds(TIM_TypeDef *timer, uint32_t value);
+uint64_t toIntMicroSeconds(TIM_TypeDef* timer, uint32_t value);
/**
* @brief Returns the timer counter converted in microseconds based on the
@@ -310,7 +310,7 @@ uint64_t toIntMicroSeconds(TIM_TypeDef *timer, uint32_t value);
*
* @returns Timer counter in microseconds.
*/
-uint64_t toIntMicroSeconds(TIM_TypeDef *timer);
+uint64_t toIntMicroSeconds(TIM_TypeDef* timer);
/**
* @brief Returns the specified value converted in milliseconds based on the
@@ -318,7 +318,7 @@ uint64_t toIntMicroSeconds(TIM_TypeDef *timer);
*
* @returns Timer counter in milliseconds.
*/
-float toMilliSeconds(TIM_TypeDef *timer, uint32_t value);
+float toMilliSeconds(TIM_TypeDef* timer, uint32_t value);
/**
* @brief Returns the timer counter converted in milliseconds based on the
@@ -326,7 +326,7 @@ float toMilliSeconds(TIM_TypeDef *timer, uint32_t value);
*
* @returns Timer counter in milliseconds.
*/
-float toMilliSeconds(TIM_TypeDef *timer);
+float toMilliSeconds(TIM_TypeDef* timer);
/**
* @brief Returns the timer counter converted in seconds based on the timer
@@ -334,21 +334,21 @@ float toMilliSeconds(TIM_TypeDef *timer);
*
* @returns Timer counter in seconds.
*/
-float toSeconds(TIM_TypeDef *timer);
+float toSeconds(TIM_TypeDef* timer);
/**
* @brief Computes the timer resolution in microseconds.
*
* @return Microseconds per timer tick.
*/
-float getResolution(TIM_TypeDef *timer);
+float getResolution(TIM_TypeDef* timer);
/**
* @brief Computes the number of seconds for timer reset.
*
* @return Timer duration before counter reset in seconds.
*/
-float getMaxDuration(TIM_TypeDef *timer);
+float getMaxDuration(TIM_TypeDef* timer);
/**
* @brief Compute the prescaler value for the specified target frequency.
@@ -358,7 +358,7 @@ float getMaxDuration(TIM_TypeDef *timer);
*
* @return Prescaler value for the target frequency.
*/
-uint16_t computePrescalerValue(TIM_TypeDef *timer, int targetFrequency);
+uint16_t computePrescalerValue(TIM_TypeDef* timer, int targetFrequency);
/**
* @brief Returns the corresponding master for for the given channel.
@@ -367,7 +367,7 @@ MasterMode masterModeFromChannel(const Channel channel);
} // namespace TimerUtils
-inline ClockUtils::APB TimerUtils::getTimerInputClock(const TIM_TypeDef *timer)
+inline ClockUtils::APB TimerUtils::getTimerInputClock(const TIM_TypeDef* timer)
{
// Timers can be connected to APB1 or APB2 clocks.
// APB1: TIM2-7,12-15
@@ -384,68 +384,68 @@ inline ClockUtils::APB TimerUtils::getTimerInputClock(const TIM_TypeDef *timer)
}
}
-inline uint32_t TimerUtils::getPrescalerInputFrequency(const TIM_TypeDef *timer)
+inline uint32_t TimerUtils::getPrescalerInputFrequency(const TIM_TypeDef* timer)
{
return ClockUtils::getAPBTimersClock(getTimerInputClock(timer));
}
-inline uint32_t TimerUtils::getFrequency(TIM_TypeDef *timer)
+inline uint32_t TimerUtils::getFrequency(TIM_TypeDef* timer)
{
return getPrescalerInputFrequency(timer) / (1 + timer->PSC);
}
-inline float TimerUtils::toMicroSeconds(TIM_TypeDef *timer, uint32_t value)
+inline float TimerUtils::toMicroSeconds(TIM_TypeDef* timer, uint32_t value)
{
return (1.0f * value * 1e6 * (1 + timer->PSC)) /
getPrescalerInputFrequency(timer);
}
-inline float TimerUtils::toMicroSeconds(TIM_TypeDef *timer)
+inline float TimerUtils::toMicroSeconds(TIM_TypeDef* timer)
{
return toMicroSeconds(timer, timer->CNT);
}
-inline uint64_t TimerUtils::toIntMicroSeconds(TIM_TypeDef *timer,
+inline uint64_t TimerUtils::toIntMicroSeconds(TIM_TypeDef* timer,
uint32_t value)
{
return ((uint64_t)value * 1e6 * (uint64_t)(1 + timer->PSC)) /
getPrescalerInputFrequency(timer);
}
-inline uint64_t TimerUtils::toIntMicroSeconds(TIM_TypeDef *timer)
+inline uint64_t TimerUtils::toIntMicroSeconds(TIM_TypeDef* timer)
{
return toIntMicroSeconds(timer, timer->CNT);
}
-inline float TimerUtils::toMilliSeconds(TIM_TypeDef *timer, uint32_t value)
+inline float TimerUtils::toMilliSeconds(TIM_TypeDef* timer, uint32_t value)
{
return (1.0f * value * 1e3 * (1 + timer->PSC)) /
getPrescalerInputFrequency(timer);
}
-inline float TimerUtils::toMilliSeconds(TIM_TypeDef *timer)
+inline float TimerUtils::toMilliSeconds(TIM_TypeDef* timer)
{
return toMilliSeconds(timer, timer->CNT);
}
-inline float TimerUtils::toSeconds(TIM_TypeDef *timer)
+inline float TimerUtils::toSeconds(TIM_TypeDef* timer)
{
return (1.0f * timer->CNT * (1 + timer->PSC)) /
getPrescalerInputFrequency(timer);
}
-inline float TimerUtils::getResolution(TIM_TypeDef *timer)
+inline float TimerUtils::getResolution(TIM_TypeDef* timer)
{
return (1.0e6f * (1 + timer->PSC)) / getPrescalerInputFrequency(timer);
}
-inline float TimerUtils::getMaxDuration(TIM_TypeDef *timer)
+inline float TimerUtils::getMaxDuration(TIM_TypeDef* timer)
{
return (1.0f * timer->ARR * 1e6 * (1 + timer->PSC)) /
getPrescalerInputFrequency(timer);
}
-inline uint16_t TimerUtils::computePrescalerValue(TIM_TypeDef *timer,
+inline uint16_t TimerUtils::computePrescalerValue(TIM_TypeDef* timer,
int targetFrequency)
{
int32_t targetPrescaler =
diff --git a/src/shared/drivers/usart/USART.cpp b/src/shared/drivers/usart/USART.cpp
index ea076f486..ad6203c70 100644
--- a/src/shared/drivers/usart/USART.cpp
+++ b/src/shared/drivers/usart/USART.cpp
@@ -35,7 +35,7 @@
#include "miosix.h"
///< Pointer to serial port classes to let interrupts access the classes
-Boardcore::USART *ports[N_USART_PORTS];
+Boardcore::USART* ports[N_USART_PORTS];
#ifdef USART1
/**
@@ -48,15 +48,11 @@ void usart1irqImpl();
*/
void __attribute__((used)) usart1irqImplBoardcore()
{
- Boardcore::USART *port_boardcore = ports[0];
+ Boardcore::USART* port_boardcore = ports[0];
if (port_boardcore)
- {
port_boardcore->IRQhandleInterrupt();
- }
else
- {
usart1irqImpl();
- }
}
/**
@@ -81,15 +77,11 @@ void usart2irqImpl();
*/
void __attribute__((used)) usart2irqImplBoardcore()
{
- Boardcore::USART *port_boardcore = ports[1];
+ Boardcore::USART* port_boardcore = ports[1];
if (port_boardcore)
- {
port_boardcore->IRQhandleInterrupt();
- }
else
- {
usart2irqImpl();
- }
}
/**
@@ -114,15 +106,11 @@ void usart3irqImpl();
*/
void __attribute__((used)) usart3irqImplBoardcore()
{
- Boardcore::USART *port_boardcore = ports[2];
+ Boardcore::USART* port_boardcore = ports[2];
if (port_boardcore)
- {
port_boardcore->IRQhandleInterrupt();
- }
else
- {
usart3irqImpl();
- }
}
/**
@@ -142,11 +130,9 @@ void __attribute__((naked, used)) USART3_IRQHandler()
*/
void __attribute__((used)) uart4irqImplBoardcore()
{
- Boardcore::USART *port_boardcore = ports[3];
+ Boardcore::USART* port_boardcore = ports[3];
if (port_boardcore)
- {
port_boardcore->IRQhandleInterrupt();
- }
}
/**
@@ -166,11 +152,9 @@ void __attribute__((naked, used)) UART4_IRQHandler()
*/
void __attribute__((used)) uart5irqImplBoardcore()
{
- Boardcore::USART *port_boardcore = ports[4];
+ Boardcore::USART* port_boardcore = ports[4];
if (port_boardcore)
- {
port_boardcore->IRQhandleInterrupt();
- }
}
/**
@@ -190,11 +174,9 @@ void __attribute__((naked, used)) UART5_IRQHandler()
*/
void __attribute__((used)) usart6irqImplBoardcore()
{
- Boardcore::USART *port_boardcore = ports[5];
+ Boardcore::USART* port_boardcore = ports[5];
if (port_boardcore)
- {
port_boardcore->IRQhandleInterrupt();
- }
}
/**
@@ -214,11 +196,9 @@ void __attribute__((naked, used)) USART6_IRQHandler()
*/
void __attribute__((used)) uart7irqImplBoardcore()
{
- Boardcore::USART *port_boardcore = ports[6];
+ Boardcore::USART* port_boardcore = ports[6];
if (port_boardcore)
- {
port_boardcore->IRQhandleInterrupt();
- }
}
/**
@@ -238,11 +218,9 @@ void __attribute__((naked, used)) UART7_IRQHandler()
*/
void __attribute__((used)) uart8irqImplBoardcore()
{
- Boardcore::USART *port_boardcore = ports[7];
+ Boardcore::USART* port_boardcore = ports[7];
if (port_boardcore)
- {
port_boardcore->IRQhandleInterrupt();
- }
}
/**
@@ -259,7 +237,7 @@ void __attribute__((naked, used)) UART8_IRQHandler()
namespace Boardcore
{
-USARTInterface::USARTInterface(USARTType *usart, int baudrate)
+USARTInterface::USARTInterface(USARTType* usart, int baudrate)
: usart(usart), baudrate(baudrate)
{
// Setting the id of the serial port
@@ -358,9 +336,7 @@ void USART::IRQhandleInterrupt()
// If we received some data without framing error but the tryPut failed,
// report a FIFO overflow
if (framingError || (received && !rxQueue.tryPut(c)))
- {
error = true;
- }
// Wake up thread if communication finished (idle state), buffer reached
// half of his capacity or error occurred
@@ -380,7 +356,7 @@ void USART::IRQhandleInterrupt()
}
}
-USART::USART(USARTType *usart, int baudrate, unsigned int queueLen)
+USART::USART(USARTType* usart, int baudrate, unsigned int queueLen)
: USARTInterface(usart, baudrate), rxQueue(queueLen)
{
// Enabling the peripheral on the right APB
@@ -456,9 +432,7 @@ void USART::setStopBits(int stopBits)
this->stopBits = stopBits;
usart->CR2 &= ~USART_CR2_STOP;
if (stopBits == 2)
- {
usart->CR2 |= USART_CR2_STOP_1;
- }
}
void USART::setOversampling(bool oversampling)
@@ -500,12 +474,12 @@ void USART::setBaudrate(int baudrate)
this->baudrate = baudrate;
}
-bool USART::readImpl(void *buffer, size_t nBytes, size_t &nBytesRead,
+bool USART::readImpl(void* buffer, size_t nBytes, size_t& nBytesRead,
const bool blocking, std::chrono::nanoseconds timeout)
{
miosix::Lock<miosix::FastMutex> l(rxMutex);
- char *buf = reinterpret_cast<char *>(buffer);
+ char* buf = reinterpret_cast<char*>(buffer);
size_t result = 0;
error = false;
// Whether we timed out while waiting
@@ -529,7 +503,9 @@ bool USART::readImpl(void *buffer, size_t nBytes, size_t &nBytesRead,
// anyway
if ((result == nBytes) || (idle && (!blocking || (result > 0))) ||
timedOut)
+ {
break;
+ }
// Wait for data in the queue
do
@@ -562,13 +538,13 @@ bool USART::readImpl(void *buffer, size_t nBytes, size_t &nBytesRead,
return (result > 0) && !timedOut;
}
-void USART::write(const void *buffer, size_t nBytes)
+void USART::write(const void* buffer, size_t nBytes)
{
miosix::Lock<miosix::FastMutex> l(txMutex);
// TODO: Use the send complete interrupt in order not to have a busy while
// loop waiting
- const char *buf = reinterpret_cast<const char *>(buffer);
+ const char* buf = reinterpret_cast<const char*>(buffer);
size_t i;
for (i = 0; i < nBytes; i++)
{
@@ -584,7 +560,7 @@ void USART::write(const void *buffer, size_t nBytes)
}
}
-void USART::writeString(const char *buffer)
+void USART::writeString(const char* buffer)
{
int i = 0;
miosix::Lock<miosix::FastMutex> l(txMutex);
@@ -625,7 +601,7 @@ void USART::clearQueue()
rxQueue.reset();
}
-STM32SerialWrapper::STM32SerialWrapper(USARTType *usart, int baudrate)
+STM32SerialWrapper::STM32SerialWrapper(USARTType* usart, int baudrate)
: USARTInterface(usart, baudrate)
{
if (this->id < 1 || this->id > 4)
@@ -648,7 +624,7 @@ STM32SerialWrapper::STM32SerialWrapper(USARTType *usart, int baudrate)
}
}
-STM32SerialWrapper::STM32SerialWrapper(USARTType *usart, int baudrate,
+STM32SerialWrapper::STM32SerialWrapper(USARTType* usart, int baudrate,
miosix::GpioPin tx, miosix::GpioPin rx)
: USARTInterface(usart, baudrate)
{
@@ -705,8 +681,8 @@ bool STM32SerialWrapper::serialCommSetup()
return true;
}
-bool STM32SerialWrapper::readImpl(void *buffer, size_t nBytes,
- size_t &nBytesRead, const bool blocking,
+bool STM32SerialWrapper::readImpl(void* buffer, size_t nBytes,
+ size_t& nBytesRead, const bool blocking,
std::chrono::nanoseconds timeout)
{
// non-blocking read not supported in STM32SerialWrapper
@@ -734,12 +710,12 @@ bool STM32SerialWrapper::readImpl(void *buffer, size_t nBytes,
return (n > 0);
}
-void STM32SerialWrapper::write(const void *buffer, size_t nBytes)
+void STM32SerialWrapper::write(const void* buffer, size_t nBytes)
{
::write(fd, buffer, nBytes);
}
-void STM32SerialWrapper::writeString(const char *buffer)
+void STM32SerialWrapper::writeString(const char* buffer)
{
// strlen + 1 in order to send the '/0' terminated string
::write(fd, buffer, strlen(buffer) + 1);
diff --git a/src/shared/drivers/usart/USART.h b/src/shared/drivers/usart/USART.h
index d2d08f486..707e23d6b 100644
--- a/src/shared/drivers/usart/USART.h
+++ b/src/shared/drivers/usart/USART.h
@@ -75,7 +75,7 @@ public:
* @param baudrate Baudrate in bit per second. Default values are [2400,
* 9600, 19200, 38400, 57600, 115200, 230400, 256000, 460800, 921600]
*/
- explicit USARTInterface(USARTType *usart, int baudrate);
+ explicit USARTInterface(USARTType* usart, int baudrate);
virtual ~USARTInterface() = 0;
@@ -89,7 +89,7 @@ public:
* @return Whether bytes were read and no timeout occurred.
*/
[[nodiscard]] virtual bool readBlocking(
- void *buffer, size_t nBytes,
+ void* buffer, size_t nBytes,
std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero())
{
size_t temp;
@@ -107,7 +107,7 @@ public:
* @return Whether bytes were read and no timeout occurred.
*/
[[nodiscard]] virtual bool readBlocking(
- void *buffer, size_t nBytes, size_t &nBytesRead,
+ void* buffer, size_t nBytes, size_t& nBytesRead,
std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero())
{
return readImpl(buffer, nBytes, nBytesRead, true, timeout);
@@ -118,13 +118,13 @@ public:
* @param buffer Buffer that contains the data to be sent.
* @param nBytes Bytes to be sent.
*/
- virtual void write(const void *buf, size_t nBytes) = 0;
+ virtual void write(const void* buf, size_t nBytes) = 0;
/**
* @brief Write a string to the serial, comprising the '\0' character.
* @param buffer Buffer that contains the string to be sent.
*/
- virtual void writeString(const char *buffer) = 0;
+ virtual void writeString(const char* buffer) = 0;
/**
* @brief Returns the id of the serial.
@@ -144,11 +144,11 @@ protected:
* mode, 0 to disable the timeout and wait forever.
* @return Whether bytes were read and no timeout occurred.
*/
- virtual bool readImpl(void *buffer, size_t nBytes, size_t &nBytesRead,
+ virtual bool readImpl(void* buffer, size_t nBytes, size_t& nBytesRead,
const bool blocking,
std::chrono::nanoseconds timeout) = 0;
- USARTType *usart;
+ USARTType* usart;
int id = -1; ///< Can be from 1 to 8, -1 is invalid.
IRQn_Type irqn; ///< IRQ number
std::string serialPortName; ///< Port name of the port that has to be
@@ -201,14 +201,14 @@ public:
* @param baudrate Baudrate in bit per second. Default values are [2400,
* 9600, 19200, 38400, 57600, 115200, 230400, 256000, 460800, 921600]
*/
- USART(USARTType *usart, int baudrate,
+ USART(USARTType* usart, int baudrate,
unsigned int queueLen = usart_queue_default_capacity);
///< Delete copy/move constructors/operators.
- USART(const USART &) = delete;
- USART &operator=(const USART &) = delete;
- USART(USART &&) = delete;
- USART &operator=(USART &&) = delete;
+ USART(const USART&) = delete;
+ USART& operator=(const USART&) = delete;
+ USART(USART&&) = delete;
+ USART& operator=(USART&&) = delete;
/**
* @brief Disables the flags for the generation of the interrupts, the IRQ
@@ -226,7 +226,7 @@ public:
* @param nBytes Maximum size of the buffer.
* @return If operation succeeded.
*/
- [[nodiscard]] bool read(void *buffer, size_t nBytes)
+ [[nodiscard]] bool read(void* buffer, size_t nBytes)
{
size_t temp;
auto timeout = std::chrono::nanoseconds::zero();
@@ -243,7 +243,7 @@ public:
* @param nBytesRead Number of bytes read.
* @return If operation succeeded.
*/
- [[nodiscard]] bool read(void *buffer, size_t nBytes, size_t &nBytesRead)
+ [[nodiscard]] bool read(void* buffer, size_t nBytes, size_t& nBytesRead)
{
auto timeout = std::chrono::nanoseconds::zero();
return readImpl(buffer, nBytes, nBytesRead, false, timeout);
@@ -254,13 +254,13 @@ public:
* @param buffer Buffer that contains the data to be sent.
* @param nBytes Bytes to be sent.
*/
- void write(const void *buf, size_t nBytes);
+ void write(const void* buf, size_t nBytes);
/**
* @brief Write a string to the serial, comprising the '\0' character.
* @param buffer Buffer that contains the string to be sent.
*/
- void writeString(const char *buffer);
+ void writeString(const char* buffer);
/**
* @brief Set the length of the word to 8 or to 9.
@@ -318,14 +318,14 @@ private:
* mode, 0 to disable the timeout and wait forever.
* @return Whether bytes were read and no timeout occurred.
*/
- [[nodiscard]] bool readImpl(void *buffer, size_t nBytes, size_t &nBytesRead,
+ [[nodiscard]] bool readImpl(void* buffer, size_t nBytes, size_t& nBytesRead,
const bool blocking,
std::chrono::nanoseconds timeout) override;
miosix::FastMutex rxMutex; ///< mutex for receiving on serial
miosix::FastMutex txMutex; ///< mutex for transmitting on serial
- miosix::Thread *rxWaiter =
+ miosix::Thread* rxWaiter =
nullptr; ///< The thread that is waiting to receive data
miosix::DynUnsyncQueue<char> rxQueue; ///< Receiving queue
@@ -357,7 +357,7 @@ public:
* @param baudrate baudrate in bit per second. Default values are [2400,
* 9600, 19200, 38400, 57600, 115200, 230400, 256000, 460800, 921600]
*/
- STM32SerialWrapper(USARTType *usart, int baudrate);
+ STM32SerialWrapper(USARTType* usart, int baudrate);
/**
* @brief Initializes the serialPortName and initializes the serial port
@@ -369,14 +369,14 @@ public:
* @param tx Tranmission pin
* @param rx Reception pin
*/
- STM32SerialWrapper(USARTType *usart, int baudrate, miosix::GpioPin tx,
+ STM32SerialWrapper(USARTType* usart, int baudrate, miosix::GpioPin tx,
miosix::GpioPin rx);
///< Delete copy/move constructors/operators.
- STM32SerialWrapper(const STM32SerialWrapper &) = delete;
- STM32SerialWrapper &operator=(const STM32SerialWrapper &) = delete;
- STM32SerialWrapper(STM32SerialWrapper &&) = delete;
- STM32SerialWrapper &operator=(STM32SerialWrapper &&) = delete;
+ STM32SerialWrapper(const STM32SerialWrapper&) = delete;
+ STM32SerialWrapper& operator=(const STM32SerialWrapper&) = delete;
+ STM32SerialWrapper(STM32SerialWrapper&&) = delete;
+ STM32SerialWrapper& operator=(STM32SerialWrapper&&) = delete;
/**
* @brief Removes the device from the list of the devices and closes the
@@ -389,13 +389,13 @@ public:
* @param buffer Buffer that contains the data to be sent.
* @param nBytes Bytes to be sent.
*/
- void write(const void *buf, size_t nBytes);
+ void write(const void* buf, size_t nBytes);
/**
* @brief Write a string to the serial, comprising the '\0' character.
* @param buffer Buffer that contains the string to be sent.
*/
- void writeString(const char *buffer);
+ void writeString(const char* buffer);
private:
/**
@@ -410,7 +410,7 @@ private:
* mode.
* @return Whether bytes were read and no timeout occurred.
*/
- [[nodiscard]] bool readImpl(void *buffer, size_t nBytes, size_t &nBytesRead,
+ [[nodiscard]] bool readImpl(void* buffer, size_t nBytes, size_t& nBytesRead,
const bool blocking,
std::chrono::nanoseconds timeout) override;
@@ -420,7 +420,7 @@ private:
*/
bool serialCommSetup();
- miosix::STM32Serial *serial; ///< Pointer to the serial object
+ miosix::STM32Serial* serial; ///< Pointer to the serial object
///< File descriptor of the serial port file opened for transmission
int fd;
diff --git a/src/shared/events/EventBroker.cpp b/src/shared/events/EventBroker.cpp
index c4f1db75c..9b0557f2f 100644
--- a/src/shared/events/EventBroker.cpp
+++ b/src/shared/events/EventBroker.cpp
@@ -86,9 +86,7 @@ uint16_t EventBroker::postDelayed(const Event& ev, uint8_t topic,
}
if (!added) // In case this is the last/only event in the list
- {
delayedEvents.push_back(dev);
- }
return dev.schedId;
}
@@ -123,9 +121,7 @@ void EventBroker::unsubscribe(EventHandlerBase* subscriber)
{
Lock<FastMutex> lock(mtxSubscribers);
for (auto it = subscribers.begin(); it != subscribers.end(); it++)
- {
deleteSubscriber(it->second, subscriber);
- }
}
void EventBroker::clearDelayedEvents()
@@ -162,9 +158,7 @@ void EventBroker::run()
{
// If a deadline expires earlier, sleep until the deadline instead
if (delayedEvents.front().deadline < sleepUntil)
- {
sleepUntil = delayedEvents.front().deadline;
- }
}
{
@@ -183,16 +177,10 @@ void EventBroker::deleteSubscriber(vector<EventHandlerBase*>& subs,
auto it = subs.begin();
while (it != subs.end())
- {
if (*it == subscriber)
- {
it = subs.erase(it);
- }
else
- {
++it;
- }
- }
}
} // namespace Boardcore
diff --git a/src/shared/events/EventHandler.h b/src/shared/events/EventHandler.h
index eeb30eefc..30b0fba72 100644
--- a/src/shared/events/EventHandler.h
+++ b/src/shared/events/EventHandler.h
@@ -36,7 +36,7 @@ class EventHandlerBase
public:
EventHandlerBase() {}
- virtual ~EventHandlerBase(){};
+ virtual ~EventHandlerBase() {};
virtual void postEvent(const Event& ev) = 0;
};
@@ -67,7 +67,7 @@ inline EventHandler::EventHandler(unsigned int stacksize,
{
}
-inline EventHandler::~EventHandler(){};
+inline EventHandler::~EventHandler() {};
inline void EventHandler::postEvent(const Event& ev) { eventList.put(ev); }
diff --git a/src/shared/events/HSM.h b/src/shared/events/HSM.h
index 59d1b95e8..f071bb01d 100644
--- a/src/shared/events/HSM.h
+++ b/src/shared/events/HSM.h
@@ -66,7 +66,7 @@ public:
temp = initialState;
}
- virtual ~HSM(){};
+ virtual ~HSM() {};
bool start() override
{
@@ -350,8 +350,10 @@ protected:
// Exit target unhandled?
if ((static_cast<T*>(this)->*target)(
{EV_EXIT}) == HANDLED)
+ {
(static_cast<T*>(this)->*target)(
{EV_EMPTY});
+ }
// Set to super of target
target = this->temp;
diff --git a/src/shared/events/utils/EventCounter.h b/src/shared/events/utils/EventCounter.h
index 9f0914d26..05d98735e 100644
--- a/src/shared/events/utils/EventCounter.h
+++ b/src/shared/events/utils/EventCounter.h
@@ -74,9 +74,7 @@ public:
Lock<FastMutex> l(mutex);
if (mapCounter.count(ev) == 1)
- {
return mapCounter.at(ev);
- }
return 0;
}
@@ -93,7 +91,7 @@ public:
protected:
// Do nothing
- void handleEvent(const Event& ev __attribute__((unused))) override{};
+ void handleEvent(const Event& ev __attribute__((unused))) override {};
private:
EventBroker& broker;
diff --git a/src/shared/events/utils/EventSniffer.h b/src/shared/events/utils/EventSniffer.h
index 677857742..176fc40c1 100644
--- a/src/shared/events/utils/EventSniffer.h
+++ b/src/shared/events/utils/EventSniffer.h
@@ -57,9 +57,7 @@ public:
: broker(broker), onEventReceived(onEventReceived)
{
for (uint8_t t : topics)
- {
sniffers.push_back(new Sniffer(*this, t));
- }
}
/**
@@ -71,17 +69,13 @@ public:
: broker(broker), onEventReceived(onEventReceived)
{
for (int t = 0; t <= 255; t++)
- {
sniffers.push_back(new Sniffer(*this, (uint8_t)t));
- }
}
~EventSniffer()
{
for (Sniffer* s : sniffers)
- {
delete s;
- }
}
private:
diff --git a/src/shared/hil/HIL.h b/src/shared/hil/HIL.h
index bb11d0174..a5e9f9050 100644
--- a/src/shared/hil/HIL.h
+++ b/src/shared/hil/HIL.h
@@ -53,10 +53,10 @@ public:
* situation.
* @param simulationPeriod Period of the simulation [ms].
*/
- HIL(HILTransceiver<FlightPhases, SimulatorData, ActuatorData>
- *hilTransceiver,
- HILPhasesManager<FlightPhases, SimulatorData, ActuatorData>
- *hilPhasesManager,
+ HIL(HILTransceiver<FlightPhases, SimulatorData, ActuatorData>*
+ hilTransceiver,
+ HILPhasesManager<FlightPhases, SimulatorData, ActuatorData>*
+ hilPhasesManager,
std::function<ActuatorData()> updateActuatorData, int simulationPeriod)
: Boardcore::ActiveObject(Boardcore::STACK_MIN_FOR_SKYWARD,
miosix::PRIORITY_MAX - 1),
@@ -106,13 +106,11 @@ public:
{
LOG_INFO(logger, "Waiting for simulation to start...");
while (!hilPhasesManager->isSimulationRunning())
- {
miosix::Thread::sleep(1);
- }
}
- void registerToFlightPhase(const FlightPhases &flag,
- const PhasesCallback &func)
+ void registerToFlightPhase(const FlightPhases& flag,
+ const PhasesCallback& func)
{
hilPhasesManager->registerToFlightPhase(flag, func);
}
@@ -124,15 +122,15 @@ public:
return hilTransceiver->getTimestampSimulatorData();
}
- const SimulatorData *getSensorData() const
+ const SimulatorData* getSensorData() const
{
return hilTransceiver->getSensorData();
}
protected:
- HILTransceiver<FlightPhases, SimulatorData, ActuatorData> *hilTransceiver;
- HILPhasesManager<FlightPhases, SimulatorData, ActuatorData>
- *hilPhasesManager;
+ HILTransceiver<FlightPhases, SimulatorData, ActuatorData>* hilTransceiver;
+ HILPhasesManager<FlightPhases, SimulatorData, ActuatorData>*
+ hilPhasesManager;
private:
void run() override
@@ -151,4 +149,4 @@ private:
std::function<ActuatorData()> updateActuatorData;
int simulationPeriod; // Simulation period in milliseconds
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/hil/HILPhasesManager.h b/src/shared/hil/HILPhasesManager.h
index db00cb7d3..1cf6ffb68 100644
--- a/src/shared/hil/HILPhasesManager.h
+++ b/src/shared/hil/HILPhasesManager.h
@@ -135,12 +135,8 @@ public:
/* calling the callbacks subscribed to the changed flags */
for (unsigned int i = 0; i < changed_flags.size(); i++)
- {
for (const auto& callback : callbacks[changed_flags[i]])
- {
callback();
- }
- }
prev_flagsFlightPhases = flagsFlightPhases;
}
@@ -162,12 +158,8 @@ protected:
/* calling the callbacks subscribed to the changed flags */
for (unsigned int i = 0; i < changed_flags.size(); i++)
- {
for (const auto& callback : callbacks[changed_flags[i]])
- {
callback();
- }
- }
prev_flagsFlightPhases = flagsFlightPhases;
}
@@ -193,4 +185,4 @@ protected:
std::map<FlightPhases, std::vector<PhasesCallback>> callbacks;
std::map<FlightPhases, Outcomes> outcomes;
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/hil/HILTransceiver.h b/src/shared/hil/HILTransceiver.h
index dbd402ef9..48a3fe7e0 100644
--- a/src/shared/hil/HILTransceiver.h
+++ b/src/shared/hil/HILTransceiver.h
@@ -42,7 +42,7 @@ public:
/**
* @brief Construct a serial connection attached to a control algorithm
*/
- explicit HILTransceiverBase(USART &hilSerial) : hilSerial(hilSerial) {}
+ explicit HILTransceiverBase(USART& hilSerial) : hilSerial(hilSerial) {}
/**
* @brief Returns the number of lost updates.
@@ -65,13 +65,11 @@ protected:
{
miosix::Lock<miosix::FastMutex> l(mutex);
while (!updated)
- {
condVar.wait(l);
- }
updated = false;
}
- USART &hilSerial;
+ USART& hilSerial;
bool receivedFirstPacket = false;
bool updated = false;
int nLostUpdates = 0;
@@ -95,9 +93,9 @@ public:
*
* @param hilSerial Serial port for the HIL communication.
*/
- explicit HILTransceiver(USART &hilSerial,
+ explicit HILTransceiver(USART& hilSerial,
HILPhasesManager<FlightPhases, SimulatorData,
- ActuatorData> *hilPhasesManager)
+ ActuatorData>* hilPhasesManager)
: HILTransceiverBase(hilSerial), actuatorData(),
hilPhasesManager(hilPhasesManager)
{
@@ -116,9 +114,7 @@ public:
// If already updated increment lost updates
if (updated)
- {
nLostUpdates++;
- }
this->actuatorData = actuatorData;
updated = true;
@@ -130,15 +126,15 @@ public:
*
* @return reference to the data simulated by matlab
*/
- const SimulatorData *getSensorData() const { return &simulatorData; }
+ const SimulatorData* getSensorData() const { return &simulatorData; }
private:
void run() override;
SimulatorData simulatorData;
ActuatorData actuatorData;
- HILPhasesManager<FlightPhases, SimulatorData, ActuatorData>
- *hilPhasesManager;
+ HILPhasesManager<FlightPhases, SimulatorData, ActuatorData>*
+ hilPhasesManager;
};
/**
@@ -211,4 +207,4 @@ void HILTransceiver<FlightPhases, SimulatorData, ActuatorData>::run()
miosix::led2Off();
}
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/logger/Logger.cpp b/src/shared/logger/Logger.cpp
index 714719d89..a2345363c 100644
--- a/src/shared/logger/Logger.cpp
+++ b/src/shared/logger/Logger.cpp
@@ -300,7 +300,9 @@ void Logger::writeThread()
stats.lastWriteError = ferror(file);
}
else
+ {
stats.buffersWritten++;
+ }
auto interval = system_clock::now() - start;
stats.averageWriteTime =
diff --git a/src/shared/logger/Logger.h b/src/shared/logger/Logger.h
index 088b91fe2..c6507da5f 100644
--- a/src/shared/logger/Logger.h
+++ b/src/shared/logger/Logger.h
@@ -115,7 +115,7 @@ public:
* \return Whether the class has been logged.
*/
template <typename T>
- LoggerResult log(const T &t);
+ LoggerResult log(const T& t);
/**
* @brief Log logger stats using the logger itself.
@@ -137,9 +137,9 @@ private:
static std::string getFileName(int logNumber);
- static void packThreadLauncher(void *argv);
+ static void packThreadLauncher(void* argv);
- static void writeThreadLauncher(void *argv);
+ static void writeThreadLauncher(void* argv);
/**
* This thread packs logged data into buffers
@@ -158,7 +158,7 @@ private:
* \param data Pointer to class data.
* \param size Class size.
*/
- LoggerResult logImpl(const char *name, const void *data, unsigned int size);
+ LoggerResult logImpl(const char* name, const void* data, unsigned int size);
static constexpr unsigned int maxFilenameNumber =
10000; ///< Limit on files
@@ -204,24 +204,24 @@ private:
int fileNumber = -1;
- miosix::Queue<Record *, numRecords> fullRecordsQueue;
- miosix::Queue<Record *, numRecords> emptyRecordsQueue;
- std::queue<Buffer *, std::list<Buffer *>> fullBufferList;
- std::queue<Buffer *, std::list<Buffer *>> emptyBufferList;
+ miosix::Queue<Record*, numRecords> fullRecordsQueue;
+ miosix::Queue<Record*, numRecords> emptyRecordsQueue;
+ std::queue<Buffer*, std::list<Buffer*>> fullBufferList;
+ std::queue<Buffer*, std::list<Buffer*>> emptyBufferList;
miosix::FastMutex mutex; ///< To allow concurrent access to the queues.
miosix::ConditionVariable cond; ///< To lock when buffers are all empty.
- miosix::Thread *packTh = nullptr; ///< Thread packing logged data.
- miosix::Thread *writeTh = nullptr; ///< Thread writing data to disk.
+ miosix::Thread* packTh = nullptr; ///< Thread packing logged data.
+ miosix::Thread* writeTh = nullptr; ///< Thread writing data to disk.
volatile bool started = false; ///< Logger is started and accepting data.
- FILE *file = nullptr; ///< Log file.
+ FILE* file = nullptr; ///< Log file.
LoggerStats stats; ///< Logger stats.
};
template <typename T>
-LoggerResult Logger::log(const T &t)
+LoggerResult Logger::log(const T& t)
{
static_assert(
std::is_trivially_copyable<T>::value,
diff --git a/src/shared/radio/SX1278/SX1278Common.cpp b/src/shared/radio/SX1278/SX1278Common.cpp
index 2628cf7a4..0ceb84e6c 100644
--- a/src/shared/radio/SX1278/SX1278Common.cpp
+++ b/src/shared/radio/SX1278/SX1278Common.cpp
@@ -68,7 +68,7 @@ void SX1278Common::setDefaultMode(Mode mode, DioMapping mapping,
enterMode(mode, mapping, dio1_trigger, tx_frontend, rx_frontend);
}
-ISX1278::IrqFlags SX1278Common::waitForIrq(LockMode &guard, IrqFlags set_irq,
+ISX1278::IrqFlags SX1278Common::waitForIrq(LockMode& guard, IrqFlags set_irq,
IrqFlags reset_irq, bool unlock)
{
IrqFlags ret_irq = 0;
@@ -83,9 +83,7 @@ ISX1278::IrqFlags SX1278Common::waitForIrq(LockMode &guard, IrqFlags set_irq,
// Check that this hasn't already happened
if ((ret_irq = checkForIrqAndReset(set_irq, reset_irq)) != 0)
- {
break;
- }
if (!waitForIrqInner(guard, unlock))
{
@@ -100,7 +98,7 @@ ISX1278::IrqFlags SX1278Common::waitForIrq(LockMode &guard, IrqFlags set_irq,
return ret_irq;
}
-ISX1278::IrqFlags SX1278Common::waitForIrqBusy(LockMode &_guard,
+ISX1278::IrqFlags SX1278Common::waitForIrqBusy(LockMode& _guard,
IrqFlags set_irq,
IrqFlags reset_irq, int timeout)
{
@@ -121,9 +119,7 @@ ISX1278::IrqFlags SX1278Common::waitForIrqBusy(LockMode &_guard,
{
// Check if some of the interrupts triggered
if ((ret_irq = checkForIrqAndReset(set_irq, reset_irq)) != 0)
- {
return ret_irq;
- }
miosix::delayUs(DELAY);
}
@@ -132,7 +128,7 @@ ISX1278::IrqFlags SX1278Common::waitForIrqBusy(LockMode &_guard,
return 0;
}
-bool SX1278Common::waitForIrqInner(LockMode &_guard, bool unlock)
+bool SX1278Common::waitForIrqInner(LockMode& _guard, bool unlock)
{
// Take a reference to a _guard to MAKE SURE that the mutex is locked, but
// otherwise don't do anything with it
@@ -140,9 +136,7 @@ bool SX1278Common::waitForIrqInner(LockMode &_guard, bool unlock)
// Release the lock for others to take
if (unlock)
- {
mutex.unlock();
- }
int start = Kernel::getOldTick();
miosix::TimedWaitResult result = miosix::TimedWaitResult::NoTimeout;
@@ -159,9 +153,7 @@ bool SX1278Common::waitForIrqInner(LockMode &_guard, bool unlock)
// Regain ownership of the lock
if (unlock)
- {
mutex.lock();
- }
// Check that we didn't have a timeout
return result == miosix::TimedWaitResult::NoTimeout;
@@ -180,9 +172,9 @@ ISX1278::IrqFlags SX1278Common::checkForIrqAndReset(IrqFlags set_irq,
return (cur_irq & set_irq) | (~cur_irq & reset_irq);
}
-ISX1278Frontend &SX1278Common::getFrontend() { return *frontend; }
+ISX1278Frontend& SX1278Common::getFrontend() { return *frontend; }
-SPISlave &SX1278Common::getSpiSlave() { return slave; }
+SPISlave& SX1278Common::getSpiSlave() { return slave; }
SX1278Common::DeviceState SX1278Common::lockMode(Mode mode, DioMapping mapping,
InterruptTrigger dio1_trigger,
@@ -219,25 +211,17 @@ void SX1278Common::enterMode(Mode mode, DioMapping mapping,
// First disable all of the frontend if necessary
if (set_tx_frontend_on != state.is_tx_frontend_on && !set_tx_frontend_on)
- {
getFrontend().disableTx();
- }
if (set_rx_frontend_on != state.is_rx_frontend_on && !set_rx_frontend_on)
- {
getFrontend().disableRx();
- }
// Then enable the newly requested ones
if (set_tx_frontend_on != state.is_tx_frontend_on && set_tx_frontend_on)
- {
getFrontend().enableTx();
- }
if (set_rx_frontend_on != state.is_rx_frontend_on && set_rx_frontend_on)
- {
getFrontend().enableRx();
- }
state.is_tx_frontend_on = set_tx_frontend_on;
state.is_rx_frontend_on = set_rx_frontend_on;
diff --git a/src/shared/radio/SX1278/SX1278Common.h b/src/shared/radio/SX1278/SX1278Common.h
index 30122331f..c4cbeb889 100644
--- a/src/shared/radio/SX1278/SX1278Common.h
+++ b/src/shared/radio/SX1278/SX1278Common.h
@@ -110,7 +110,7 @@ private:
// Current Dio mapping
DioMapping mapping = DioMapping();
// Thread waiting listening for interrupts
- miosix::Thread *irq_wait_thread = nullptr;
+ miosix::Thread* irq_wait_thread = nullptr;
// True if the RX frontend is enabled
bool is_rx_frontend_on = false;
// True if the TX frontend is enabled
@@ -129,7 +129,7 @@ public:
void handleDioIRQ();
protected:
- explicit SX1278Common(SPIBus &bus, miosix::GpioPin cs, miosix::GpioPin dio0,
+ explicit SX1278Common(SPIBus& bus, miosix::GpioPin cs, miosix::GpioPin dio0,
miosix::GpioPin dio1, miosix::GpioPin dio3,
SPI::ClockDivider clock_divider,
std::unique_ptr<ISX1278Frontend> frontend)
@@ -147,12 +147,12 @@ protected:
class Lock
{
public:
- explicit Lock(SX1278Common &driver) : driver(driver) { driver.lock(); }
+ explicit Lock(SX1278Common& driver) : driver(driver) { driver.lock(); }
~Lock() { driver.unlock(); }
private:
- SX1278Common &driver;
+ SX1278Common& driver;
};
/**
@@ -161,7 +161,7 @@ protected:
class LockMode
{
public:
- LockMode(SX1278Common &driver, Lock &lock, Mode mode,
+ LockMode(SX1278Common& driver, Lock& lock, Mode mode,
DioMapping mapping, InterruptTrigger dio1_trigger,
bool set_tx_frontend_on = false,
bool set_rx_frontend_on = false)
@@ -175,8 +175,8 @@ protected:
~LockMode() { driver.unlockMode(old_state); }
private:
- SX1278Common &driver;
- Lock &lock;
+ SX1278Common& driver;
+ Lock& lock;
DeviceState old_state;
};
@@ -192,7 +192,7 @@ protected:
/**
* @brief Wait for generic irq.
*/
- IrqFlags waitForIrq(LockMode &guard, IrqFlags set_irq, IrqFlags reset_irq,
+ IrqFlags waitForIrq(LockMode& guard, IrqFlags set_irq, IrqFlags reset_irq,
bool unlock = false);
/**
@@ -200,7 +200,7 @@ protected:
*
* USE ONLY DURING INITIALIZATION! BAD THINGS *HAVE* HAPPENED DUE TO THIS!
*/
- IrqFlags waitForIrqBusy(LockMode &guard, IrqFlags set_irq,
+ IrqFlags waitForIrqBusy(LockMode& guard, IrqFlags set_irq,
IrqFlags reset_irq, int timeout);
/**
@@ -216,15 +216,15 @@ protected:
*/
IrqFlags checkForIrqAndReset(IrqFlags set_irq, IrqFlags reset_irq);
- ISX1278Frontend &getFrontend();
+ ISX1278Frontend& getFrontend();
- SPISlave &getSpiSlave();
+ SPISlave& getSpiSlave();
private:
void enableIrqs();
void disableIrqs();
- bool waitForIrqInner(LockMode &guard, bool unlock);
+ bool waitForIrqInner(LockMode& guard, bool unlock);
DeviceState lockMode(Mode mode, DioMapping mapping,
InterruptTrigger dio1_trigger, bool set_tx_frontend_on,
diff --git a/src/shared/radio/SX1278/SX1278Defs.h b/src/shared/radio/SX1278/SX1278Defs.h
index 1398b00db..b04d84708 100644
--- a/src/shared/radio/SX1278/SX1278Defs.h
+++ b/src/shared/radio/SX1278/SX1278Defs.h
@@ -119,9 +119,9 @@ struct Mapping
}
}
- bool operator==(const Mapping &other) const { return raw == other.raw; }
+ bool operator==(const Mapping& other) const { return raw == other.raw; }
- bool operator!=(const Mapping &other) const { return raw != other.raw; }
+ bool operator!=(const Mapping& other) const { return raw != other.raw; }
uint16_t raw;
};
diff --git a/src/shared/radio/SX1278/SX1278Frontends.h b/src/shared/radio/SX1278/SX1278Frontends.h
index 41c90f858..72c9f87d2 100644
--- a/src/shared/radio/SX1278/SX1278Frontends.h
+++ b/src/shared/radio/SX1278/SX1278Frontends.h
@@ -78,4 +78,4 @@ public:
void disableTx() override {}
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/radio/SX1278/SX1278Fsk.cpp b/src/shared/radio/SX1278/SX1278Fsk.cpp
index 4ec53f2d6..417146430 100644
--- a/src/shared/radio/SX1278/SX1278Fsk.cpp
+++ b/src/shared/radio/SX1278/SX1278Fsk.cpp
@@ -43,13 +43,11 @@ long long now() { return Kernel::getOldTick(); }
// - TxReady on DIO3 (mode 01)
constexpr DioMapping DEFAULT_MAPPING = DioMapping(0, 0, 0, 1, 0, 0, false);
-SX1278Fsk::Error SX1278Fsk::init(const Config &config)
+SX1278Fsk::Error SX1278Fsk::init(const Config& config)
{
// First probe for the device
if (!checkVersion())
- {
return Error::BAD_VALUE;
- }
Error err;
if ((err = configure(config)) != Error::NONE)
@@ -75,7 +73,7 @@ bool SX1278Fsk::checkVersion()
}
}
-SX1278Fsk::Error SX1278Fsk::configure(const Config &config)
+SX1278Fsk::Error SX1278Fsk::configure(const Config& config)
{
// Check that the configuration is actually valid
bool pa_boost = getFrontend().isOnPaBoost();
@@ -153,17 +151,11 @@ SX1278Fsk::Error SX1278Fsk::configure(const Config &config)
// Setup reg over-current protection
if (config.ocp == 0)
- {
spi.writeRegister(REG_OCP, RegOcp::make(0, false));
- }
else if (ocp <= 120)
- {
spi.writeRegister(REG_OCP, RegOcp::make((ocp - 45) / 5, true));
- }
else
- {
spi.writeRegister(REG_OCP, RegOcp::make((ocp + 30) / 10, true));
- }
// Setup sync word
spi.writeRegister(
@@ -256,7 +248,7 @@ SX1278Fsk::Error SX1278Fsk::configure(const Config &config)
return Error::NONE;
}
-ssize_t SX1278Fsk::receive(uint8_t *pkt, size_t max_len)
+ssize_t SX1278Fsk::receive(uint8_t* pkt, size_t max_len)
{
Lock guard(*this);
LockMode guard_mode(*this, guard, RegOpMode::MODE_RX, DEFAULT_MAPPING,
@@ -281,9 +273,7 @@ ssize_t SX1278Fsk::receive(uint8_t *pkt, size_t max_len)
RegIrqFlags::FIFO_LEVEL | RegIrqFlags::PAYLOAD_READY,
0, true);
if ((flags & RegIrqFlags::PAYLOAD_READY) != 0 && crc_enabled)
- {
crc_ok = checkForIrqAndReset(RegIrqFlags::CRC_OK, 0) != 0;
- }
// Record RSSI here, it's where it is the most accurate
last_rx_rssi = getRssi();
@@ -308,9 +298,7 @@ ssize_t SX1278Fsk::receive(uint8_t *pkt, size_t max_len)
guard_mode,
RegIrqFlags::FIFO_LEVEL | RegIrqFlags::PAYLOAD_READY, 0);
if ((flags & RegIrqFlags::PAYLOAD_READY) != 0 && crc_enabled)
- {
crc_ok = checkForIrqAndReset(RegIrqFlags::CRC_OK, 0) != 0;
- }
SPITransaction spi(getSpiSlave());
@@ -324,16 +312,14 @@ ssize_t SX1278Fsk::receive(uint8_t *pkt, size_t max_len)
} while (len == 0);
if (len > max_len || (!crc_ok && crc_enabled))
- {
return -1;
- }
// Finally copy the packet to the destination
memcpy(pkt, tmp_pkt, len);
return len;
}
-bool SX1278Fsk::send(uint8_t *pkt, size_t len)
+bool SX1278Fsk::send(uint8_t* pkt, size_t len)
{
if (len > MTU)
return false;
@@ -422,9 +408,7 @@ void SX1278Fsk::rateLimitTx()
long long delta = now() - last_tx;
if (delta <= RATE_LIMIT)
- {
miosix::Thread::sleep(RATE_LIMIT - delta);
- }
}
ISX1278::IrqFlags SX1278Fsk::getIrqFlags()
diff --git a/src/shared/radio/SX1278/SX1278Fsk.h b/src/shared/radio/SX1278/SX1278Fsk.h
index b25d645e9..4ba9615a3 100644
--- a/src/shared/radio/SX1278/SX1278Fsk.h
+++ b/src/shared/radio/SX1278/SX1278Fsk.h
@@ -135,7 +135,7 @@ public:
/**
* @brief Construct a new SX1278
*/
- explicit SX1278Fsk(SPIBus &bus, miosix::GpioPin cs, miosix::GpioPin dio0,
+ explicit SX1278Fsk(SPIBus& bus, miosix::GpioPin cs, miosix::GpioPin dio0,
miosix::GpioPin dio1, miosix::GpioPin dio3,
SPI::ClockDivider clock_divider,
std::unique_ptr<SX1278::ISX1278Frontend> frontend)
@@ -148,7 +148,7 @@ public:
/**
* @brief Setup the device.
*/
- [[nodiscard]] virtual Error init(const Config &config);
+ [[nodiscard]] virtual Error init(const Config& config);
/*
* @brief Check if this device is connected.
@@ -158,7 +158,7 @@ public:
/**
* @brief Configure this device on the fly.
*/
- [[nodiscard]] virtual Error configure(const Config &config);
+ [[nodiscard]] virtual Error configure(const Config& config);
/**
* @brief Wait until a new packet is received.
@@ -167,7 +167,7 @@ public:
* @param pkt_len Maximum length of the received data.
* @return Size of the data received or -1 on failure
*/
- ssize_t receive(uint8_t *pkt, size_t max_len) override;
+ ssize_t receive(uint8_t* pkt, size_t max_len) override;
/**
* @brief Send a packet.
@@ -178,7 +178,7 @@ public:
* @param pkt_len Length of the packet to be sent.
* @return True if the message was sent correctly.
*/
- bool send(uint8_t *pkt, size_t len) override;
+ bool send(uint8_t* pkt, size_t len) override;
/**
* @brief Get the current perceived RSSI in dBm.
diff --git a/src/shared/radio/SX1278/SX1278Lora.cpp b/src/shared/radio/SX1278/SX1278Lora.cpp
index fe6b5f315..fa99ea849 100644
--- a/src/shared/radio/SX1278/SX1278Lora.cpp
+++ b/src/shared/radio/SX1278/SX1278Lora.cpp
@@ -130,13 +130,11 @@ struct ErrataRegistersValues
}
};
-SX1278Lora::Error SX1278Lora::init(const Config &config)
+SX1278Lora::Error SX1278Lora::init(const Config& config)
{
// First probe for the device
if (!checkVersion())
- {
return Error::BAD_VALUE;
- }
Error err;
if ((err = configure(config)) != Error::NONE)
@@ -162,7 +160,7 @@ bool SX1278Lora::checkVersion()
}
}
-SX1278Lora::Error SX1278Lora::configure(const Config &config)
+SX1278Lora::Error SX1278Lora::configure(const Config& config)
{
// Check that the configuration is actually valid
bool pa_boost = getFrontend().isOnPaBoost();
@@ -250,17 +248,11 @@ SX1278Lora::Error SX1278Lora::configure(const Config &config)
// Setup reg over-current protection
if (config.ocp == 0)
- {
spi.writeRegister(REG_OCP, RegOcp::make(0, false));
- }
else if (ocp <= 120)
- {
spi.writeRegister(REG_OCP, RegOcp::make((ocp - 45) / 5, true));
- }
else
- {
spi.writeRegister(REG_OCP, RegOcp::make((ocp + 30) / 10, true));
- }
// Setup generic configuration registers
spi.writeRegister(REG_MODEM_CONFIG_1,
@@ -281,11 +273,15 @@ SX1278Lora::Error SX1278Lora::configure(const Config &config)
// Setup weird errata registers (see errata note)
if (errata_values.reg_high_bw_optimize_1 != -1)
+ {
spi.writeRegister(REG_HIGH_BW_OPTIMIZE_1,
errata_values.reg_high_bw_optimize_1);
+ }
if (errata_values.reg_high_bw_optimize_2 != -1)
+ {
spi.writeRegister(REG_HIGH_BW_OPTIMIZE_2,
errata_values.reg_high_bw_optimize_2);
+ }
if (errata_values.reg_if_freq_1 != -1)
spi.writeRegister(REG_IF_FREQ_1, errata_values.reg_if_freq_1);
if (errata_values.reg_if_freq_2 != -1)
@@ -295,7 +291,7 @@ SX1278Lora::Error SX1278Lora::configure(const Config &config)
return Error::NONE;
}
-ssize_t SX1278Lora::receive(uint8_t *pkt, size_t max_len)
+ssize_t SX1278Lora::receive(uint8_t* pkt, size_t max_len)
{
Lock guard(*this);
@@ -316,14 +312,16 @@ ssize_t SX1278Lora::receive(uint8_t *pkt, size_t max_len)
if (len > max_len ||
(crc_enabled &&
checkForIrqAndReset(RegIrqFlags::PAYLOAD_CRC_ERROR, 0) != 0))
+ {
return -1;
+ }
// Finally read the contents of the fifo
readFifo(FIFO_RX_BASE_ADDR, pkt, len);
return len;
}
-bool SX1278Lora::send(uint8_t *pkt, size_t len)
+bool SX1278Lora::send(uint8_t* pkt, size_t len)
{
if (len > MTU)
return false;
@@ -393,14 +391,14 @@ void SX1278Lora::enterLoraMode()
miosix::Thread::sleep(1);
}
-void SX1278Lora::readFifo(uint8_t addr, uint8_t *dst, uint8_t size)
+void SX1278Lora::readFifo(uint8_t addr, uint8_t* dst, uint8_t size)
{
SPITransaction spi(getSpiSlave());
spi.writeRegister(REG_FIFO_ADDR_PTR, addr);
spi.readRegisters(REG_FIFO, dst, size);
}
-void SX1278Lora::writeFifo(uint8_t addr, uint8_t *src, uint8_t size)
+void SX1278Lora::writeFifo(uint8_t addr, uint8_t* src, uint8_t size)
{
SPITransaction spi(getSpiSlave());
spi.writeRegister(REG_FIFO_ADDR_PTR, addr);
diff --git a/src/shared/radio/SX1278/SX1278Lora.h b/src/shared/radio/SX1278/SX1278Lora.h
index edde853ae..8a3bc046a 100644
--- a/src/shared/radio/SX1278/SX1278Lora.h
+++ b/src/shared/radio/SX1278/SX1278Lora.h
@@ -138,7 +138,7 @@ public:
/**
* @brief Construct a new SX1278
*/
- explicit SX1278Lora(SPIBus &bus, miosix::GpioPin cs, miosix::GpioPin dio0,
+ explicit SX1278Lora(SPIBus& bus, miosix::GpioPin cs, miosix::GpioPin dio0,
miosix::GpioPin dio1, miosix::GpioPin dio3,
SPI::ClockDivider clock_divider,
std::unique_ptr<SX1278::ISX1278Frontend> frontend)
@@ -151,7 +151,7 @@ public:
/**
* @brief Setup the device.
*/
- [[nodiscard]] virtual Error init(const Config &config);
+ [[nodiscard]] virtual Error init(const Config& config);
/*
* @brief Check if this device is connected.
@@ -161,7 +161,7 @@ public:
/**
* @brief Configure this device on the fly.
*/
- [[nodiscard]] virtual Error configure(const Config &config);
+ [[nodiscard]] virtual Error configure(const Config& config);
/**
* @brief Wait until a new packet is received.
@@ -170,7 +170,7 @@ public:
* @param pkt_len Maximum length of the received data.
* @return Size of the data received or -1 if failure
*/
- ssize_t receive(uint8_t *pkt, size_t max_len) override;
+ ssize_t receive(uint8_t* pkt, size_t max_len) override;
/**
* @brief Send a packet.
@@ -181,7 +181,7 @@ public:
* @param pkt_len Length of the packet to be sent.
* @return True if the message was sent correctly.
*/
- bool send(uint8_t *pkt, size_t len) override;
+ bool send(uint8_t* pkt, size_t len) override;
/**
* @brief Get the RSSI in dBm, during last packet receive.
@@ -196,8 +196,8 @@ public:
private:
void enterLoraMode();
- void readFifo(uint8_t addr, uint8_t *dst, uint8_t size);
- void writeFifo(uint8_t addr, uint8_t *src, uint8_t size);
+ void readFifo(uint8_t addr, uint8_t* dst, uint8_t size);
+ void writeFifo(uint8_t addr, uint8_t* src, uint8_t size);
IrqFlags getIrqFlags() override;
void resetIrqFlags(IrqFlags flags) override;
diff --git a/src/shared/radio/Xbee/APIFrameParser.cpp b/src/shared/radio/Xbee/APIFrameParser.cpp
index dc4f0903c..75dd17cd2 100644
--- a/src/shared/radio/Xbee/APIFrameParser.cpp
+++ b/src/shared/radio/Xbee/APIFrameParser.cpp
@@ -40,9 +40,7 @@ APIFrameParser::ParseResult APIFrameParser::parse(uint8_t byte, APIFrame* frame)
case ParserState::FIND_START:
if (byte == START_DELIMITER)
- {
parserState = ParserState::READ_LENGTH_1;
- }
break;
// Read most significant byte of the length
case ParserState::READ_LENGTH_1:
@@ -101,13 +99,9 @@ APIFrameParser::ParseResult APIFrameParser::parse(uint8_t byte, APIFrame* frame)
}
if (parserState != ParserState::FIND_START)
- {
return ParseResult::PARSING;
- }
else
- {
return ParseResult::IDLE;
- }
}
} // namespace Xbee
diff --git a/src/shared/radio/Xbee/APIFrames.h b/src/shared/radio/Xbee/APIFrames.h
index 7bd73f3dd..cc3b03b64 100644
--- a/src/shared/radio/Xbee/APIFrames.h
+++ b/src/shared/radio/Xbee/APIFrames.h
@@ -167,9 +167,7 @@ struct APIFrame
// significant byte.
uint8_t sum = checksum + frameType;
for (uint16_t i = 0; i < getFrameDataLength(); ++i)
- {
sum += frameData[i];
- }
return sum == 0xFF;
}
@@ -177,9 +175,7 @@ struct APIFrame
{
checksum = frameType;
for (uint16_t i = 0; i < getFrameDataLength(); ++i)
- {
checksum += frameData[i];
- }
checksum = 0xFF - checksum;
}
diff --git a/src/shared/radio/Xbee/APIFramesLog.h b/src/shared/radio/Xbee/APIFramesLog.h
index a17b0cea7..074e799e0 100644
--- a/src/shared/radio/Xbee/APIFramesLog.h
+++ b/src/shared/radio/Xbee/APIFramesLog.h
@@ -81,9 +81,7 @@ struct ATCommandFrameLog
static bool toFrameType(APIFrame& api, ATCommandFrameLog* dest)
{
if (api.frameType != FTYPE_AT_COMMAND)
- {
return false;
- }
if (api.getFrameDataLength() < MIN_AT_COMMAND_FRAME_SIZE ||
api.getFrameDataLength() >
@@ -118,16 +116,10 @@ struct ATCommandFrameLog
<< commandDataLength << ",";
if (commandDataLength > 0)
- {
for (uint16_t i = 0; i < commandDataLength; i++)
- {
os << (int)commandData[i] << " ";
- }
- }
else
- {
os << "-";
- }
os << "\n";
}
@@ -149,9 +141,7 @@ struct TXRequestFrameLog
static bool toFrameType(APIFrame& api, TXRequestFrameLog* dest)
{
if (api.frameType != FTYPE_TX_REQUEST)
- {
return false;
- }
if (api.getFrameDataLength() < MIN_TX_REQUEST_FRAME_SIZE ||
api.getFrameDataLength() >
@@ -205,9 +195,7 @@ struct ATCommandResponseFrameLog
static bool toFrameType(APIFrame& api, ATCommandResponseFrameLog* dest)
{
if (api.frameType != FTYPE_AT_COMMAND_RESPONSE)
- {
return false;
- }
if (api.getFrameDataLength() < MIN_AT_COMMAND_FRAME_SIZE ||
api.getFrameDataLength() >
@@ -247,16 +235,10 @@ struct ATCommandResponseFrameLog
<< (int)commandStatus << "," << commandDataLength << ",";
if (commandDataLength > 0)
- {
for (uint16_t i = 0; i < commandDataLength; i++)
- {
os << (int)commandData[i] << " ";
- }
- }
else
- {
os << "-";
- }
os << "\n";
}
@@ -270,14 +252,10 @@ struct ModemStatusFrameLog
static bool toFrameType(APIFrame& api, ModemStatusFrameLog* dest)
{
if (api.frameType != FTYPE_MODEM_STATUS)
- {
return false;
- }
if (api.getFrameDataLength() != MODEM_STATUS_FRAME_SIZE)
- {
return false;
- }
ModemStatusFrame* modem = api.toFrameType<ModemStatusFrame>();
@@ -306,14 +284,10 @@ struct TXStatusFrameLog
static bool toFrameType(APIFrame& api, TXStatusFrameLog* dest)
{
if (api.frameType != FTYPE_TX_STATUS)
- {
return false;
- }
if (api.getFrameDataLength() != TX_STATUS_FRAME_SIZE)
- {
return false;
- }
TXStatusFrame* tx = api.toFrameType<TXStatusFrame>();
@@ -353,9 +327,7 @@ struct RXPacketFrameLog
static bool toFrameType(APIFrame& api, RXPacketFrameLog* dest)
{
if (api.frameType != FTYPE_RX_PACKET_FRAME)
- {
return false;
- }
if (api.getFrameDataLength() < MIN_RX_PACKET_FRAME_SIZE ||
api.getFrameDataLength() >
diff --git a/src/shared/radio/Xbee/ATCommands.h b/src/shared/radio/Xbee/ATCommands.h
index a9bfaeadb..1f3a881ef 100644
--- a/src/shared/radio/Xbee/ATCommands.h
+++ b/src/shared/radio/Xbee/ATCommands.h
@@ -67,9 +67,7 @@ inline bool setChannelMask(Xbee& xbee, bool channels[30],
uint32_t val = 0;
for (int i = 0; i < 30; i++)
- {
val &= ((uint32_t)channels[i]) << i;
- }
return setChannelMask(xbee, val, timeout);
}
diff --git a/src/shared/radio/Xbee/Xbee.cpp b/src/shared/radio/Xbee/Xbee.cpp
index 1f698c1ee..968830d85 100644
--- a/src/shared/radio/Xbee/Xbee.cpp
+++ b/src/shared/radio/Xbee/Xbee.cpp
@@ -119,7 +119,9 @@ ssize_t Xbee::receive(uint8_t* buf, size_t bufMaxSize)
{
// We have data in the buffer pending to be returned
if (!rxFramesBuffer.isEmpty() || currRxPayloadPointer >= 0)
+ {
return fillReceiveBuf(buf, bufMaxSize);
+ }
// No data in the buffer, but the xbee has data to return via SPI
else if (attn.value() == 0)
@@ -222,7 +224,9 @@ void Xbee::handleATTNInterrupt()
receiveThread->IRQwakeup();
if (receiveThread->IRQgetPriority() >
miosix::Thread::IRQgetCurrentThread()->IRQgetPriority())
+ {
miosix::Scheduler::IRQfindNextThread();
+ }
receiveThread = 0;
}
diff --git a/src/shared/scheduler/TaskScheduler.cpp b/src/shared/scheduler/TaskScheduler.cpp
index b7e964501..6336b8d20 100644
--- a/src/shared/scheduler/TaskScheduler.cpp
+++ b/src/shared/scheduler/TaskScheduler.cpp
@@ -68,9 +68,7 @@ size_t TaskScheduler::addTask(function_t function, nanoseconds period,
}
if (policy == Policy::ONE_SHOT)
- {
startTime += period;
- }
// Insert a new task with the given parameters
tasks.emplace_back(function, period.count(), policy,
@@ -80,9 +78,7 @@ size_t TaskScheduler::addTask(function_t function, nanoseconds period,
// Only add the task to the agenda if the scheduler is running
// Otherwise, the agenda will be populated when the scheduler is started
if (isRunning())
- {
agenda.emplace(id, startTime.time_since_epoch().count());
- }
condvar.broadcast(); // Signals the run thread
return id;
@@ -139,9 +135,7 @@ bool TaskScheduler::start()
// This check is necessary to prevent task normalization if the scheduler is
// already stopped
if (running)
- {
return false;
- }
// Populate the agenda with the tasks we have so far
populateAgenda();
@@ -167,9 +161,7 @@ vector<TaskStatsResult> TaskScheduler::getTaskStats()
{
const Task& task = tasks[id];
if (task.enabled)
- {
result.push_back(fromTaskIdPairToStatsResult(task, id));
- }
}
return result;
@@ -205,15 +197,11 @@ void TaskScheduler::run()
while (true)
{
while (agenda.empty() && !shouldStop())
- {
condvar.wait(mutex);
- }
// Exit if the ActiveObject has been stopped
if (shouldStop())
- {
return;
- }
int64_t startTime = miosix::getTime();
Event nextEvent = agenda.top();
diff --git a/src/shared/sensors/ADS1118/ADS1118.cpp b/src/shared/sensors/ADS1118/ADS1118.cpp
index d9778c6f1..ffced4e8c 100644
--- a/src/shared/sensors/ADS1118/ADS1118.cpp
+++ b/src/shared/sensors/ADS1118/ADS1118.cpp
@@ -32,7 +32,7 @@ const ADS1118::ADS1118Config ADS1118::ADS1118_DEFAULT_CONFIG = {
SINGLE_SHOT_MODE, FSR_2_048, MUX_AIN0_AIN1, 0, 0,
VALID_OPERATION, PULL_UP_EN, ADC_MODE, DR_128};
-ADS1118::ADS1118(SPIBusInterface &bus, miosix::GpioPin cs,
+ADS1118::ADS1118(SPIBusInterface& bus, miosix::GpioPin cs,
ADS1118Config config_, SPIBusConfig spiConfig)
: ADS1118(SPISlave(bus, cs, spiConfig), config_, false)
{
@@ -93,9 +93,7 @@ void ADS1118::disableInput(ADS1118Mux mux) { channelsConfig[mux].word = 0; }
void ADS1118::disableAllInputs()
{
for (auto i = 0; i < NUM_OF_CHANNELS; i++)
- {
channelsConfig[i].word = 0;
- }
}
void ADS1118::enableTemperature()
@@ -136,13 +134,9 @@ TemperatureData ADS1118::getTemperature()
int ADS1118::getConversionTime(int8_t channel)
{
if (channel >= 0 && channel <= TEMP_CHANNEL)
- {
return CONV_TIME[channelsConfig[channel].bits.rate];
- }
else
- {
return 0;
- }
}
bool ADS1118::selfTest()
@@ -216,7 +210,7 @@ void ADS1118::readChannel(int8_t nextChannel, int8_t prevChannel)
transferData = writeData;
{
SPITransaction transaction(spiSlave);
- transaction.transfer((uint8_t *)&transferData, configCheck ? 4 : 2);
+ transaction.transfer((uint8_t*)&transferData, configCheck ? 4 : 2);
}
// If enabled and a valid configuration has just been written, check the
@@ -286,15 +280,13 @@ void ADS1118::readChannel(int8_t channel)
*/
int8_t ADS1118::findNextEnabledChannel(int8_t startChannel)
{
- int8_t &channel = startChannel; // Just a change of name
+ int8_t& channel = startChannel; // Just a change of name
for (auto i = 0; i < 2; i++)
{
// Go to the first channel if channel is too big
if (channel >= NUM_OF_CHANNELS)
- {
channel = 0;
- }
// Find next enabled mux config
for (; channel < NUM_OF_CHANNELS && channelsConfig[channel].word == 0;
@@ -305,13 +297,9 @@ int8_t ADS1118::findNextEnabledChannel(int8_t startChannel)
// have to read it based on sampleCounter and tempDivider
// If invalid try to search again starting from the first channel
if (channel == TEMP_CHANNEL && sampleCounter % tempDivider != 0)
- {
continue;
- }
if (channel < NUM_OF_CHANNELS)
- {
return channel;
- }
}
// If no valid channel has been fount return an invalid channel
diff --git a/src/shared/sensors/ADS1118/ADS1118.h b/src/shared/sensors/ADS1118/ADS1118.h
index 828cdc9bb..672e4182d 100644
--- a/src/shared/sensors/ADS1118/ADS1118.h
+++ b/src/shared/sensors/ADS1118/ADS1118.h
@@ -81,7 +81,7 @@ public:
MUX_AIN1_GND = 0x5, ///< AINp is AIN1 and AINn is GND
MUX_AIN2_GND = 0x6, ///< AINp is AIN2 and AINn is GND
MUX_AIN3_GND = 0x7 ///< AINp is AIN3 and AINn is GND
- }; ///< Multiplexer values
+ }; ///< Multiplexer values
enum ADS1118Pga
{
@@ -91,13 +91,13 @@ public:
FSR_1_024 = 0x3, ///< FSR is ±1.024 V
FSR_0_512 = 0x4, ///< FSR is ±0.512 V
FSR_0_256 = 0x5 ///< FSR is ±0.256 V
- }; ///< Programmable gain amplifier values
+ }; ///< Programmable gain amplifier values
enum ADS1118Mode
{
CONTINUOUS_CONV_MODE = 0x0, ///< Continuous-conversion mode
SINGLE_SHOT_MODE = 0x1 ///< Power-down and single-shot mode (default)
- }; ///< Conversion mode values
+ }; ///< Conversion mode values
enum ADS1118DataRate
{
@@ -109,19 +109,19 @@ public:
DR_250 = 0x5, ///< 250 SPS
DR_475 = 0x6, ///< 475 SPS
DR_860 = 0x7 ///< 860 SPS
- }; ///< Data rate configuration values
+ }; ///< Data rate configuration values
enum ADS1118TempMode
{
ADC_MODE = 0x0, ///< ADC mode (default)
TEMP_SENSOR_MODE = 0x1 ///< Temperature sensor mode
- }; ///< Temperature or ADC mode values
+ }; ///< Temperature or ADC mode values
enum ADS1118PullUp
{
PULL_UP_DIS = 0x0, ///< Pullup resistor disabled on DOUT pin
PULL_UP_EN = 0x1 ///< Pullup resistor enabled on DOUT pin (default)
- }; ///< Pull up enable or disable values
+ }; ///< Pull up enable or disable values
union ADS1118Config
{
@@ -145,13 +145,13 @@ public:
} byte; ///< Includes the msb and lsb bytes
uint16_t word; ///< Representation in word (16-bits) format
- }; ///< Structure of configuration word
+ }; ///< Structure of configuration word
struct ADS1118InputConfig
{
ADS1118Mux mux = MUX_AIN0_AIN1; ///< Input's mux configuration
ADS1118DataRate rate = DR_128; ///< Input's data rate configuration
- }; ///< Driver's input config
+ }; ///< Driver's input config
static constexpr uint8_t VALID_OPERATION =
0x1; ///< Indicates a valid configuration
@@ -169,7 +169,7 @@ public:
* @brief Construct a new ADS1118 object specifying spi bus, spi config and
* cs pin as well as device configuration.
*/
- ADS1118(SPIBusInterface &bus, miosix::GpioPin cs, ADS1118Config config_,
+ ADS1118(SPIBusInterface& bus, miosix::GpioPin cs, ADS1118Config config_,
SPIBusConfig spiConfig = getDefaultSPIConfig());
/**
diff --git a/src/shared/sensors/ADS131M04/ADS131M04.cpp b/src/shared/sensors/ADS131M04/ADS131M04.cpp
index 2f5f7dfda..df8931057 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04.cpp
+++ b/src/shared/sensors/ADS131M04/ADS131M04.cpp
@@ -32,8 +32,8 @@ using namespace Boardcore::ADS131M04Defs;
namespace Boardcore
{
-ADS131M04::ADS131M04(SPIBusInterface &bus, miosix::GpioPin cs,
- SPIBusConfig spiConfig, const Config &config)
+ADS131M04::ADS131M04(SPIBusInterface& bus, miosix::GpioPin cs,
+ SPIBusConfig spiConfig, const Config& config)
: spiSlave(bus, cs, spiConfig), config(config)
{
// Impose the correct spi mode
@@ -77,19 +77,13 @@ bool ADS131M04::reset()
void ADS131M04::applyConfig(Config config)
{
for (int i = 0; i < CHANNELS_NUM; i++)
- {
applyChannelConfig(static_cast<Channel>(i), config.channelsConfig[i]);
- }
setOversamplingRatio(config.oversamplingRatio);
if (config.globalChopModeEnabled)
- {
enableGlobalChopMode();
- }
else
- {
disableGlobalChopMode();
- }
// Save the newly applied configuration
this->config = config;
@@ -191,9 +185,7 @@ bool ADS131M04::selfTest()
}
for (int j = 0; j < CHANNELS_NUM; j++)
- {
averageValues[j] += rawValues[j];
- }
realSampleCount++;
}
@@ -234,9 +226,7 @@ bool ADS131M04::selfTest()
// Connect all channels to the negative DC test signal
for (int i = 0; i < CHANNELS_NUM; i++)
- {
setChannelInput(static_cast<Channel>(i), Input::NEGATIVE_DC_TEST);
- }
// Take some samples
realSampleCount = 0;
@@ -254,9 +244,7 @@ bool ADS131M04::selfTest()
}
for (int j = 0; j < CHANNELS_NUM; j++)
- {
averageValues[j] += rawValues[j];
- }
realSampleCount++;
}
@@ -294,9 +282,7 @@ bool ADS131M04::selfTest()
// Reset channels input to default
for (int i = 0; i < CHANNELS_NUM; i++)
- {
setChannelInput(static_cast<Channel>(i), Input::DEFAULT);
- }
// Reset to previous configuration
applyConfig(config);
@@ -378,13 +364,9 @@ void ADS131M04::setChannelGain(Channel channel, double gain)
{
// If the user passes a value outside the range [0, 2] we cap it.
if (gain < 0)
- {
gain = 0;
- }
else if (gain > 2)
- {
gain = 2;
- }
// The ADS131M04 corrects for gain errors by multiplying the ADC conversion
// result using the gain calibration registers.
@@ -612,7 +594,7 @@ void ADS131M04::changeRegister(Register reg, uint16_t newValue, uint16_t mask)
writeRegister(reg, regValue);
}
-void ADS131M04::sendCommand(SPITransaction &transaction, Command command,
+void ADS131M04::sendCommand(SPITransaction& transaction, Command command,
uint8_t data[FULL_FRAME_SIZE])
{
// All commands (a part from read and write) needs the full 10 words
diff --git a/src/shared/sensors/ADS131M08/ADS131M08.cpp b/src/shared/sensors/ADS131M08/ADS131M08.cpp
index a1e102483..a1c0abeca 100644
--- a/src/shared/sensors/ADS131M08/ADS131M08.cpp
+++ b/src/shared/sensors/ADS131M08/ADS131M08.cpp
@@ -32,8 +32,8 @@ using namespace Boardcore::ADS131M08Defs;
namespace Boardcore
{
-ADS131M08::ADS131M08(SPIBusInterface &bus, miosix::GpioPin cs,
- SPIBusConfig spiConfig, const Config &config)
+ADS131M08::ADS131M08(SPIBusInterface& bus, miosix::GpioPin cs,
+ SPIBusConfig spiConfig, const Config& config)
: spiSlave(bus, cs, spiConfig), config(config)
{
// Impose the correct spi mode
@@ -77,19 +77,13 @@ bool ADS131M08::reset()
void ADS131M08::applyConfig(Config config)
{
for (int i = 0; i < CHANNELS_NUM; i++)
- {
applyChannelConfig(static_cast<Channel>(i), config.channelsConfig[i]);
- }
setOversamplingRatio(config.oversamplingRatio);
if (config.globalChopModeEnabled)
- {
enableGlobalChopMode();
- }
else
- {
disableGlobalChopMode();
- }
// Save the newly applied configuration
this->config = config;
@@ -191,9 +185,7 @@ bool ADS131M08::selfTest()
}
for (int j = 0; j < CHANNELS_NUM; j++)
- {
averageValues[j] += rawValues[j];
- }
realSampleCount++;
}
@@ -234,9 +226,7 @@ bool ADS131M08::selfTest()
// Connect all channels to the negative DC test signal
for (int i = 0; i < CHANNELS_NUM; i++)
- {
setChannelInput(static_cast<Channel>(i), Input::NEGATIVE_DC_TEST);
- }
// Take some samples
realSampleCount = 0;
@@ -254,9 +244,7 @@ bool ADS131M08::selfTest()
}
for (int j = 0; j < CHANNELS_NUM; j++)
- {
averageValues[j] += rawValues[j];
- }
realSampleCount++;
}
@@ -294,9 +282,7 @@ bool ADS131M08::selfTest()
// Reset channels input to default
for (int i = 0; i < CHANNELS_NUM; i++)
- {
setChannelInput(static_cast<Channel>(i), Input::DEFAULT);
- }
// Reset to previous configuration
applyConfig(config);
@@ -389,13 +375,9 @@ void ADS131M08::setChannelGain(Channel channel, double gain)
{
// If the user passes a value outside the range [0, 2] we cap it.
if (gain < 0)
- {
gain = 0;
- }
else if (gain > 2)
- {
gain = 2;
- }
// The ADS131M08 corrects for gain errors by multiplying the ADC conversion
// result using the gain calibration registers.
@@ -663,7 +645,7 @@ void ADS131M08::changeRegister(Register reg, uint16_t newValue, uint16_t mask)
writeRegister(reg, regValue);
}
-void ADS131M08::sendCommand(SPITransaction &transaction, Command command,
+void ADS131M08::sendCommand(SPITransaction& transaction, Command command,
uint8_t data[FULL_FRAME_SIZE])
{
// All commands (a part from read and write) needs the full 10 words
diff --git a/src/shared/sensors/BME280/BME280.cpp b/src/shared/sensors/BME280/BME280.cpp
index 1ece0a101..0a34ef287 100644
--- a/src/shared/sensors/BME280/BME280.cpp
+++ b/src/shared/sensors/BME280/BME280.cpp
@@ -289,7 +289,7 @@ BME280::BME280Config BME280::readConfiguration()
BME280Config tmp;
SPITransaction transaction(spiSlave);
- transaction.readRegisters(REG_CTRL_HUM, (uint8_t *)&tmp, 4);
+ transaction.readRegisters(REG_CTRL_HUM, (uint8_t*)&tmp, 4);
return tmp;
}
@@ -300,7 +300,7 @@ void BME280::loadCompensationParameters()
{
SPITransaction transaction(spiSlave);
- transaction.readRegisters(REG_CALIB_0, (uint8_t *)&compParams, 25);
+ transaction.readRegisters(REG_CALIB_0, (uint8_t*)&compParams, 25);
}
// Read second batch of compensation parameters
@@ -308,7 +308,7 @@ void BME280::loadCompensationParameters()
SPITransaction transaction(spiSlave);
transaction.readRegisters(REG_CALIB_26,
- (uint8_t *)&compParams.bits.dig_H2, 7);
+ (uint8_t*)&compParams.bits.dig_H2, 7);
}
// Adjust unaligned data
@@ -349,9 +349,7 @@ uint32_t BME280::compensatePressure(int32_t adc_P)
var1 =
((((int64_t)1) << 47) + var1) * ((int64_t)compParams.bits.dig_P1) >> 33;
if (var1 == 0)
- {
return 0; // avoid exception caused by division by zero
- }
p = 1048576 - adc_P;
p = (((p << 31) - var2) * 3125) / var1;
var1 = (((int64_t)compParams.bits.dig_P9) * (p >> 13) * (p >> 13)) >> 25;
diff --git a/src/shared/sensors/BME280/BME280I2C.cpp b/src/shared/sensors/BME280/BME280I2C.cpp
index 4d0e67c56..9539f7060 100644
--- a/src/shared/sensors/BME280/BME280I2C.cpp
+++ b/src/shared/sensors/BME280/BME280I2C.cpp
@@ -48,7 +48,7 @@ const BME280I2C::BME280Config BME280I2C::BME280_CONFIG_TEMP_SINGLE = {
SKIPPED, 0, 0, FORCED_MODE, SKIPPED,
OVERSAMPLING_1, 0, FILTER_OFF, STB_TIME_0_5};
-BME280I2C::BME280I2C(I2C &bus, BME280Config config) : bus(bus), config(config)
+BME280I2C::BME280I2C(I2C& bus, BME280Config config) : bus(bus), config(config)
{
}
@@ -63,9 +63,7 @@ bool BME280I2C::init()
}
if (!reset())
- {
return false;
- }
miosix::Thread::sleep(3);
loadCompensationParameters();
@@ -143,7 +141,6 @@ HumidityData BME280I2C::readHumidity()
uint8_t buffer[2];
if (bus.readFromRegister(slaveConfig, REG_HUM_MSB, buffer, 2))
{
-
int32_t adc_H = ((uint32_t)buffer[0] << 8);
adc_H |= buffer[1];
@@ -166,7 +163,6 @@ PressureData BME280I2C::readPressure()
uint8_t buffer[3];
if (bus.readFromRegister(slaveConfig, REG_PRESS_MSB, buffer, 3))
{
-
int32_t adc_P = ((uint32_t)buffer[0]) << 12;
adc_P |= ((uint32_t)buffer[1]) << 4;
adc_P |= (buffer[2] >> 4) & 0x0F;
@@ -286,7 +282,6 @@ bool BME280I2C::checkWhoAmI()
if (bus.readRegister(slaveConfig, REG_ID, whoAmIValue))
{
-
return whoAmIValue == REG_ID_VAL;
}
else
@@ -325,7 +320,7 @@ BME280I2C::BME280Config BME280I2C::readConfiguration()
{
BME280Config tmp;
- if (bus.readFromRegister(slaveConfig, REG_CTRL_HUM, (uint8_t *)&tmp, 4))
+ if (bus.readFromRegister(slaveConfig, REG_CTRL_HUM, (uint8_t*)&tmp, 4))
{
return tmp;
}
@@ -339,7 +334,7 @@ BME280I2C::BME280Config BME280I2C::readConfiguration()
void BME280I2C::loadCompensationParameters()
{
// Read first batch of compensation parameters
- if (!bus.readFromRegister(slaveConfig, REG_CALIB_0, (uint8_t *)&compParams,
+ if (!bus.readFromRegister(slaveConfig, REG_CALIB_0, (uint8_t*)&compParams,
25))
{
lastError = SensorErrors::BUS_FAULT;
@@ -348,7 +343,7 @@ void BME280I2C::loadCompensationParameters()
// Read second batch of compensation parameters
if (!bus.readFromRegister(slaveConfig, REG_CALIB_26,
- (uint8_t *)&compParams.bits.dig_H2, 7))
+ (uint8_t*)&compParams.bits.dig_H2, 7))
{
lastError = SensorErrors::BUS_FAULT;
return;
@@ -392,9 +387,7 @@ uint32_t BME280I2C::compensatePressure(int32_t adc_P)
var1 =
((((int64_t)1) << 47) + var1) * ((int64_t)compParams.bits.dig_P1) >> 33;
if (var1 == 0)
- {
return 0; // avoid exception caused by division by zero
- }
p = 1048576 - adc_P;
p = (((p << 31) - var2) * 3125) / var1;
var1 = (((int64_t)compParams.bits.dig_P9) * (p >> 13) * (p >> 13)) >> 25;
diff --git a/src/shared/sensors/BMP280/BMP280.cpp b/src/shared/sensors/BMP280/BMP280.cpp
index 325ca0982..cd231f0c2 100644
--- a/src/shared/sensors/BMP280/BMP280.cpp
+++ b/src/shared/sensors/BMP280/BMP280.cpp
@@ -253,7 +253,7 @@ BMP280::BMP280Config BMP280::readConfiguration()
BMP280Config tmp;
SPITransaction transaction(spiSlave);
- transaction.readRegisters(REG_STATUS, (uint8_t *)&tmp, 3);
+ transaction.readRegisters(REG_STATUS, (uint8_t*)&tmp, 3);
return tmp;
}
@@ -264,7 +264,7 @@ void BMP280::loadCompensationParameters()
{
SPITransaction transaction(spiSlave);
- transaction.readRegisters(REG_CALIB_0, (uint8_t *)&compParams, 25);
+ transaction.readRegisters(REG_CALIB_0, (uint8_t*)&compParams, 25);
}
}
@@ -299,9 +299,7 @@ uint32_t BMP280::compensatePressure(int32_t adc_P)
var1 =
((((int64_t)1) << 47) + var1) * ((int64_t)compParams.bits.dig_P1) >> 33;
if (var1 == 0)
- {
return 0; // avoid exception caused by division by zero
- }
p = 1048576 - adc_P;
p = (((p << 31) - var2) * 3125) / var1;
var1 = (((int64_t)compParams.bits.dig_P9) * (p >> 13) * (p >> 13)) >> 25;
diff --git a/src/shared/sensors/BMP280/BMP280Data.h b/src/shared/sensors/BMP280/BMP280Data.h
index cfd3cecc2..bf3db827a 100644
--- a/src/shared/sensors/BMP280/BMP280Data.h
+++ b/src/shared/sensors/BMP280/BMP280Data.h
@@ -33,8 +33,8 @@ struct BMP280Data : public TemperatureData, public PressureData
BMP280Data(uint64_t timestamp, float temperature, float pressure,
float humidity)
- : TemperatureData{timestamp, temperature}, PressureData{timestamp,
- pressure}
+ : TemperatureData{timestamp, temperature},
+ PressureData{timestamp, pressure}
{
}
@@ -47,8 +47,7 @@ struct BMP280Data : public TemperatureData, public PressureData
void print(std::ostream& os) const
{
os << temperatureTimestamp << "," << temperature << ","
- << pressureTimestamp << "," << pressure << ","
- << "\n";
+ << pressureTimestamp << "," << pressure << "," << "\n";
}
};
diff --git a/src/shared/sensors/BMP280/BMP280I2C.cpp b/src/shared/sensors/BMP280/BMP280I2C.cpp
index 66c1a1212..e44cf7ffa 100644
--- a/src/shared/sensors/BMP280/BMP280I2C.cpp
+++ b/src/shared/sensors/BMP280/BMP280I2C.cpp
@@ -46,7 +46,7 @@ const BMP280I2C::BMP280Config BMP280I2C::BMP280_CONFIG_ALL_ENABLED = {
const BMP280I2C::BMP280Config BMP280I2C::BMP280_CONFIG_TEMP_SINGLE = {
0, 0, FORCED_MODE, SKIPPED, OVERSAMPLING_1, 0, FILTER_OFF, STB_TIME_0_5};
-BMP280I2C::BMP280I2C(I2C &bus, BMP280Config config) : bus(bus), config(config)
+BMP280I2C::BMP280I2C(I2C& bus, BMP280Config config) : bus(bus), config(config)
{
}
@@ -61,9 +61,7 @@ bool BMP280I2C::init()
}
if (!reset())
- {
return false;
- }
miosix::Thread::sleep(3);
loadCompensationParameters();
@@ -133,7 +131,6 @@ PressureData BMP280I2C::readPressure()
uint8_t buffer[3];
if (bus.readFromRegister(slaveConfig, REG_PRESS_MSB, buffer, 3))
{
-
int32_t adc_P = ((uint32_t)buffer[0]) << 12;
adc_P |= ((uint32_t)buffer[1]) << 4;
adc_P |= (buffer[2] >> 4) & 0x0F;
@@ -246,7 +243,6 @@ bool BMP280I2C::checkWhoAmI()
if (bus.readRegister(slaveConfig, REG_ID, whoAmIValue))
{
-
return whoAmIValue == REG_ID_VAL;
}
else
@@ -278,7 +274,7 @@ BMP280I2C::BMP280Config BMP280I2C::readConfiguration()
{
BMP280Config tmp;
- if (bus.readFromRegister(slaveConfig, REG_STATUS, (uint8_t *)&tmp, 3))
+ if (bus.readFromRegister(slaveConfig, REG_STATUS, (uint8_t*)&tmp, 3))
{
return tmp;
}
@@ -292,7 +288,7 @@ BMP280I2C::BMP280Config BMP280I2C::readConfiguration()
void BMP280I2C::loadCompensationParameters()
{
// Read first batch of compensation parameters
- if (!bus.readFromRegister(slaveConfig, REG_CALIB_0, (uint8_t *)&compParams,
+ if (!bus.readFromRegister(slaveConfig, REG_CALIB_0, (uint8_t*)&compParams,
25))
{
lastError = SensorErrors::BUS_FAULT;
@@ -331,9 +327,7 @@ uint32_t BMP280I2C::compensatePressure(int32_t adc_P)
var1 =
((((int64_t)1) << 47) + var1) * ((int64_t)compParams.bits.dig_P1) >> 33;
if (var1 == 0)
- {
return 0; // avoid exception caused by division by zero
- }
p = 1048576 - adc_P;
p = (((p << 31) - var2) * 3125) / var1;
var1 = (((int64_t)compParams.bits.dig_P9) * (p >> 13) * (p >> 13)) >> 25;
diff --git a/src/shared/sensors/BMX160/BMX160.cpp b/src/shared/sensors/BMX160/BMX160.cpp
index df7e966bb..ccf1e0fef 100644
--- a/src/shared/sensors/BMX160/BMX160.cpp
+++ b/src/shared/sensors/BMX160/BMX160.cpp
@@ -106,9 +106,7 @@ void BMX160::IRQupdateTimestamp(uint64_t ts)
{
// Prevent interrupts while reading fifo
if (irqEnabled)
- {
SensorFIFO::IRQupdateTimestamp(ts);
- }
}
BMX160Data BMX160::sampleImpl()
@@ -122,7 +120,9 @@ BMX160Data BMX160::sampleImpl()
// Read temperature
if (config.temperatureDivider != 0 &&
tempCounter % config.temperatureDivider == 0)
+ {
readTemp();
+ }
tempCounter++;
@@ -432,13 +432,9 @@ void BMX160::initInt()
BMX160Defs::INT_OUT_CTRL_INT1_OUT_EN;
if (config.interrupt1Mode == BMX160Config::IntMode::OPEN_DRAIN)
- {
outCtrl |= BMX160Defs::INT_OUT_CTRL_INT1_OD;
- }
if (config.interrupt2Mode == BMX160Config::IntMode::OPEN_DRAIN)
- {
outCtrl |= BMX160Defs::INT_OUT_CTRL_INT2_OD;
- }
// Enable both interrupt pins, otherwise they'll just float.
// We configure both of them as push-pull and active-low
@@ -618,13 +614,17 @@ GyroscopeData BMX160::buildGyrData(BMX160Defs::GyrRaw data, uint64_t timestamp)
using namespace Constants;
if (config.gyroscopeUnit == BMX160Config::GyroscopeMeasureUnit::DEG)
+ {
return GyroscopeData{timestamp, data.x * gyrSensibility,
data.y * gyrSensibility, data.z * gyrSensibility};
+ }
else
+ {
return GyroscopeData{timestamp,
data.x * gyrSensibility * DEGREES_TO_RADIANS,
data.y * gyrSensibility * DEGREES_TO_RADIANS,
data.z * gyrSensibility * DEGREES_TO_RADIANS};
+ }
}
const char* BMX160::debugErr(SPITransaction& spi)
@@ -754,7 +754,6 @@ void BMX160::readFifo(bool headerless)
int idx = 0;
while (idx < len && buf[idx] != BMX160Defs::FIFO_STOP_BYTE)
{
-
if (headerless)
{
auto magRaw = parseStruct<BMX160Defs::MagRaw>(buf, idx);
@@ -769,9 +768,7 @@ void BMX160::readFifo(bool headerless)
pushSample(BMX160Data{oldAcc, oldGyr, oldMag});
if (watermarkTimestamp == 0 && idx >= (config.fifoWatermark * 4))
- {
watermarkTimestamp = timestamp;
- }
timestamp += timeOffset;
}
diff --git a/src/shared/sensors/H3LIS331DL/H3LIS331DL.cpp b/src/shared/sensors/H3LIS331DL/H3LIS331DL.cpp
index fa74cc9ea..670b2dfde 100644
--- a/src/shared/sensors/H3LIS331DL/H3LIS331DL.cpp
+++ b/src/shared/sensors/H3LIS331DL/H3LIS331DL.cpp
@@ -97,7 +97,6 @@ bool H3LIS331DL::init()
if (!initialized)
{
-
LOG_ERR(logger,
"Control Register 1 After init: {:X}, expected "
"value:{:X}",
@@ -125,7 +124,6 @@ bool H3LIS331DL::init()
if (!initialized)
{
-
LOG_ERR(logger,
"Control Register 1 After init: {:X}, expected "
"value:{:X}",
diff --git a/src/shared/sensors/H3LIS331DL/H3LIS331DL.h b/src/shared/sensors/H3LIS331DL/H3LIS331DL.h
index 947709cbd..e80f0e6a3 100644
--- a/src/shared/sensors/H3LIS331DL/H3LIS331DL.h
+++ b/src/shared/sensors/H3LIS331DL/H3LIS331DL.h
@@ -40,7 +40,6 @@ namespace Boardcore
*/
class H3LIS331DL : public Sensor<H3LIS331DLData>
{
-
public:
/**
* @brief Creates an instance of an H3LIS331DL sensor
diff --git a/src/shared/sensors/H3LIS331DL/H3LIS331DLData.h b/src/shared/sensors/H3LIS331DL/H3LIS331DLData.h
index 054ef30c4..4de0fb983 100644
--- a/src/shared/sensors/H3LIS331DL/H3LIS331DLData.h
+++ b/src/shared/sensors/H3LIS331DL/H3LIS331DLData.h
@@ -29,13 +29,12 @@ namespace Boardcore
struct H3LIS331DLData : public AccelerometerData
{
-
- H3LIS331DLData() : AccelerometerData(0, 0, 0, 0){};
+ H3LIS331DLData() : AccelerometerData(0, 0, 0, 0) {};
H3LIS331DLData(uint64_t ts, float aX, float aY, float aZ)
- : AccelerometerData(ts, aX, aY, aZ){};
+ : AccelerometerData(ts, aX, aY, aZ) {};
- explicit H3LIS331DLData(AccelerometerData acc) : AccelerometerData(acc){};
+ explicit H3LIS331DLData(AccelerometerData acc) : AccelerometerData(acc) {};
static std::string header()
{
diff --git a/src/shared/sensors/HILSensor.h b/src/shared/sensors/HILSensor.h
index d69bf9149..64bfadfc1 100644
--- a/src/shared/sensors/HILSensor.h
+++ b/src/shared/sensors/HILSensor.h
@@ -71,8 +71,8 @@ public:
* the sensor current sample.
*/
HILSensor(T&& sensor, bool enableHw, UpdateFn updateData)
- : T{std::move(sensor)}, enableHw{enableHw}, updateData{
- std::move(updateData)}
+ : T{std::move(sensor)}, enableHw{enableHw},
+ updateData{std::move(updateData)}
{
}
@@ -141,4 +141,4 @@ static void hillificator(std::unique_ptr<T>& sensor, bool enableHw,
}
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/HX711/HX711.cpp b/src/shared/sensors/HX711/HX711.cpp
index 0fb1c8765..33b0bd5a6 100644
--- a/src/shared/sensors/HX711/HX711.cpp
+++ b/src/shared/sensors/HX711/HX711.cpp
@@ -29,7 +29,7 @@
namespace Boardcore
{
-HX711::HX711(SPIBusInterface &bus, miosix::GpioPin sckPin, SPIBusConfig config,
+HX711::HX711(SPIBusInterface& bus, miosix::GpioPin sckPin, SPIBusConfig config,
unsigned char sckAlternateFunction)
: bus(bus), sckPin(sckPin), config(config),
sckAlternateFunction(sckAlternateFunction)
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
index 9017aaa36..6ec4d6b0c 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
@@ -244,4 +244,4 @@ LIS2MDLData LIS2MDL::sampleImpl()
return newData;
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDLData.h b/src/shared/sensors/LIS2MDL/LIS2MDLData.h
index 327a74f21..41eea28fd 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDLData.h
+++ b/src/shared/sensors/LIS2MDL/LIS2MDLData.h
@@ -59,4 +59,4 @@ struct LIS2MDLData : public MagnetometerData, public TemperatureData
}
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/LIS331HH/LIS331HH.h b/src/shared/sensors/LIS331HH/LIS331HH.h
index 8df1374b5..36c14f80e 100644
--- a/src/shared/sensors/LIS331HH/LIS331HH.h
+++ b/src/shared/sensors/LIS331HH/LIS331HH.h
@@ -116,4 +116,4 @@ private:
};
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/LIS3DSH/LIS3DSH.h b/src/shared/sensors/LIS3DSH/LIS3DSH.h
index d41962195..2b386779d 100644
--- a/src/shared/sensors/LIS3DSH/LIS3DSH.h
+++ b/src/shared/sensors/LIS3DSH/LIS3DSH.h
@@ -250,9 +250,7 @@ public:
float delta[3] = {0};
for (uint8_t i = 0; i < 3; i++)
- {
delta[i] = fabs(AVG_NO_ST[i] - AVG_ST[i]);
- }
LOG_INFO(logger,
"Selftest: delta[x] = {}, delta[y] = {}, delta[z] = {}",
@@ -336,13 +334,9 @@ private:
TemperatureData tempData = readTemperature();
if (lastError != SensorErrors::NO_ERRORS)
- {
return lastSample;
- }
else
- {
return LIS3DSHData(accelData, tempData);
- }
}
/**
diff --git a/src/shared/sensors/LIS3MDL/LIS3MDL.cpp b/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
index 34b7ce319..43491b494 100644
--- a/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
+++ b/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
@@ -148,7 +148,6 @@ bool LIS3MDL::selfTest()
bool LIS3MDL::applyConfig(Config config)
{
-
SPITransaction spi(slave);
uint8_t reg = 0, err = 0;
@@ -156,9 +155,7 @@ bool LIS3MDL::applyConfig(Config config)
// CTRL_REG1
if (config.temperatureDivider != 0)
- {
reg = ENABLE_TEMPERATURE;
- }
reg |= config.odr;
// odr <= 80Hz
diff --git a/src/shared/sensors/LPS22DF/LPS22DF.h b/src/shared/sensors/LPS22DF/LPS22DF.h
index 63a761dd6..3c4180051 100644
--- a/src/shared/sensors/LPS22DF/LPS22DF.h
+++ b/src/shared/sensors/LPS22DF/LPS22DF.h
@@ -150,4 +150,4 @@ private:
PrintLogger logger = Logging::getLogger("lps22df");
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS22DF/LPS22DFData.h b/src/shared/sensors/LPS22DF/LPS22DFData.h
index 5867f4e52..2f8242c20 100644
--- a/src/shared/sensors/LPS22DF/LPS22DFData.h
+++ b/src/shared/sensors/LPS22DF/LPS22DFData.h
@@ -32,8 +32,8 @@ struct LPS22DFData : public PressureData, public TemperatureData
LPS22DFData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
LPS22DFData(uint64_t timestamp, float pressure, float temperature)
- : PressureData{timestamp, pressure}, TemperatureData{timestamp,
- temperature}
+ : PressureData{timestamp, pressure},
+ TemperatureData{timestamp, temperature}
{
}
diff --git a/src/shared/sensors/LPS22DF/LPS22DFDefs.h b/src/shared/sensors/LPS22DF/LPS22DFDefs.h
index 62dc2e0c0..946fcbee6 100644
--- a/src/shared/sensors/LPS22DF/LPS22DFDefs.h
+++ b/src/shared/sensors/LPS22DF/LPS22DFDefs.h
@@ -121,4 +121,4 @@ enum STATUS : uint8_t
} // namespace LPS22DFDefs
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFW.h b/src/shared/sensors/LPS28DFW/LPS28DFW.h
index 2f2cf5010..dbb45e556 100644
--- a/src/shared/sensors/LPS28DFW/LPS28DFW.h
+++ b/src/shared/sensors/LPS28DFW/LPS28DFW.h
@@ -178,4 +178,4 @@ private:
PrintLogger logger = Logging::getLogger("lps28dfw");
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFWData.h b/src/shared/sensors/LPS28DFW/LPS28DFWData.h
index 9f3f38d22..844b64e40 100644
--- a/src/shared/sensors/LPS28DFW/LPS28DFWData.h
+++ b/src/shared/sensors/LPS28DFW/LPS28DFWData.h
@@ -33,7 +33,6 @@ namespace Boardcore
*/
struct LPS28DFWData : public PressureData, TemperatureData
{
-
LPS28DFWData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
LPS28DFWData(uint64_t pressT, float pressure, uint64_t tempT,
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h b/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h
index d189ca321..9a06fb5f0 100644
--- a/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h
+++ b/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h
@@ -148,4 +148,4 @@ enum STATUS : uint8_t
};
} // namespace LPS28DFWDefs
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS331AP/LPS331AP.cpp b/src/shared/sensors/LPS331AP/LPS331AP.cpp
index 2c46041ab..f8ffe77ab 100644
--- a/src/shared/sensors/LPS331AP/LPS331AP.cpp
+++ b/src/shared/sensors/LPS331AP/LPS331AP.cpp
@@ -33,9 +33,7 @@ LPS331AP::LPS331AP(I2C& bus, ODR odr) : bus(bus), odr(odr) {}
bool LPS331AP::init()
{
if (!checkWhoAmI())
- {
return false;
- }
uint8_t ctrlReg1 = 0;
ctrlReg1 |= 0x80; // Active mode
@@ -43,7 +41,6 @@ bool LPS331AP::init()
if (!bus.writeRegister(slaveConfig, REG_CTRL_REG1, ctrlReg1))
{
-
lastError = SensorErrors::BUS_FAULT;
return false;
}
diff --git a/src/shared/sensors/LPS331AP/LPS331APData.h b/src/shared/sensors/LPS331AP/LPS331APData.h
index 10bf25b21..7f145ef59 100644
--- a/src/shared/sensors/LPS331AP/LPS331APData.h
+++ b/src/shared/sensors/LPS331AP/LPS331APData.h
@@ -29,14 +29,12 @@ namespace Boardcore
struct LPS331APData : public PressureData, TemperatureData
{
-
LPS331APData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
LPS331APData(uint64_t pressureTimestamp, float pressure,
uint64_t temperatureTimestamp, float temperature)
- : PressureData{pressureTimestamp, pressure}, TemperatureData{
- temperatureTimestamp,
- temperature}
+ : PressureData{pressureTimestamp, pressure},
+ TemperatureData{temperatureTimestamp, temperature}
{
}
diff --git a/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp b/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
index 3294db578..9508ad896 100644
--- a/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
+++ b/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
@@ -52,9 +52,7 @@ LSM6DSRX::LSM6DSRX(SPIBus& bus, miosix::GpioPin csPin,
// check that ACC_ODR is set to HZ_1_6 only if OPERATING_MODE is equal to
// NORMAL
if (config.odrAcc == LSM6DSRXConfig::ACC_ODR::HZ_1_6)
- {
config.opModeAcc = LSM6DSRXConfig::OPERATING_MODE::NORMAL;
- }
}
bool LSM6DSRX::init()
@@ -680,9 +678,7 @@ LSM6DSRXData LSM6DSRX::sampleImpl()
lastError = SensorErrors::NO_ERRORS;
if (config.fifoMode == LSM6DSRXConfig::FIFO_MODE::BYPASS)
- {
return getSensorData();
- }
readFromFifo();
@@ -831,9 +827,7 @@ void LSM6DSRX::readFromFifo()
// Check if we can push into fifo (both samples are present)
if (timestamps[timeslotTag].accPresent)
- {
pushIntoFifo(timestamps[timeslotTag], idxFifo);
- }
break;
case 0x02:
@@ -852,9 +846,7 @@ void LSM6DSRX::readFromFifo()
// Check if we can push into fifo (both samples are present)
if (timestamps[timeslotTag].gyrPresent)
- {
pushIntoFifo(timestamps[timeslotTag], idxFifo);
- }
break;
case 0x04:
diff --git a/src/shared/sensors/LSM6DSRX/LSM6DSRXConfig.h b/src/shared/sensors/LSM6DSRX/LSM6DSRXConfig.h
index 2db415c0f..70d4d692c 100644
--- a/src/shared/sensors/LSM6DSRX/LSM6DSRXConfig.h
+++ b/src/shared/sensors/LSM6DSRX/LSM6DSRXConfig.h
@@ -29,7 +29,6 @@ namespace Boardcore
struct LSM6DSRXConfig
{
-
/**
* @brief Output data rate definitions for the accelerometer.
*
diff --git a/src/shared/sensors/MAX31855/MAX31855.h b/src/shared/sensors/MAX31855/MAX31855.h
index 9391e6099..0cd761900 100644
--- a/src/shared/sensors/MAX31855/MAX31855.h
+++ b/src/shared/sensors/MAX31855/MAX31855.h
@@ -43,7 +43,7 @@ namespace Boardcore
class MAX31855 : public Sensor<TemperatureData>
{
public:
- MAX31855(SPIBusInterface &bus, miosix::GpioPin cs,
+ MAX31855(SPIBusInterface& bus, miosix::GpioPin cs,
SPIBusConfig config = getDefaultSPIConfig());
static SPIBusConfig getDefaultSPIConfig();
diff --git a/src/shared/sensors/MAX31856/MAX31856.cpp b/src/shared/sensors/MAX31856/MAX31856.cpp
index dcafa6376..1f96a8514 100644
--- a/src/shared/sensors/MAX31856/MAX31856.cpp
+++ b/src/shared/sensors/MAX31856/MAX31856.cpp
@@ -44,7 +44,6 @@ SPIBusConfig MAX31856::getDefaultSPIConfig()
bool MAX31856::init()
{
-
// Set thermocouple type
setThermocoupleType(type);
diff --git a/src/shared/sensors/MAX31856/MAX31856.h b/src/shared/sensors/MAX31856/MAX31856.h
index 1b4a408ba..557d9796a 100644
--- a/src/shared/sensors/MAX31856/MAX31856.h
+++ b/src/shared/sensors/MAX31856/MAX31856.h
@@ -61,7 +61,7 @@ public:
GAIN_32 = 0x9,
};
- MAX31856(SPIBusInterface &bus, miosix::GpioPin cs,
+ MAX31856(SPIBusInterface& bus, miosix::GpioPin cs,
SPIBusConfig config = getDefaultSPIConfig(),
ThermocoupleType type = ThermocoupleType::K_TYPE);
diff --git a/src/shared/sensors/MAX31856/MAX31856Data.h b/src/shared/sensors/MAX31856/MAX31856Data.h
index ebd5742eb..c3ccd3175 100644
--- a/src/shared/sensors/MAX31856/MAX31856Data.h
+++ b/src/shared/sensors/MAX31856/MAX31856Data.h
@@ -62,4 +62,4 @@ struct MAX31856Data : public TemperatureData
}
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/MAX6675/MAX6675.cpp b/src/shared/sensors/MAX6675/MAX6675.cpp
index e12ecccb2..83c92fa0b 100644
--- a/src/shared/sensors/MAX6675/MAX6675.cpp
+++ b/src/shared/sensors/MAX6675/MAX6675.cpp
@@ -27,7 +27,7 @@
namespace Boardcore
{
-MAX6675::MAX6675(SPIBusInterface &bus, miosix::GpioPin cs, SPIBusConfig config)
+MAX6675::MAX6675(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig config)
: slave(bus, cs, config)
{
}
diff --git a/src/shared/sensors/MAX6675/MAX6675.h b/src/shared/sensors/MAX6675/MAX6675.h
index 743a46fc8..647e9dea2 100644
--- a/src/shared/sensors/MAX6675/MAX6675.h
+++ b/src/shared/sensors/MAX6675/MAX6675.h
@@ -36,7 +36,7 @@ namespace Boardcore
class MAX6675 : public Sensor<TemperatureData>
{
public:
- MAX6675(SPIBusInterface &bus, miosix::GpioPin cs,
+ MAX6675(SPIBusInterface& bus, miosix::GpioPin cs,
SPIBusConfig config = getDefaultSPIConfig());
static SPIBusConfig getDefaultSPIConfig();
diff --git a/src/shared/sensors/MBLoadCell/MBLoadCell.cpp b/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
index 6fd07f1dd..e80cbcb4b 100644
--- a/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
+++ b/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
@@ -33,7 +33,7 @@ using ctrlPin2 = miosix::Gpio<GPIOC_BASE, 2>; ///< Control R/W pin 2
namespace Boardcore
{
-MBLoadCell::MBLoadCell(USARTInterface &serial, LoadCellModes mode)
+MBLoadCell::MBLoadCell(USARTInterface& serial, LoadCellModes mode)
: serial(serial)
{
this->settings.mode = mode;
@@ -250,7 +250,7 @@ MBLoadCellData MBLoadCell::sampleAsciiModTd()
}
}
-void MBLoadCell::generateRequest(DataAsciiRequest &req,
+void MBLoadCell::generateRequest(DataAsciiRequest& req,
const LoadCellValuesEnum toRequest, int value)
{
strcpy(req.req, loadCellValues[toRequest].c_str());
@@ -272,7 +272,7 @@ void MBLoadCell::generateRequest(DataAsciiRequest &req,
req.setChecksum();
}
-void MBLoadCell::transmitASCII(const std::string &buf)
+void MBLoadCell::transmitASCII(const std::string& buf)
{
// Setting both the control pins to high in order to transmit
ctrlPin1::high();
@@ -295,7 +295,7 @@ std::string MBLoadCell::receiveASCII()
}
template <typename T>
-void MBLoadCell::receive(T *buf)
+void MBLoadCell::receive(T* buf)
{
// Setting both the control pins to low in order to receive
ctrlPin1::low();
diff --git a/src/shared/sensors/MBLoadCell/MBLoadCell.h b/src/shared/sensors/MBLoadCell/MBLoadCell.h
index 1eb6fcdba..cc3f4c063 100644
--- a/src/shared/sensors/MBLoadCell/MBLoadCell.h
+++ b/src/shared/sensors/MBLoadCell/MBLoadCell.h
@@ -56,7 +56,7 @@ public:
* @param mode the mode in which the load cell is in
* @param serial the serial port to be used
*/
- MBLoadCell(USARTInterface &serial, LoadCellModes mode);
+ MBLoadCell(USARTInterface& serial, LoadCellModes mode);
/**
* @brief Initializes the serial communication with the load cell.
@@ -126,7 +126,7 @@ protected:
* @param value The value used in the forging of the "set point"
* requests.
*/
- void generateRequest(DataAsciiRequest &req,
+ void generateRequest(DataAsciiRequest& req,
const LoadCellValuesEnum toRequest, int value = 0);
/**
@@ -135,7 +135,7 @@ protected:
*
* @param buf The message to send.
*/
- void transmitASCII(const std::string &buf);
+ void transmitASCII(const std::string& buf);
/**
* @brief Wrapper to the serial recvString method. This also sets the
@@ -153,7 +153,7 @@ protected:
* stored.
*/
template <typename T>
- void receive(T *buf);
+ void receive(T* buf);
private:
MBLoadCellSettings settings; ///< Contains all the configuration
@@ -165,7 +165,7 @@ private:
bool minPrint;
///< Pointer to the instance of the serial port used for the connection
- USARTInterface &serial;
+ USARTInterface& serial;
};
} // namespace Boardcore
diff --git a/src/shared/sensors/MBLoadCell/MBLoadCellData.h b/src/shared/sensors/MBLoadCell/MBLoadCellData.h
index 3c9c12495..9b7018d58 100644
--- a/src/shared/sensors/MBLoadCell/MBLoadCellData.h
+++ b/src/shared/sensors/MBLoadCell/MBLoadCellData.h
@@ -220,9 +220,7 @@ struct DataAsciiRequest
str.append(req);
for (unsigned int i = 0; i < str.length(); i++)
- {
checksum ^= str[i];
- }
sprintf(ck, "%x", checksum);
}
diff --git a/src/shared/sensors/MPU9250/MPU9250.cpp b/src/shared/sensors/MPU9250/MPU9250.cpp
index 512bbbea3..02ff3ee28 100644
--- a/src/shared/sensors/MPU9250/MPU9250.cpp
+++ b/src/shared/sensors/MPU9250/MPU9250.cpp
@@ -80,9 +80,7 @@ bool MPU9250::init()
// Init the AK8963
if (!initAk())
- {
return false;
- }
// Set full scale resolution for gyroscope and accelerometer (they are
// enabled by default)
diff --git a/src/shared/sensors/MS5803/MS5803Data.h b/src/shared/sensors/MS5803/MS5803Data.h
index 10eb959bd..98284b83d 100644
--- a/src/shared/sensors/MS5803/MS5803Data.h
+++ b/src/shared/sensors/MS5803/MS5803Data.h
@@ -42,14 +42,12 @@ struct MS5803CalibrationData
struct MS5803Data : public PressureData, TemperatureData
{
-
MS5803Data() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
MS5803Data(uint64_t pressureTimestamp, float pressure,
uint64_t temperatureTimestamp, float temperature)
- : PressureData{pressureTimestamp, pressure}, TemperatureData{
- temperatureTimestamp,
- temperature}
+ : PressureData{pressureTimestamp, pressure},
+ TemperatureData{temperatureTimestamp, temperature}
{
}
diff --git a/src/shared/sensors/SensorInfo.h b/src/shared/sensors/SensorInfo.h
index 1a08751ac..51f91b3c5 100644
--- a/src/shared/sensors/SensorInfo.h
+++ b/src/shared/sensors/SensorInfo.h
@@ -96,4 +96,4 @@ struct SensorInfo
};
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/SensorManager.cpp b/src/shared/sensors/SensorManager.cpp
index 20f8861c9..e41342143 100644
--- a/src/shared/sensors/SensorManager.cpp
+++ b/src/shared/sensors/SensorManager.cpp
@@ -179,9 +179,11 @@ bool SensorManager::init(const SensorMap_t& sensorsMap)
samplersMap[sensor] = newSampler;
if (currentSamplerId == MAX_TASK_ID)
+ {
LOG_WARN(logger,
"Max task ID (255) reached in task scheduler, IDs "
"will start again from 0");
+ }
currentSamplerId++;
}
diff --git a/src/shared/sensors/SensorSampler.cpp b/src/shared/sensors/SensorSampler.cpp
index 30183fd2a..1f76175dd 100644
--- a/src/shared/sensors/SensorSampler.cpp
+++ b/src/shared/sensors/SensorSampler.cpp
@@ -54,17 +54,13 @@ void SensorSampler::toggleSensor(AbstractSensor* sensor, bool isEnabled)
void SensorSampler::enableAllSensors()
{
for (auto& s : sensors)
- {
s.second.isEnabled = true;
- }
}
void SensorSampler::disableAllSensors()
{
for (auto& s : sensors)
- {
s.second.isEnabled = false;
- }
}
void SensorSampler::sampleAndCallback()
@@ -91,12 +87,8 @@ unsigned int SensorSampler::getNumSensors() { return sensors.size(); }
const SensorInfo SensorSampler::getSensorInfo(AbstractSensor* sensor)
{
for (auto it = sensors.begin(); it != sensors.end(); ++it)
- {
if (it->first == sensor)
- {
return it->second;
- }
- }
LOG_ERR(logger, "Sampler {}: sensor {} not found", this->id,
static_cast<void*>(sensor));
diff --git a/src/shared/sensors/UBXGPS/UBXGPSData.h b/src/shared/sensors/UBXGPS/UBXGPSData.h
index 43d0df2a9..f4101357f 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSData.h
+++ b/src/shared/sensors/UBXGPS/UBXGPSData.h
@@ -51,7 +51,7 @@ struct UBXDateTime
return "year,month,day,hour,minute,second,nanosecond,accuracy";
}
- void print(std::ostream &os) const
+ void print(std::ostream& os) const
{
os << year << "," << (int)month << "," << (int)day << "," << (int)hour
<< "," << (int)minute << "," << (int)second << "," << nanosecond
@@ -71,7 +71,7 @@ struct UBXGPSData : public GPSData
UBXDateTime::header() + "\n";
}
- void print(std::ostream &os) const
+ void print(std::ostream& os) const
{
os << gpsTimestamp << "," << latitude << "," << longitude << ","
<< height << "," << velocityNorth << "," << velocityEast << ","
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
index 380d959a9..c93061a00 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
@@ -174,9 +174,8 @@ bool UBXGPSSerial::setSerialCommunication()
miosix::Thread::sleep(100);
// Change baudrate
if (!setBaudrateAndUBX(false))
- {
return false;
- };
+ ;
}
miosix::Thread::sleep(100);
@@ -275,7 +274,9 @@ bool UBXGPSSerial::readUBXFrame(UBXFrame& frame)
usart.read(&frame.payloadLength, 2) <= 0 ||
usart.read(frame.payload, frame.getRealPayloadLength()) <= 0 ||
usart.read(frame.checksum, 2) <= 0)
+ {
return false;
+ }
if (!frame.isValid())
{
@@ -307,8 +308,10 @@ bool UBXGPSSerial::safeWriteUBXFrame(const UBXFrame& frame)
for (unsigned int i = 0; i < MAX_TRIES; i++)
{
if (i > 0)
+ {
LOG_DEBUG(logger, "Retrying (attempt {:#d} of {:#d})...", i + 1,
MAX_TRIES);
+ }
if (!writeUBXFrame(frame))
return false;
@@ -321,10 +324,14 @@ bool UBXGPSSerial::safeWriteUBXFrame(const UBXFrame& frame)
if (ack.isNack())
{
if (ack.getAckMessage() == frame.getMessage())
+ {
LOG_DEBUG(logger, "Received NAK");
+ }
else
+ {
LOG_DEBUG(logger, "Received NAK for different UBX frame {:04x}",
static_cast<uint16_t>(ack.getPayload().ackMessage));
+ }
continue;
}
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp b/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
index 1137164b8..72bc7ad12 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
@@ -334,8 +334,10 @@ bool UBXGPSSpi::safeWriteUBXFrame(const UBXFrame& frame)
for (unsigned int i = 0; i < MAX_TRIES; i++)
{
if (i > 0)
+ {
LOG_DEBUG(logger, "Retrying (attempt {:#d} of {:#d})...", i + 1,
MAX_TRIES);
+ }
if (!writeUBXFrame(frame))
return false;
@@ -348,10 +350,14 @@ bool UBXGPSSpi::safeWriteUBXFrame(const UBXFrame& frame)
if (ack.isNack())
{
if (ack.getAckMessage() == frame.getMessage())
+ {
LOG_DEBUG(logger, "Received NAK");
+ }
else
+ {
LOG_DEBUG(logger, "Received NAK for different UBX frame {:04x}",
static_cast<uint16_t>(ack.getPayload().ackMessage));
+ }
continue;
}
diff --git a/src/shared/sensors/Vectornav/VN100/VN100Serial.cpp b/src/shared/sensors/Vectornav/VN100/VN100Serial.cpp
index e0df012ee..70f7eaa3d 100644
--- a/src/shared/sensors/Vectornav/VN100/VN100Serial.cpp
+++ b/src/shared/sensors/Vectornav/VN100/VN100Serial.cpp
@@ -28,7 +28,7 @@
namespace Boardcore
{
-VN100Serial::VN100Serial(USART &usart, int baudRate, CRCOptions crc,
+VN100Serial::VN100Serial(USART& usart, int baudRate, CRCOptions crc,
uint16_t samplePeriod)
: usart(usart), baudRate(baudRate), samplePeriod(samplePeriod), crc(crc)
{
@@ -165,9 +165,7 @@ string VN100Serial::getLastRawSample()
{
// If not init i return the void string
if (!isInit)
- {
return string("");
- }
return string(recvString, recvStringLength);
}
@@ -227,9 +225,7 @@ VN100SerialData VN100Serial::sampleData()
// Before sampling i check for errors
if (lastError != SensorErrors::NO_ERRORS)
- {
return lastSample;
- }
// Returns Quaternion, Magnetometer, Accelerometer and Gyro
usart.writeString(preSampleImuString->c_str());
@@ -294,15 +290,11 @@ bool VN100Serial::disableAsyncMessages(bool waitResponse)
// Send the command
if (!sendStringCommand(command))
- {
return false;
- }
// Read the answer
if (waitResponse)
- {
recvStringCommand(recvString, recvStringMaxDimension);
- }
return true;
}
@@ -329,9 +321,7 @@ bool VN100Serial::configUserSerialPort()
// I can send the command
if (!sendStringCommand(command))
- {
return false;
- }
// I can open the serial with user's baud rate
usart.setBaudrate(baudRate);
@@ -368,29 +358,21 @@ bool VN100Serial::setCrc(bool waitResponse)
// Send the command
if (!sendStringCommand(command))
- {
return false;
- }
// Read the answer
if (waitResponse)
- {
recvStringCommand(recvString, recvStringMaxDimension);
- }
crc = CRCOptions::CRC_ENABLE_16;
// Send the command
if (!sendStringCommand(command))
- {
return false;
- }
// Read the answer
if (waitResponse)
- {
recvStringCommand(recvString, recvStringMaxDimension);
- }
// Restore the crc
crc = backup;
@@ -454,7 +436,7 @@ bool VN100Serial::selfTestImpl()
QuaternionData VN100Serial::sampleQuaternion()
{
unsigned int indexStart = 0;
- char *nextNumber;
+ char* nextNumber;
QuaternionData data;
// Look for the second ',' in the string
@@ -463,9 +445,7 @@ QuaternionData VN100Serial::sampleQuaternion()
for (int i = 0; i < 2; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -482,7 +462,7 @@ QuaternionData VN100Serial::sampleQuaternion()
MagnetometerData VN100Serial::sampleMagnetometer()
{
unsigned int indexStart = 0;
- char *nextNumber;
+ char* nextNumber;
MagnetometerData data;
// Look for the sixth ',' in the string
@@ -491,9 +471,7 @@ MagnetometerData VN100Serial::sampleMagnetometer()
for (int i = 0; i < 6; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -509,7 +487,7 @@ MagnetometerData VN100Serial::sampleMagnetometer()
AccelerometerData VN100Serial::sampleAccelerometer()
{
unsigned int indexStart = 0;
- char *nextNumber;
+ char* nextNumber;
AccelerometerData data;
// Look for the ninth ',' in the string
@@ -518,9 +496,7 @@ AccelerometerData VN100Serial::sampleAccelerometer()
for (int i = 0; i < 9; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -536,7 +512,7 @@ AccelerometerData VN100Serial::sampleAccelerometer()
GyroscopeData VN100Serial::sampleGyroscope()
{
unsigned int indexStart = 0;
- char *nextNumber;
+ char* nextNumber;
GyroscopeData data;
// Look for the twelfth ',' in the string
@@ -545,9 +521,7 @@ GyroscopeData VN100Serial::sampleGyroscope()
for (int i = 0; i < 12; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -571,9 +545,7 @@ TemperatureData VN100Serial::sampleTemperature()
for (int i = 0; i < 11; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -595,9 +567,7 @@ PressureData VN100Serial::samplePressure()
for (int i = 0; i < 12; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -614,7 +584,7 @@ bool VN100Serial::sendStringCommand(std::string command)
{
char checksum[4]; // 2 hex + \n + \0
// I convert the calculated checksum in hex using itoa
- itoa(calculateChecksum8((uint8_t *)command.c_str(), command.length()),
+ itoa(calculateChecksum8((uint8_t*)command.c_str(), command.length()),
checksum, 16);
checksum[2] = '\n';
checksum[3] = '\0';
@@ -625,7 +595,7 @@ bool VN100Serial::sendStringCommand(std::string command)
{
char checksum[6]; // 4 hex + \n + \0
// I convert the calculated checksum in hex using itoa
- itoa(calculateChecksum16((uint8_t *)command.c_str(), command.length()),
+ itoa(calculateChecksum16((uint8_t*)command.c_str(), command.length()),
checksum, 16);
checksum[4] = '\n';
checksum[5] = '\0';
@@ -649,20 +619,16 @@ bool VN100Serial::sendStringCommand(std::string command)
return true;
}
-bool VN100Serial::recvStringCommand(char *command, int maxLength)
+bool VN100Serial::recvStringCommand(char* command, int maxLength)
{
int i = 0;
// Read the buffer
if (!usart.readBlocking(command, maxLength))
- {
return false;
- }
// Iterate until i reach the end or i find \n then i substitute it with a \0
while (i < maxLength && command[i] != '\n')
- {
i++;
- }
// Terminate the string
command[i] = '\0';
@@ -673,15 +639,13 @@ bool VN100Serial::recvStringCommand(char *command, int maxLength)
return true;
}
-bool VN100Serial::verifyChecksum(char *command, int length)
+bool VN100Serial::verifyChecksum(char* command, int length)
{
int checksumOffset = 0;
// I look for the checksum position
while (checksumOffset < length && command[checksumOffset] != '*')
- {
checksumOffset++;
- }
if (checksumOffset == length)
{
@@ -703,7 +667,7 @@ bool VN100Serial::verifyChecksum(char *command, int length)
// Calculate the checksum and verify (comparison between numerical
// checksum to avoid string bugs e.g 0856 != 865)
if (strtol(command + checksumOffset + 1, NULL, 16) !=
- calculateChecksum16((uint8_t *)(command + 1), checksumOffset - 1))
+ calculateChecksum16((uint8_t*)(command + 1), checksumOffset - 1))
{
TRACE("Different checksum: %s\n", command);
return false;
@@ -721,7 +685,7 @@ bool VN100Serial::verifyChecksum(char *command, int length)
// Calculate the checksum and verify (comparison between numerical
// checksum to avoid string bugs e.g 0856 != 865)
if (strtol(command + checksumOffset + 1, NULL, 16) !=
- calculateChecksum8((uint8_t *)(command + 1), checksumOffset - 1))
+ calculateChecksum8((uint8_t*)(command + 1), checksumOffset - 1))
{
TRACE("Different checksum: %s\n", command);
return false;
@@ -731,7 +695,7 @@ bool VN100Serial::verifyChecksum(char *command, int length)
return true;
}
-uint8_t VN100Serial::calculateChecksum8(uint8_t *message, int length)
+uint8_t VN100Serial::calculateChecksum8(uint8_t* message, int length)
{
int i;
uint8_t result = 0x00;
@@ -746,7 +710,7 @@ uint8_t VN100Serial::calculateChecksum8(uint8_t *message, int length)
return result;
}
-uint16_t VN100Serial::calculateChecksum16(uint8_t *message, int length)
+uint16_t VN100Serial::calculateChecksum16(uint8_t* message, int length)
{
int i;
uint16_t result = 0x0000;
diff --git a/src/shared/sensors/Vectornav/VN100/VN100Serial.h b/src/shared/sensors/Vectornav/VN100/VN100Serial.h
index 36ce97ac4..0c1702cf3 100644
--- a/src/shared/sensors/Vectornav/VN100/VN100Serial.h
+++ b/src/shared/sensors/Vectornav/VN100/VN100Serial.h
@@ -86,7 +86,7 @@ public:
* @param Redundancy check option.
* @param samplePeriod Sampling period in ms
*/
- VN100Serial(USART &usart, int baudrate,
+ VN100Serial(USART& usart, int baudrate,
CRCOptions crc = CRCOptions::CRC_ENABLE_8,
uint16_t samplePeriod = 20);
@@ -207,7 +207,7 @@ private:
*
* @return True if operation succeeded.
*/
- bool recvStringCommand(char *command, int maxLength);
+ bool recvStringCommand(char* command, int maxLength);
/**
* @brief Method to verify the crc validity of a command.
@@ -217,7 +217,7 @@ private:
*
* @return True if operation succeeded.
*/
- bool verifyChecksum(char *command, int maxLength);
+ bool verifyChecksum(char* command, int maxLength);
/**
* @brief Calculate the 8bit checksum on the given array.
@@ -227,7 +227,7 @@ private:
*
* @return The 8 bit checksum.
*/
- uint8_t calculateChecksum8(uint8_t *message, int length);
+ uint8_t calculateChecksum8(uint8_t* message, int length);
/**
* @brief Calculate the 16bit array on the given array.
@@ -237,13 +237,13 @@ private:
*
* @return The 16 bit CRC16-CCITT error check.
*/
- uint16_t calculateChecksum16(uint8_t *message, int length);
+ uint16_t calculateChecksum16(uint8_t* message, int length);
/**
* @brief Serial interface that is needed to communicate
* with the sensor via ASCII codes.
*/
- USART &usart;
+ USART& usart;
int baudRate;
uint16_t samplePeriod;
@@ -253,19 +253,19 @@ private:
/**
* @brief IMU pre-elaborated sample string for efficiency reasons.
*/
- string *preSampleImuString = nullptr;
+ string* preSampleImuString = nullptr;
/**
* @brief Temperature and pressure pre-elaborated sample string for
* efficiency reasons.
*/
- string *preSampleTempPressString = nullptr;
+ string* preSampleTempPressString = nullptr;
/**
* @brief Pointer to the received string by the sensor. Allocated 1 time
* only (200 bytes).
*/
- char *recvString = nullptr;
+ char* recvString = nullptr;
/**
* @brief Actual strlen() of the recvString.
diff --git a/src/shared/sensors/Vectornav/VN100/VN100SerialData.h b/src/shared/sensors/Vectornav/VN100/VN100SerialData.h
index 31e903bda..dc1fa4dbf 100644
--- a/src/shared/sensors/Vectornav/VN100/VN100SerialData.h
+++ b/src/shared/sensors/Vectornav/VN100/VN100SerialData.h
@@ -37,14 +37,13 @@ struct VN100SerialData : public QuaternionData,
public TemperatureData,
public PressureData
{
-
/**
* @brief Void parameters constructor
*/
// cppcheck-suppress uninitDerivedMemberVar
VN100SerialData()
- : QuaternionData{0, 0.0, 0.0, 0.0, 0.0}, MagnetometerData{0, 0.0, 0.0,
- 0.0},
+ : QuaternionData{0, 0.0, 0.0, 0.0, 0.0},
+ MagnetometerData{0, 0.0, 0.0, 0.0},
AccelerometerData{0, 0.0, 0.0, 0.0}, GyroscopeData{0, 0.0, 0.0, 0.0},
TemperatureData{0, 0.0}, PressureData{0, 0.0}
{
diff --git a/src/shared/sensors/Vectornav/VN100/VN100Spi.cpp b/src/shared/sensors/Vectornav/VN100/VN100Spi.cpp
index 7caea2a86..61a899cfa 100644
--- a/src/shared/sensors/Vectornav/VN100/VN100Spi.cpp
+++ b/src/shared/sensors/Vectornav/VN100/VN100Spi.cpp
@@ -78,9 +78,7 @@ bool VN100Spi::checkModelNumber()
int i = 0;
char buf[VN100SpiDefs::MODEL_NUMBER_SIZE];
for (i = 0; i < VN100SpiDefs::MODEL_NUMBER_SIZE; ++i)
- {
buf[i] = 0;
- }
VN100SpiDefs::VNErrors err = readRegister(VN100SpiDefs::REG_MODEL_NUMBER,
reinterpret_cast<uint8_t*>(buf),
diff --git a/src/shared/sensors/Vectornav/VN100/VN100SpiData.h b/src/shared/sensors/Vectornav/VN100/VN100SpiData.h
index 40376473b..efb7cf2cb 100644
--- a/src/shared/sensors/Vectornav/VN100/VN100SpiData.h
+++ b/src/shared/sensors/Vectornav/VN100/VN100SpiData.h
@@ -40,10 +40,9 @@ struct VN100SpiData : public QuaternionData,
public AccelerometerData,
public GyroscopeData
{
-
VN100SpiData()
- : QuaternionData{0, 0.0, 0.0, 0.0, 0.0}, MagnetometerData{0, 0.0, 0.0,
- 0.0},
+ : QuaternionData{0, 0.0, 0.0, 0.0, 0.0},
+ MagnetometerData{0, 0.0, 0.0, 0.0},
AccelerometerData{0, 0.0, 0.0, 0.0}, GyroscopeData{0, 0.0, 0.0, 0.0}
{
}
diff --git a/src/shared/sensors/Vectornav/VN300/VN300.cpp b/src/shared/sensors/Vectornav/VN300/VN300.cpp
old mode 100755
new mode 100644
index ef7b62bfa..fe1d007b6
--- a/src/shared/sensors/Vectornav/VN300/VN300.cpp
+++ b/src/shared/sensors/Vectornav/VN300/VN300.cpp
@@ -54,13 +54,9 @@ bool VN300::init()
// Allocate the pre loaded strings based on the user selected crc
if (crc == CRCOptions::CRC_ENABLE_16)
- {
preSampleBin1 = "$VNBOM,1*749D\n";
- }
else
- {
preSampleBin1 = "$VNBOM,1*45\n";
- }
// Set the error to init fail and if the init process goes without problem
// i restore it to the last error
@@ -184,18 +180,14 @@ VN300Data VN300::sampleFull()
sampleOutcome =
getBinaryOutput<VN300Defs::BinaryDataFull>(bindataFull, preSampleBin1);
if (!sampleOutcome)
- {
lastError = NO_NEW_DATA;
- }
validChecksum =
crc == CRCOptions::CRC_NO ||
calculateChecksum16(reinterpret_cast<uint8_t*>(&bindataFull),
sizeof(bindataFull)) == 0;
if (sampleOutcome && !validChecksum)
- {
lastError = SensorErrors::BUS_FAULT;
- }
// Verify if the sample is valid
sampleOutcome = sampleOutcome && validChecksum;
@@ -226,18 +218,14 @@ VN300Data VN300::sampleReduced()
sampleOutcome = getBinaryOutput<VN300Defs::BinaryDataReduced>(
binDataReduced, preSampleBin1);
if (!sampleOutcome)
- {
lastError = NO_NEW_DATA;
- }
validChecksum =
crc == CRCOptions::CRC_NO ||
calculateChecksum16(reinterpret_cast<uint8_t*>(&binDataReduced),
sizeof(binDataReduced)) == 0;
if (sampleOutcome && !validChecksum)
- {
lastError = SensorErrors::BUS_FAULT;
- }
// Verify if the sample is valid
sampleOutcome = sampleOutcome && validChecksum;
@@ -337,14 +325,10 @@ bool VN300::setAntennaA(VN300Defs::AntennaPosition antPos)
usart.clearQueue();
if (!sendStringCommand(command))
- {
return false;
- }
if (!recvStringCommand(recvString.data(), recvStringMaxDimension))
- {
return false;
- }
if (checkErrorVN(recvString.data()))
return false;
@@ -362,14 +346,10 @@ bool VN300::setCompassBaseline(VN300Defs::AntennaPosition antPos)
usart.clearQueue();
if (!sendStringCommand(command))
- {
return false;
- }
if (!recvStringCommand(recvString.data(), recvStringMaxDimension))
- {
return false;
- }
if (checkErrorVN(recvString.data()))
return false;
@@ -379,7 +359,6 @@ bool VN300::setCompassBaseline(VN300Defs::AntennaPosition antPos)
bool VN300::setReferenceFrame(Eigen::Matrix3f rotMat)
{
-
std::string command =
fmt::format("{}{},{},{},{},{},{},{},{},{}", "VNWRG,26,", rotMat(0, 0),
rotMat(0, 1), rotMat(0, 2), rotMat(1, 0), rotMat(1, 1),
@@ -387,14 +366,10 @@ bool VN300::setReferenceFrame(Eigen::Matrix3f rotMat)
usart.clearQueue();
if (!sendStringCommand(command))
- {
return false;
- }
if (!recvStringCommand(recvString.data(), recvStringMaxDimension))
- {
return false;
- }
if (checkErrorVN(recvString.data()))
return false;
@@ -445,9 +420,7 @@ bool VN300::setBinaryOutput()
usart.clearQueue();
if (!sendStringCommand(command))
- {
return false;
- }
if (!recvStringCommand(recvString.data(), recvStringMaxDimension))
{
diff --git a/src/shared/sensors/Vectornav/VN300/VN300Data.h b/src/shared/sensors/Vectornav/VN300/VN300Data.h
index 5953da14c..df8ab71de 100644
--- a/src/shared/sensors/Vectornav/VN300/VN300Data.h
+++ b/src/shared/sensors/Vectornav/VN300/VN300Data.h
@@ -49,11 +49,10 @@ struct VN300Data : public QuaternionData,
public GyroscopeData,
public VN300Defs::INSData
{
-
// cppcheck-suppress uninitDerivedMemberVar
VN300Data()
- : QuaternionData{0, 0.0, 0.0, 0.0, 0.0}, MagnetometerData{0, 0.0, 0.0,
- 0.0},
+ : QuaternionData{0, 0.0, 0.0, 0.0, 0.0},
+ MagnetometerData{0, 0.0, 0.0, 0.0},
AccelerometerData{0, 0.0, 0.0, 0.0}, GyroscopeData{0, 0.0, 0.0, 0.0},
INSData{0, 0, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
{
diff --git a/src/shared/sensors/Vectornav/VNCommonSerial.cpp b/src/shared/sensors/Vectornav/VNCommonSerial.cpp
index 599e88905..ad1a8cdd2 100644
--- a/src/shared/sensors/Vectornav/VNCommonSerial.cpp
+++ b/src/shared/sensors/Vectornav/VNCommonSerial.cpp
@@ -28,8 +28,8 @@
namespace Boardcore
{
-VNCommonSerial::VNCommonSerial(USART &usart, int baudrate,
- const char *sensorName, CRCOptions crc,
+VNCommonSerial::VNCommonSerial(USART& usart, int baudrate,
+ const char* sensorName, CRCOptions crc,
const std::chrono::milliseconds timeout)
: usart(usart), baudRate(baudrate), crc(crc),
logger(Logging::getLogger(sensorName)), maxTimeout(timeout)
@@ -38,7 +38,7 @@ VNCommonSerial::VNCommonSerial(USART &usart, int baudrate,
VNCommonSerial::~VNCommonSerial() {}
-uint8_t VNCommonSerial::calculateChecksum8(const uint8_t *message, int length)
+uint8_t VNCommonSerial::calculateChecksum8(const uint8_t* message, int length)
{
int i;
uint8_t result = 0x00;
@@ -53,7 +53,7 @@ uint8_t VNCommonSerial::calculateChecksum8(const uint8_t *message, int length)
return result;
}
-uint16_t VNCommonSerial::calculateChecksum16(const uint8_t *message, int length)
+uint16_t VNCommonSerial::calculateChecksum16(const uint8_t* message, int length)
{
int i;
uint16_t result = 0x0000;
@@ -71,15 +71,13 @@ uint16_t VNCommonSerial::calculateChecksum16(const uint8_t *message, int length)
return result;
}
-bool VNCommonSerial::verifyChecksum(char *command, int length)
+bool VNCommonSerial::verifyChecksum(char* command, int length)
{
int checksumOffset = 0;
// I look for the checksum position
while (checksumOffset < length && command[checksumOffset] != '*')
- {
checksumOffset++;
- }
if (checksumOffset == length)
{
@@ -101,7 +99,7 @@ bool VNCommonSerial::verifyChecksum(char *command, int length)
// Calculate the checksum and verify (comparison between numerical
// checksum to avoid string bugs e.g 0856 != 865)
if (strtol(command + checksumOffset + 1, NULL, 16) !=
- calculateChecksum16((uint8_t *)(command + 1), checksumOffset - 1))
+ calculateChecksum16((uint8_t*)(command + 1), checksumOffset - 1))
{
TRACE("Different checksum: %s\n", command);
return false;
@@ -119,7 +117,7 @@ bool VNCommonSerial::verifyChecksum(char *command, int length)
// Calculate the checksum and verify (comparison between numerical
// checksum to avoid string bugs e.g 0856 != 865)
if (strtol(command + checksumOffset + 1, NULL, 16) !=
- calculateChecksum8((uint8_t *)(command + 1), checksumOffset - 1))
+ calculateChecksum8((uint8_t*)(command + 1), checksumOffset - 1))
{
TRACE("Different checksum: %s\n", command);
return false;
@@ -138,21 +136,15 @@ bool VNCommonSerial::disableAsyncMessages(bool waitResponse)
usart.clearQueue();
if (!sendStringCommand(command))
- {
return false;
- }
if (waitResponse)
{
if (!recvStringCommand(recvString.data(), recvStringMaxDimension))
- {
return false;
- }
if (checkErrorVN(recvString.data()))
- {
return false;
- }
}
return true;
@@ -186,34 +178,26 @@ bool VNCommonSerial::setCrc(bool waitResponse)
// Send the command
if (!sendStringCommand(command))
- {
return false;
- }
// Read the answer
if (waitResponse)
{
if (!recvStringCommand(recvString.data(), recvStringMaxDimension))
- {
return false;
- }
}
crc = CRCOptions::CRC_ENABLE_16;
// Send the command
if (!sendStringCommand(command))
- {
return false;
- }
// Read the answer
if (waitResponse)
{
if (!recvStringCommand(recvString.data(), recvStringMaxDimension))
- {
return false;
- }
}
// Restore the crc
@@ -237,9 +221,7 @@ bool VNCommonSerial::configUserSerialPort()
// I can send the command
if (!sendStringCommand(command))
- {
return false;
- }
// I can open the serial with user's baud rate
usart.setBaudrate(baudRate);
@@ -248,7 +230,7 @@ bool VNCommonSerial::configUserSerialPort()
return true;
}
-bool VNCommonSerial::verifyModelNumber(const char *expectedModelNumber)
+bool VNCommonSerial::verifyModelNumber(const char* expectedModelNumber)
{
// The model number starts from the 10th position
const int modelNumberOffset = 10;
@@ -290,7 +272,7 @@ bool VNCommonSerial::verifyModelNumber(const char *expectedModelNumber)
QuaternionData VNCommonSerial::sampleQuaternion()
{
unsigned int indexStart = 0;
- char *nextNumber;
+ char* nextNumber;
QuaternionData data;
// Look for the second ',' in the string
@@ -299,9 +281,7 @@ QuaternionData VNCommonSerial::sampleQuaternion()
for (int i = 0; i < 2; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -318,7 +298,7 @@ QuaternionData VNCommonSerial::sampleQuaternion()
MagnetometerData VNCommonSerial::sampleMagnetometer()
{
unsigned int indexStart = 0;
- char *nextNumber;
+ char* nextNumber;
MagnetometerData data;
// Look for the sixth ',' in the string
@@ -327,9 +307,7 @@ MagnetometerData VNCommonSerial::sampleMagnetometer()
for (int i = 0; i < 6; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -346,7 +324,7 @@ MagnetometerData VNCommonSerial::sampleMagnetometer()
AccelerometerData VNCommonSerial::sampleAccelerometer()
{
unsigned int indexStart = 0;
- char *nextNumber;
+ char* nextNumber;
AccelerometerData data;
// Look for the ninth ',' in the string
@@ -355,9 +333,7 @@ AccelerometerData VNCommonSerial::sampleAccelerometer()
for (int i = 0; i < 9; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -374,7 +350,7 @@ AccelerometerData VNCommonSerial::sampleAccelerometer()
GyroscopeData VNCommonSerial::sampleGyroscope()
{
unsigned int indexStart = 0;
- char *nextNumber;
+ char* nextNumber;
GyroscopeData data;
// Look for the twelfth ',' in the string
@@ -383,9 +359,7 @@ GyroscopeData VNCommonSerial::sampleGyroscope()
for (int i = 0; i < 12; i++)
{
while (indexStart < recvStringLength && recvString[indexStart] != ',')
- {
indexStart++;
- }
indexStart++;
}
@@ -399,7 +373,7 @@ GyroscopeData VNCommonSerial::sampleGyroscope()
return data;
}
-uint8_t VNCommonSerial::checkErrorVN(const char *message)
+uint8_t VNCommonSerial::checkErrorVN(const char* message)
{
if (strncmp(message, "$VNERR,", 7) == 0)
{
@@ -431,7 +405,7 @@ bool VNCommonSerial::sendStringCommand(std::string command)
{
char checksum[4]; // 2 hex + \n + \0
// I convert the calculated checksum in hex using itoa
- itoa(calculateChecksum8((uint8_t *)command.c_str(), command.length()),
+ itoa(calculateChecksum8((uint8_t*)command.c_str(), command.length()),
checksum, 16);
checksum[2] = '\n';
checksum[3] = '\0';
@@ -442,7 +416,7 @@ bool VNCommonSerial::sendStringCommand(std::string command)
{
char checksum[6]; // 4 hex + \n + \0
// I convert the calculated checksum in hex using itoa
- itoa(calculateChecksum16((uint8_t *)command.c_str(), command.length()),
+ itoa(calculateChecksum16((uint8_t*)command.c_str(), command.length()),
checksum, 16);
checksum[4] = '\n';
checksum[5] = '\0';
@@ -476,20 +450,16 @@ bool VNCommonSerial::sendStringCommand(std::string command)
return true;
}
-bool VNCommonSerial::recvStringCommand(char *command, int maxLength)
+bool VNCommonSerial::recvStringCommand(char* command, int maxLength)
{
int i = 0;
// Read the buffer
if (!usart.readBlocking(command, maxLength, maxTimeout))
- {
return false;
- }
// Iterate until i reach the end or i find \n then i substitute it with a \0
while (i < maxLength && command[i] != '\n')
- {
i++;
- }
// Terminate the string
command[i] = '\0';
diff --git a/src/shared/sensors/Vectornav/VNCommonSerial.h b/src/shared/sensors/Vectornav/VNCommonSerial.h
index e25b6d225..66ab3a6ac 100644
--- a/src/shared/sensors/Vectornav/VNCommonSerial.h
+++ b/src/shared/sensors/Vectornav/VNCommonSerial.h
@@ -49,7 +49,7 @@ public:
* @param timeout The maximum time that will be waited when reading from the
* sensor.
*/
- VNCommonSerial(USART &usart, int baudrate, const char *sensorName,
+ VNCommonSerial(USART& usart, int baudrate, const char* sensorName,
CRCOptions crc, const std::chrono::milliseconds timeout);
~VNCommonSerial();
@@ -71,7 +71,7 @@ protected:
*
* @return The 8 bit checksum.
*/
- uint8_t calculateChecksum8(const uint8_t *message, int length);
+ uint8_t calculateChecksum8(const uint8_t* message, int length);
/**
* @brief Calculate the 16bit array on the given array.
@@ -81,7 +81,7 @@ protected:
*
* @return The 16 bit CRC16-CCITT error check.
*/
- uint16_t calculateChecksum16(const uint8_t *message, int length);
+ uint16_t calculateChecksum16(const uint8_t* message, int length);
/**
* @brief Method to verify the crc validity of a command.
@@ -91,7 +91,7 @@ protected:
*
* @return True if operation succeeded.
*/
- bool verifyChecksum(char *command, int maxLength);
+ bool verifyChecksum(char* command, int maxLength);
/**
* @brief Disables the async messages that the sensor is default configured
@@ -132,7 +132,7 @@ protected:
* @return True if the model number received from the sensor corresponds
* with the expected one.
*/
- bool verifyModelNumber(const char *expectedModelNumber);
+ bool verifyModelNumber(const char* expectedModelNumber);
/**
* @brief Utility function used to retrieve the binary output from the
@@ -143,7 +143,7 @@ protected:
* @return True if operation successful, false otherwise.
*/
template <typename T>
- bool getBinaryOutput(T &binaryData, const char *const sampleCommand);
+ bool getBinaryOutput(T& binaryData, const char* const sampleCommand);
/**
* @brief Utility function used to extract quaternion data from the
@@ -177,7 +177,7 @@ protected:
* @return Returns 0 if no error was found, else returns the actual error
* code.
*/
- uint8_t checkErrorVN(const char *message);
+ uint8_t checkErrorVN(const char* message);
/**
* @brief Sends the command to the sensor with the correct checksum added
@@ -202,13 +202,13 @@ protected:
*
* @return True if operation succeeded.
*/
- bool recvStringCommand(char *command, int maxLength);
+ bool recvStringCommand(char* command, int maxLength);
/**
* @brief Serial interface that is needed to communicate
* with the sensor via ASCII codes.
*/
- USART &usart;
+ USART& usart;
int baudRate;
CRCOptions crc;
@@ -246,8 +246,8 @@ private:
};
template <typename T>
-bool VNCommonSerial::getBinaryOutput(T &binaryData,
- const char *const sampleCommand)
+bool VNCommonSerial::getBinaryOutput(T& binaryData,
+ const char* const sampleCommand)
{
uint8_t initByte = 0;
@@ -260,9 +260,7 @@ bool VNCommonSerial::getBinaryOutput(T &binaryData,
if (usart.readBlocking(&initByte, 1, maxTimeout) && initByte == 0xFA)
{
if (usart.readBlocking(&binaryData, sizeof(T), maxTimeout))
- {
return true;
- }
}
return false;
diff --git a/src/shared/sensors/analog/CurrentSensor.h b/src/shared/sensors/analog/CurrentSensor.h
index d871b9182..e57b8e8f6 100644
--- a/src/shared/sensors/analog/CurrentSensor.h
+++ b/src/shared/sensors/analog/CurrentSensor.h
@@ -57,9 +57,7 @@ protected:
ADCData adc_data = getVoltage();
if (lastSample.current == 0)
- {
lastSample.current = voltageToCurrent(adc_data.voltage);
- }
CurrentData current_data;
current_data.currentTimestamp = adc_data.voltageTimestamp;
diff --git a/src/shared/sensors/analog/TrafagPressureSensor.h b/src/shared/sensors/analog/TrafagPressureSensor.h
index a0539c62f..876734e70 100644
--- a/src/shared/sensors/analog/TrafagPressureSensor.h
+++ b/src/shared/sensors/analog/TrafagPressureSensor.h
@@ -49,8 +49,8 @@ public:
float shuntResistance, float maxPressure,
float minCurrent = 4, float maxCurrent = 20)
: getVoltage{getVoltage}, shuntResistance{shuntResistance},
- maxPressure{maxPressure}, minCurrent{minCurrent}, maxCurrent{
- maxCurrent}
+ maxPressure{maxPressure}, minCurrent{minCurrent},
+ maxCurrent{maxCurrent}
{
}
@@ -86,4 +86,4 @@ private:
const float maxCurrent;
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/analog/TwoPointAnalogLoadCell.h b/src/shared/sensors/analog/TwoPointAnalogLoadCell.h
index fa620b6d1..0a2051d61 100644
--- a/src/shared/sensors/analog/TwoPointAnalogLoadCell.h
+++ b/src/shared/sensors/analog/TwoPointAnalogLoadCell.h
@@ -47,8 +47,8 @@ public:
*/
TwoPointAnalogLoadCell(std::function<ADCData()> getVoltage, float p0Voltage,
float p0Mass, float p1Voltage, float p1Mass)
- : getVoltage{getVoltage}, staticScale{(p1Mass - p0Mass) /
- (p1Voltage - p0Voltage)},
+ : getVoltage{getVoltage},
+ staticScale{(p1Mass - p0Mass) / (p1Voltage - p0Voltage)},
staticOffset{p0Mass - staticScale * p0Voltage}
{
}
@@ -113,4 +113,4 @@ private:
const float staticOffset;
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp b/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
index 4f28da12f..ccb1e5cd6 100644
--- a/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
+++ b/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
@@ -63,11 +63,13 @@ SixParametersCorrector SoftAndHardIronCalibration::computeResult()
int minIdx = 0;
for (int i = 0; i < eigenValues.rows(); i++)
+ {
if (minValue > eigenValues[i])
{
minValue = eigenValues[i];
minIdx = i;
}
+ }
Eigen::Matrix<float, 7, 1> vec = solver.eigenvectors().col(minIdx);
// Invert the vector if necessary
diff --git a/src/shared/units/Acceleration.h b/src/shared/units/Acceleration.h
index 92351a547..aa61a369f 100644
--- a/src/shared/units/Acceleration.h
+++ b/src/shared/units/Acceleration.h
@@ -37,7 +37,7 @@ template <class Ratio = std::ratio<1>>
using Acceleration = Unit<UnitKind::Acceleration, Ratio>;
template <class ToAcceleration, class FromAcceleration>
-ToAcceleration acceleration_cast(FromAcceleration const &from)
+ToAcceleration acceleration_cast(FromAcceleration const& from)
{
return ToAcceleration(from);
}
@@ -63,4 +63,4 @@ constexpr auto operator""_g(unsigned long long n)
} // namespace Acceleration
} // namespace Units
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/units/Angle.h b/src/shared/units/Angle.h
index a8cef5827..b2ef8ae3e 100644
--- a/src/shared/units/Angle.h
+++ b/src/shared/units/Angle.h
@@ -37,7 +37,7 @@ template <class Ratio = std::ratio<1>>
using Angle = Unit<UnitKind::Angle, Ratio>;
template <class ToAngle, class FromAngle>
-ToAngle angle_cast(FromAngle const &from)
+ToAngle angle_cast(FromAngle const& from)
{
return ToAngle(from);
}
@@ -68,4 +68,4 @@ constexpr auto operator""_deg(unsigned long long n)
} // namespace Angle
} // namespace Units
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/units/Length.h b/src/shared/units/Length.h
index 6e0f99521..a5870752d 100644
--- a/src/shared/units/Length.h
+++ b/src/shared/units/Length.h
@@ -37,7 +37,7 @@ template <class Ratio = std::ratio<1>>
using Length = Unit<UnitKind::Length, Ratio>;
template <class ToLength, class FromLength>
-ToLength length_cast(FromLength const &from)
+ToLength length_cast(FromLength const& from)
{
return ToLength(from);
}
@@ -93,4 +93,4 @@ constexpr auto operator""_km(unsigned long long n)
} // namespace Length
} // namespace Units
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/units/Pressure.h b/src/shared/units/Pressure.h
index a2cfa6e8b..02b1e403e 100644
--- a/src/shared/units/Pressure.h
+++ b/src/shared/units/Pressure.h
@@ -37,7 +37,7 @@ template <class Ratio = std::ratio<1>>
using Pressure = Unit<UnitKind::Pressure, Ratio>;
template <class ToPressure, class FromPressure>
-ToPressure pressure_cast(FromPressure const &from)
+ToPressure pressure_cast(FromPressure const& from)
{
return ToPressure(from);
}
@@ -75,4 +75,4 @@ constexpr auto operator""_atm(unsigned long long n)
} // namespace Pressure
} // namespace Units
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/units/Speed.h b/src/shared/units/Speed.h
index 06f04c824..0dbb279a8 100644
--- a/src/shared/units/Speed.h
+++ b/src/shared/units/Speed.h
@@ -37,7 +37,7 @@ template <class Ratio = std::ratio<1>>
using Speed = Unit<UnitKind::Speed, Ratio>;
template <class ToSpeed, class FromSpeed>
-ToSpeed speed_cast(FromSpeed const &from)
+ToSpeed speed_cast(FromSpeed const& from)
{
return ToSpeed(from);
}
@@ -67,4 +67,4 @@ constexpr auto operator""_kmh(unsigned long long n)
} // namespace Speed
} // namespace Units
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/units/Time.h b/src/shared/units/Time.h
index 70ff0971d..767877a3f 100644
--- a/src/shared/units/Time.h
+++ b/src/shared/units/Time.h
@@ -38,12 +38,12 @@ template <class Ratio = std::ratio<1>>
using Time = Unit<UnitKind::Time, Ratio>;
template <class ToTime, class FromTime>
-ToTime time_cast(FromTime const &from)
+ToTime time_cast(FromTime const& from)
{
return ToTime(from);
}
-std::chrono::duration<float> to_chrono(Time<> const &from)
+std::chrono::duration<float> to_chrono(Time<> const& from)
{
return std::chrono::duration<float>(from.value());
}
@@ -108,4 +108,4 @@ constexpr auto operator""_h(unsigned long long n)
} // namespace Time
} // namespace Units
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/units/Units.h b/src/shared/units/Units.h
index 44fea2e8b..f4f382139 100644
--- a/src/shared/units/Units.h
+++ b/src/shared/units/Units.h
@@ -51,7 +51,7 @@ public:
constexpr explicit Unit(float val) : _value(val) {}
template <UnitKind FromKind, class FromRatio>
- constexpr explicit Unit(Unit<FromKind, FromRatio> const &from)
+ constexpr explicit Unit(Unit<FromKind, FromRatio> const& from)
: _value(from.template value<Ratio>())
{
}
@@ -80,112 +80,112 @@ private:
// Sum, Subtraction, Multiplication, Division
template <UnitKind Kind, class Ratio>
-constexpr auto operator+(const Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr auto operator+(const Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
return Unit<Kind, Ratio>(lhs.template value() + rhs.template value());
}
template <UnitKind Kind, class Ratio>
-constexpr auto operator-(const Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr auto operator-(const Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
return Unit<Kind, Ratio>(lhs.template value() - rhs.template value());
}
template <UnitKind Kind, class Ratio>
-constexpr auto operator*(const Unit<Kind, Ratio> &lhs, float rhs)
+constexpr auto operator*(const Unit<Kind, Ratio>& lhs, float rhs)
{
return Unit<Kind, Ratio>(lhs.template value() * rhs);
}
template <UnitKind Kind, class Ratio>
-constexpr auto operator*(float lhs, const Unit<Kind, Ratio> &rhs)
+constexpr auto operator*(float lhs, const Unit<Kind, Ratio>& rhs)
{
return Unit<Kind, Ratio>(lhs * rhs.template value());
}
template <UnitKind Kind, class Ratio>
-constexpr auto operator/(const Unit<Kind, Ratio> &lhs, float rhs)
+constexpr auto operator/(const Unit<Kind, Ratio>& lhs, float rhs)
{
return Unit<Kind, Ratio>(lhs.template value() / rhs);
}
template <UnitKind Kind, class Ratio>
-constexpr auto operator/(float lhs, const Unit<Kind, Ratio> &rhs)
+constexpr auto operator/(float lhs, const Unit<Kind, Ratio>& rhs)
{
return Unit<Kind, Ratio>(lhs / rhs.template value());
}
// Comparison operators
template <UnitKind Kind, class Ratio>
-constexpr bool operator==(const Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr bool operator==(const Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
return lhs.template value() == rhs.template value();
}
template <UnitKind Kind, class Ratio>
-constexpr bool operator!=(const Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr bool operator!=(const Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
return lhs.template value() != rhs.template value();
}
template <UnitKind Kind, class Ratio>
-constexpr bool operator<(const Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr bool operator<(const Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
return lhs.template value() < rhs.template value();
}
template <UnitKind Kind, class Ratio>
-constexpr bool operator>(const Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr bool operator>(const Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
return lhs.template value() > rhs.template value();
}
template <UnitKind Kind, class Ratio>
-constexpr bool operator<=(const Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr bool operator<=(const Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
return lhs.template value() <= rhs.template value();
}
template <UnitKind Kind, class Ratio>
-constexpr bool operator>=(const Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr bool operator>=(const Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
return lhs.template value() >= rhs.template value();
}
// Direct assignment operators
template <UnitKind Kind, class Ratio>
-constexpr Unit<Kind, Ratio> &operator+=(Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr Unit<Kind, Ratio>& operator+=(Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
lhs = lhs + rhs;
return lhs;
}
template <UnitKind Kind, class Ratio>
-constexpr Unit<Kind, Ratio> &operator-=(Unit<Kind, Ratio> &lhs,
- const Unit<Kind, Ratio> &rhs)
+constexpr Unit<Kind, Ratio>& operator-=(Unit<Kind, Ratio>& lhs,
+ const Unit<Kind, Ratio>& rhs)
{
lhs = lhs - rhs;
return lhs;
}
template <UnitKind Kind, class Ratio>
-constexpr Unit<Kind, Ratio> &operator*=(Unit<Kind, Ratio> &lhs, float rhs)
+constexpr Unit<Kind, Ratio>& operator*=(Unit<Kind, Ratio>& lhs, float rhs)
{
lhs = lhs * rhs;
return lhs;
}
template <UnitKind Kind, class Ratio>
-constexpr Unit<Kind, Ratio> &operator/=(Unit<Kind, Ratio> &lhs, float rhs)
+constexpr Unit<Kind, Ratio>& operator/=(Unit<Kind, Ratio>& lhs, float rhs)
{
lhs = lhs / rhs;
return lhs;
diff --git a/src/shared/utils/ButtonHandler/ButtonHandler.cpp b/src/shared/utils/ButtonHandler/ButtonHandler.cpp
index 89c20e726..f15607942 100644
--- a/src/shared/utils/ButtonHandler/ButtonHandler.cpp
+++ b/src/shared/utils/ButtonHandler/ButtonHandler.cpp
@@ -66,9 +66,9 @@ void ButtonHandler::periodicButtonValueCheck(miosix::GpioPin pin)
return;
// Retrieve the pin information
- const ButtonCallback &callback = std::get<0>(callbacks[pin]);
- bool &wasPressed = std::get<1>(callbacks[pin]);
- unsigned int &pressedTicks = std::get<2>(callbacks[pin]);
+ const ButtonCallback& callback = std::get<0>(callbacks[pin]);
+ bool& wasPressed = std::get<1>(callbacks[pin]);
+ unsigned int& pressedTicks = std::get<2>(callbacks[pin]);
// Read the current button status
// Note: The button is assumed to be pressed if the pin value is low
diff --git a/src/shared/utils/CRC.h b/src/shared/utils/CRC.h
index 67e8af9bf..e215cfdcf 100644
--- a/src/shared/utils/CRC.h
+++ b/src/shared/utils/CRC.h
@@ -39,7 +39,7 @@ namespace CRCUtils
* @return Computed CRC value
*/
template <uint16_t poly, uint16_t init>
-uint16_t generiCrc16(const uint8_t *buffer, size_t count)
+uint16_t generiCrc16(const uint8_t* buffer, size_t count)
{
uint16_t crc = init;
@@ -48,12 +48,10 @@ uint16_t generiCrc16(const uint8_t *buffer, size_t count)
crc ^= static_cast<uint16_t>(buffer[i]) << 8;
for (uint8_t ii = 0; ii < 8; ii++)
- {
if (crc & 0x8000)
crc = (crc << 1) ^ poly;
else
crc <<= 1;
- }
}
return crc;
diff --git a/src/shared/utils/CSVReader/CSVReader.h b/src/shared/utils/CSVReader/CSVReader.h
index 0db89a16b..a5bf9882d 100644
--- a/src/shared/utils/CSVReader/CSVReader.h
+++ b/src/shared/utils/CSVReader/CSVReader.h
@@ -142,8 +142,10 @@ public:
{
// If the file has the header, ignore everithing in the first line
if (hasHeader)
+ {
fileStream.ignore(std::numeric_limits<std::streamsize>::max(),
'\n');
+ }
}
~CSVParser() { fileStream.close(); }
@@ -158,8 +160,7 @@ public:
{
std::vector<Data> fileData;
- std::for_each(begin(), end(),
- [&fileData](const Data& data)
+ std::for_each(begin(), end(), [&fileData](const Data& data)
{ fileData.push_back(data); });
return fileData;
diff --git a/src/shared/utils/ClockUtils.h b/src/shared/utils/ClockUtils.h
index 0527a5b11..1f446b385 100644
--- a/src/shared/utils/ClockUtils.h
+++ b/src/shared/utils/ClockUtils.h
@@ -91,9 +91,7 @@ inline uint32_t ClockUtils::getAPBPeripheralsClock(APB bus)
#endif
if (RCC->CFGR & RCC_CFGR_PPRE1_2)
- {
inputFrequency /= 2 << ((RCC->CFGR >> ppre1) & 0b11);
- }
}
else
{
@@ -107,9 +105,7 @@ inline uint32_t ClockUtils::getAPBPeripheralsClock(APB bus)
#endif
if (RCC->CFGR & RCC_CFGR_PPRE2_2)
- {
inputFrequency /= 2 << ((RCC->CFGR >> ppre2) & 0b11);
- }
}
return inputFrequency;
@@ -136,9 +132,7 @@ inline uint32_t ClockUtils::getAPBTimersClock(APB bus)
#endif
if (RCC->CFGR & RCC_CFGR_PPRE1_2)
- {
inputFrequency /= 1 << ((RCC->CFGR >> ppre1) & 0b11);
- }
}
else
{
@@ -152,9 +146,7 @@ inline uint32_t ClockUtils::getAPBTimersClock(APB bus)
#endif
if (RCC->CFGR & RCC_CFGR_PPRE2_2)
- {
inputFrequency /= 1 << ((RCC->CFGR >> ppre2) & 0b11);
- }
}
return inputFrequency;
diff --git a/src/shared/utils/DependencyManager/DependencyManager.cpp b/src/shared/utils/DependencyManager/DependencyManager.cpp
index 4899b2967..dfdd3f8d8 100644
--- a/src/shared/utils/DependencyManager/DependencyManager.cpp
+++ b/src/shared/utils/DependencyManager/DependencyManager.cpp
@@ -35,10 +35,8 @@ int32_t Boardcore::getNextDependencyId()
int32_t next_id = NEXT_ID;
while (next_id <= 256)
- {
if (NEXT_ID.compare_exchange_weak(next_id, next_id + 1))
return next_id;
- }
return -1;
}
@@ -58,9 +56,7 @@ void DependencyManager::graphviz(std::ostream& os)
// First print out all of the nodes
for (auto& module : modules)
- {
os << fmt::format(" \"{}\"", module.second.name) << std::endl;
- }
// Then print out the arcs
for (auto& module : modules)
@@ -88,13 +84,9 @@ bool DependencyManager::inject()
}
if (load_success)
- {
LOG_INFO(logger, "Configuring successful!");
- }
else
- {
LOG_ERR(logger, "Failed to inject modules!");
- }
return load_success;
}
@@ -115,13 +107,9 @@ void* DependencyManager::getImpl(int32_t id)
{
auto iter = modules.find(id);
if (iter == modules.end())
- {
return nullptr;
- }
else
- {
return iter->second.raw;
- }
}
void* DependencyInjector::getImpl(int32_t id)
diff --git a/src/shared/utils/DependencyManager/DependencyManager.h b/src/shared/utils/DependencyManager/DependencyManager.h
index 10637d78e..ff95097ce 100644
--- a/src/shared/utils/DependencyManager/DependencyManager.h
+++ b/src/shared/utils/DependencyManager/DependencyManager.h
@@ -70,7 +70,7 @@ public:
*
* @param injector Proxy class used to obtain dependencies.
*/
- virtual void inject(DependencyInjector &injector) {}
+ virtual void inject(DependencyInjector& injector) {}
};
/**
@@ -119,9 +119,9 @@ private:
struct ModuleInfo
{
std::string name; //< Name of the type.
- void *raw; ///< Pointer to the dependency's concrete type, returned
+ void* raw; ///< Pointer to the dependency's concrete type, returned
///< when retrieving this dependency
- Injectable *injectable; ///< Pointer to the dependency as an
+ Injectable* injectable; ///< Pointer to the dependency as an
///< Injectable, needed for dynamic dispatching
///< of the inject method
std::vector<int32_t> deps; ///< List of dependencies
@@ -140,11 +140,11 @@ public:
*/
template <typename T, typename = std::enable_if_t<
std::is_base_of<Injectable, T>::value>>
- [[nodiscard]] bool insert(T *dependency)
+ [[nodiscard]] bool insert(T* dependency)
{
return insertImpl(
- getDependencyId<T>(), reinterpret_cast<void *>(dependency),
- static_cast<Injectable *>(dependency), typeid(T).name());
+ getDependencyId<T>(), reinterpret_cast<void*>(dependency),
+ static_cast<Injectable*>(dependency), typeid(T).name());
}
/**
@@ -153,7 +153,7 @@ public:
*
* @param os Output stream to write to.
*/
- void graphviz(std::ostream &os);
+ void graphviz(std::ostream& os);
/**
* @brief Inject all dependencies into all inserted .
@@ -163,10 +163,10 @@ public:
[[nodiscard]] bool inject();
private:
- [[nodiscard]] bool insertImpl(int32_t id, void *raw, Injectable *injectable,
- const char *name);
+ [[nodiscard]] bool insertImpl(int32_t id, void* raw, Injectable* injectable,
+ const char* name);
- void *getImpl(int32_t id);
+ void* getImpl(int32_t id);
Boardcore::PrintLogger logger =
Boardcore::Logging::getLogger("DependencyManager");
@@ -184,8 +184,8 @@ class DependencyInjector
friend class DependencyManager;
private:
- DependencyInjector(DependencyManager &manager,
- DependencyManager::ModuleInfo &info)
+ DependencyInjector(DependencyManager& manager,
+ DependencyManager::ModuleInfo& info)
: manager(manager), info(info)
{
}
@@ -198,19 +198,19 @@ public:
* @returns The requested dependency or nullptr if not found.
*/
template <typename T>
- T *get()
+ T* get()
{
- return reinterpret_cast<T *>(getImpl(getDependencyId<T>()));
+ return reinterpret_cast<T*>(getImpl(getDependencyId<T>()));
}
private:
- void *getImpl(int32_t id);
+ void* getImpl(int32_t id);
Boardcore::PrintLogger logger =
Boardcore::Logging::getLogger("DependencyManager");
- DependencyManager &manager;
- DependencyManager::ModuleInfo &info;
+ DependencyManager& manager;
+ DependencyManager::ModuleInfo& info;
};
namespace DependencyManagerDetails
@@ -221,11 +221,11 @@ template <typename... Types>
struct Storage
{
// No-op, base case
- void inject(DependencyInjector &injector) {}
+ void inject(DependencyInjector& injector) {}
// No-op, dummy get (this should never be reached)
template <typename T>
- T *get()
+ T* get()
{
return nullptr;
}
@@ -237,9 +237,9 @@ struct Storage<Type, Types...> : public Storage<Types...>
using Super = Storage<Types...>;
// Recursive implementation
- Type *item = nullptr;
+ Type* item = nullptr;
- void inject(DependencyInjector &injector)
+ void inject(DependencyInjector& injector)
{
item = injector.get<Type>();
// Call parent function
@@ -247,13 +247,13 @@ struct Storage<Type, Types...> : public Storage<Types...>
}
template <typename T>
- typename std::enable_if_t<std::is_same<T, Type>::value, T *> get()
+ typename std::enable_if_t<std::is_same<T, Type>::value, T*> get()
{
return item;
}
template <typename T>
- typename std::enable_if_t<!std::is_same<T, Type>::value, T *> get()
+ typename std::enable_if_t<!std::is_same<T, Type>::value, T*> get()
{
return Super::template get<T>();
}
@@ -293,7 +293,7 @@ protected:
using Super = InjectableWithDeps<Types...>;
public:
- virtual void inject(DependencyInjector &injector) override
+ virtual void inject(DependencyInjector& injector) override
{
storage.inject(injector);
}
@@ -307,7 +307,7 @@ public:
template <typename T,
typename = std::enable_if_t<
DependencyManagerDetails::Contains<T, Types...>::value>>
- T *getModule()
+ T* getModule()
{
return storage.template get<T>();
}
@@ -337,7 +337,7 @@ public:
static_assert(std::is_base_of<Injectable, Base>::value,
"Base must be Injectable");
- virtual void inject(DependencyInjector &injector) override
+ virtual void inject(DependencyInjector& injector) override
{
Base::inject(injector);
storage.inject(injector);
@@ -352,7 +352,7 @@ public:
template <typename T,
typename = std::enable_if_t<
DependencyManagerDetails::Contains<T, Types...>::value>>
- T *getModule()
+ T* getModule()
{
return storage.template get<T>();
}
diff --git a/src/shared/utils/KernelTime.h b/src/shared/utils/KernelTime.h
index 55c751bd5..a41087e1e 100644
--- a/src/shared/utils/KernelTime.h
+++ b/src/shared/utils/KernelTime.h
@@ -85,7 +85,7 @@ inline void sleepUntil(long long absoluteTimeMs)
* migrate to using nanoseconds.
*/
inline miosix::TimedWaitResult IRQenableIrqAndTimedWaitMs(
- miosix::FastInterruptDisableLock &dLock, long long absoluteTimeMs)
+ miosix::FastInterruptDisableLock& dLock, long long absoluteTimeMs)
{
return miosix::Thread::IRQenableIrqAndTimedWait(dLock,
msToNs(absoluteTimeMs));
diff --git a/src/shared/utils/Numeric.h b/src/shared/utils/Numeric.h
index e87cf933b..b4d3be8ed 100644
--- a/src/shared/utils/Numeric.h
+++ b/src/shared/utils/Numeric.h
@@ -48,18 +48,12 @@ constexpr auto add_sat(T x, T y) noexcept ->
bool overflow = __builtin_add_overflow(x, y, &result);
if (!overflow)
- {
return result;
- }
if (x < 0)
- {
return std::numeric_limits<T>::min();
- }
else
- {
return std::numeric_limits<T>::max();
- }
}
} // namespace Boardcore
diff --git a/src/shared/utils/PinObserver/PinObserver.cpp b/src/shared/utils/PinObserver/PinObserver.cpp
index 34e7d00d3..9480f1f27 100644
--- a/src/shared/utils/PinObserver/PinObserver.cpp
+++ b/src/shared/utils/PinObserver/PinObserver.cpp
@@ -44,9 +44,13 @@ bool PinObserver::registerPinCallback(miosix::GpioPin pin, PinCallback callback,
if (scheduler.addTask(
std::bind(&PinObserver::periodicPinValueCheck, this, pin),
pollInterval, TaskScheduler::Policy::RECOVER))
+ {
return true;
+ }
else
+ {
callbacks.erase(pin);
+ }
}
return false;
@@ -65,10 +69,10 @@ void PinObserver::periodicPinValueCheck(miosix::GpioPin pin)
if (callbacks.find(pin) == callbacks.end())
return;
- auto &pinData = callbacks[pin];
+ auto& pinData = callbacks[pin];
// Retrieve the pin information
- uint32_t &count = pinData.periodCount;
+ uint32_t& count = pinData.periodCount;
// Read the current pin status
const bool newState = pin.value() != pinData.reverted;
diff --git a/src/shared/utils/PinObserver/PinObserver.h b/src/shared/utils/PinObserver/PinObserver.h
index b87d58e29..ffac6d595 100644
--- a/src/shared/utils/PinObserver/PinObserver.h
+++ b/src/shared/utils/PinObserver/PinObserver.h
@@ -74,7 +74,7 @@ public:
* @param scheduler Scheduler to be used by this PinObserver.
* @param pollInterval Pin transition polling interval, defaults to 20 [ms].
*/
- explicit PinObserver(TaskScheduler &scheduler, uint32_t pollInterval = 20)
+ explicit PinObserver(TaskScheduler& scheduler, uint32_t pollInterval = 20)
: scheduler{scheduler}, pollInterval{pollInterval}
{
}
@@ -113,7 +113,7 @@ private:
*/
void periodicPinValueCheck(miosix::GpioPin pin);
- TaskScheduler &scheduler;
+ TaskScheduler& scheduler;
uint32_t pollInterval;
/// Map of all the callbacks registered in the PinObserver.
diff --git a/src/shared/utils/Registry/Backend/FileBackend.h b/src/shared/utils/Registry/Backend/FileBackend.h
index 71d39f338..460484cf4 100644
--- a/src/shared/utils/Registry/Backend/FileBackend.h
+++ b/src/shared/utils/Registry/Backend/FileBackend.h
@@ -42,4 +42,4 @@ private:
std::string path;
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/utils/Registry/RegistryBackend.h b/src/shared/utils/Registry/RegistryBackend.h
index 3a4980ff0..545af6326 100644
--- a/src/shared/utils/Registry/RegistryBackend.h
+++ b/src/shared/utils/Registry/RegistryBackend.h
@@ -78,4 +78,4 @@ public:
bool save(std::vector<uint8_t>& buf) override { return true; }
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/utils/Registry/RegistryFrontend.cpp b/src/shared/utils/Registry/RegistryFrontend.cpp
index 87bed26e8..2439331c6 100644
--- a/src/shared/utils/Registry/RegistryFrontend.cpp
+++ b/src/shared/utils/Registry/RegistryFrontend.cpp
@@ -57,9 +57,7 @@ void RegistryFrontend::forEach(const EntryFunc& predicate)
{
const std::lock_guard<std::recursive_mutex> lock(mutexForRegistry);
for (auto& it : configuration)
- {
predicate(it.first, it.second);
- }
}
RegistryError RegistryFrontend::load()
@@ -113,4 +111,4 @@ void RegistryFrontend::clear()
configuration.clear();
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/utils/Registry/RegistryFrontend.h b/src/shared/utils/Registry/RegistryFrontend.h
index b1d79c67b..21955e085 100644
--- a/src/shared/utils/Registry/RegistryFrontend.h
+++ b/src/shared/utils/Registry/RegistryFrontend.h
@@ -158,12 +158,12 @@ public:
std::lock_guard<std::recursive_mutex> lock(mutexForRegistry);
T returnValue;
if (getUnsafe(configurationIndex, returnValue) == RegistryError::OK)
- {
return returnValue;
- }
if (setUnsafe(configurationIndex, defaultValue) != RegistryError::OK)
+ {
LOG_ERR(logger,
"Registry - Could not insert the default configuration");
+ }
return defaultValue;
}
diff --git a/src/shared/utils/Registry/RegistrySerializer.cpp b/src/shared/utils/Registry/RegistrySerializer.cpp
index 4cea30426..255bc025e 100644
--- a/src/shared/utils/Registry/RegistrySerializer.cpp
+++ b/src/shared/utils/Registry/RegistrySerializer.cpp
@@ -112,7 +112,9 @@ RegistryError RegistrySerializer::deserializeConfiguration(
// Case the vector is empty/not have even the vector size
if (serializationVector.size() <
sizeof(RegistryHeader) + sizeof(RegistryFooter))
+ {
return RegistryError::MALFORMED_SERIALIZED_DATA;
+ }
RegistryHeader header;
success &= (deserialize(header) == RegistryError::OK);
@@ -120,9 +122,7 @@ RegistryError RegistrySerializer::deserializeConfiguration(
return RegistryError::MALFORMED_SERIALIZED_DATA;
if (header.startBytes != 1)
- {
return RegistryError::WRONG_ENDIANESS;
- }
// Save the current vector position before jumping to the footer
uint32_t previousPos = vectorWritePosition;
@@ -229,4 +229,4 @@ size_t RegistrySerializer::size(RegistryConfiguration& configuration)
return totalSize;
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/utils/Registry/RegistrySerializer.h b/src/shared/utils/Registry/RegistrySerializer.h
index 1f1685d00..1fbaa2644 100644
--- a/src/shared/utils/Registry/RegistrySerializer.h
+++ b/src/shared/utils/Registry/RegistrySerializer.h
@@ -192,4 +192,4 @@ private:
size_t size(RegistryConfiguration& configuration);
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/utils/Registry/RegistryTypes.h b/src/shared/utils/Registry/RegistryTypes.h
index c9f619a49..3f81dc0b6 100644
--- a/src/shared/utils/Registry/RegistryTypes.h
+++ b/src/shared/utils/Registry/RegistryTypes.h
@@ -87,7 +87,6 @@ enum class RegistryError
*/
struct EntryStructsUnion
{
-
/**
* @brief Default constructor to construct a new Entry Structs Union object
*/
@@ -227,4 +226,4 @@ private:
}
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp b/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
index 1c6f25286..b51177c80 100644
--- a/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
+++ b/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
@@ -150,47 +150,44 @@ Vector4f rotationMatrix2quat(const Matrix3f& rtm)
qz = (r12 - r21) / (2.0 * sqtrp1);
qw = 0.5 * sqtrp1;
}
- else
+ else if ((r22 > r11) && (r22 > r33))
{
- if ((r22 > r11) && (r22 > r33))
- {
- float sqdip1 = sqrt(r22 - r11 - r33 + 1.0);
+ float sqdip1 = sqrt(r22 - r11 - r33 + 1.0);
- qy = 0.5 * sqdip1;
+ qy = 0.5 * sqdip1;
- if (sqdip1 != 0)
- sqdip1 = 0.5 / sqdip1;
+ if (sqdip1 != 0)
+ sqdip1 = 0.5 / sqdip1;
- qx = (r12 + r21) * sqdip1;
- qz = (r23 + r32) * sqdip1;
- qw = (r31 - r13) * sqdip1;
- }
- else if (r33 > r11)
- {
- float sqdip1 = sqrt(r33 - r11 - r22 + 1.0);
+ qx = (r12 + r21) * sqdip1;
+ qz = (r23 + r32) * sqdip1;
+ qw = (r31 - r13) * sqdip1;
+ }
+ else if (r33 > r11)
+ {
+ float sqdip1 = sqrt(r33 - r11 - r22 + 1.0);
- qz = 0.5 * sqdip1;
+ qz = 0.5 * sqdip1;
- if (sqdip1 != 0)
- sqdip1 = 0.5 / sqdip1;
+ if (sqdip1 != 0)
+ sqdip1 = 0.5 / sqdip1;
- qx = (r31 + r13) * sqdip1;
- qy = (r23 + r32) * sqdip1;
- qw = (r12 - r21) * sqdip1;
- }
- else
- {
- float sqdip1 = sqrt(r11 - r22 - r33 + 1.0);
+ qx = (r31 + r13) * sqdip1;
+ qy = (r23 + r32) * sqdip1;
+ qw = (r12 - r21) * sqdip1;
+ }
+ else
+ {
+ float sqdip1 = sqrt(r11 - r22 - r33 + 1.0);
- qx = 0.5 * sqdip1;
+ qx = 0.5 * sqdip1;
- if (sqdip1 != 0)
- sqdip1 = 0.5 / sqdip1;
+ if (sqdip1 != 0)
+ sqdip1 = 0.5 / sqdip1;
- qy = (r12 + r21) * sqdip1;
- qz = (r31 + r13) * sqdip1;
- qw = (r23 - r32) * sqdip1;
- }
+ qy = (r12 + r21) * sqdip1;
+ qz = (r31 + r13) * sqdip1;
+ qw = (r23 - r32) * sqdip1;
}
return Vector4f(qx, qy, qz, qw);
diff --git a/src/shared/utils/TestUtils/MockSPIBus.h b/src/shared/utils/TestUtils/MockSPIBus.h
index 2fdf6a948..90c9725f5 100644
--- a/src/shared/utils/TestUtils/MockSPIBus.h
+++ b/src/shared/utils/TestUtils/MockSPIBus.h
@@ -157,7 +157,6 @@ public:
*/
virtual bool isSelected()
{
-
Lock<FastMutex> l(mutex);
return selected;
}
@@ -211,13 +210,9 @@ inline bool MockSPIBus::canCommunicate()
{
TRACE("Error, cannot communicato on MockSPIBus: ");
if (!selected)
- {
TRACE("Chip select not asserted\n");
- }
else
- {
TRACE("Incorrect configuration\n");
- }
}
return result;
}
@@ -225,13 +220,9 @@ inline bool MockSPIBus::canCommunicate()
inline void MockSPIBus::_write(uint8_t byte)
{
if (canCommunicate())
- {
outBuffer.push_back(byte);
- }
else
- {
outBuffer.push_back(0);
- }
}
inline void MockSPIBus::write(uint8_t byte)
@@ -252,9 +243,7 @@ inline void MockSPIBus::write(uint8_t* data, size_t size)
Lock<FastMutex> l(mutex);
for (size_t i = 0; i < size; i++)
- {
_write(data[i]);
- }
}
inline void MockSPIBus::write(uint16_t* data, size_t size)
@@ -262,9 +251,7 @@ inline void MockSPIBus::write(uint16_t* data, size_t size)
Lock<FastMutex> l(mutex);
for (size_t i = 0; i < size * 2; i++)
- {
_write(((uint8_t*)data)[i]);
- }
}
inline uint8_t MockSPIBus::_read()
@@ -272,9 +259,7 @@ inline uint8_t MockSPIBus::_read()
if (canCommunicate())
{
if (inBufPosCntr < inBuf.size())
- {
return inBuf[inBufPosCntr++];
- }
}
return 0;
}
@@ -295,19 +280,14 @@ inline void MockSPIBus::read(uint8_t* data, size_t size)
{
Lock<FastMutex> l(mutex);
for (size_t i = 0; i < size; i++)
- {
data[i] = _read();
- }
}
inline void MockSPIBus::read(uint16_t* data, size_t size)
{
-
Lock<FastMutex> l(mutex);
for (size_t i = 0; i < size * 2; i++)
- {
data[i] = _read();
- }
}
inline uint8_t MockSPIBus::transfer(uint8_t data)
@@ -319,7 +299,6 @@ inline uint8_t MockSPIBus::transfer(uint8_t data)
inline uint16_t MockSPIBus::transfer(uint16_t data)
{
-
Lock<FastMutex> l(mutex);
_write(data >> 8);
_write(data);
diff --git a/src/shared/utils/TestUtils/ThroughputCalculator.h b/src/shared/utils/TestUtils/ThroughputCalculator.h
index bc61cdaf0..24d34ed6a 100644
--- a/src/shared/utils/TestUtils/ThroughputCalculator.h
+++ b/src/shared/utils/TestUtils/ThroughputCalculator.h
@@ -80,9 +80,7 @@ public:
unsigned int interval = 0;
if (packets.size() > 0)
- {
interval = static_cast<unsigned int>(ts - packets.back().timestamp);
- }
packets.push_back({ts, packetSize, interval});
@@ -102,9 +100,7 @@ public:
float sum = 0;
for (size_t i = 0; i < packets.size(); i++)
- {
sum += packets[i].size;
- }
return sum / (windowDuration / 1000.0f);
}
@@ -123,9 +119,7 @@ public:
{
avgInterval = packets[0].interval;
for (size_t i = 1; i < packets.size(); i++)
- {
avgInterval += packets[i].interval;
- }
avgInterval /= packets.size();
}
diff --git a/src/shared/utils/collections/CircularBuffer.h b/src/shared/utils/collections/CircularBuffer.h
index 94a3828ed..41d2b47f0 100644
--- a/src/shared/utils/collections/CircularBuffer.h
+++ b/src/shared/utils/collections/CircularBuffer.h
@@ -92,7 +92,9 @@ public:
return buffer[ptr];
}
else
+ {
throw range_error("Circular buffer index out of range");
+ }
}
/**
@@ -123,7 +125,9 @@ public:
return buffer[ptr];
}
else
+ {
throw range_error("Circular buffer is empty!");
+ }
}
/**
@@ -136,13 +140,9 @@ public:
if (empty)
return 0;
if (writePtr > readPtr)
- {
return writePtr - readPtr;
- }
else
- {
return Size - readPtr + writePtr;
- }
}
bool isEmpty() const { return empty; }
diff --git a/src/shared/utils/collections/IRQCircularBuffer.h b/src/shared/utils/collections/IRQCircularBuffer.h
index aa634fe61..266916729 100644
--- a/src/shared/utils/collections/IRQCircularBuffer.h
+++ b/src/shared/utils/collections/IRQCircularBuffer.h
@@ -146,7 +146,9 @@ public:
{
if (waiting && (waiting->IRQgetPriority() >
Thread::IRQgetCurrentThread()->IRQgetPriority()))
+ {
hppw = true;
+ }
IRQwakeWaitingThread();
buffer.put(elem);
diff --git a/src/shared/utils/collections/SyncCircularBuffer.h b/src/shared/utils/collections/SyncCircularBuffer.h
index 0dc899116..a89fc61e4 100644
--- a/src/shared/utils/collections/SyncCircularBuffer.h
+++ b/src/shared/utils/collections/SyncCircularBuffer.h
@@ -126,9 +126,7 @@ public:
{
Lock<FastMutex> l(mutex);
while (buffer.isEmpty())
- {
cv.wait(l);
- }
}
/**
diff --git a/src/shared/utils/collections/SyncPacketQueue.h b/src/shared/utils/collections/SyncPacketQueue.h
index b786f7f29..638fccace 100644
--- a/src/shared/utils/collections/SyncPacketQueue.h
+++ b/src/shared/utils/collections/SyncPacketQueue.h
@@ -54,7 +54,6 @@ namespace Boardcore
template <unsigned int len>
class Packet
{
-
public:
/**
* @brief Reserves a fixed length for the packet.
@@ -328,10 +327,14 @@ public:
Lock<FastMutex> l(mutex);
if (!buffer.isEmpty())
+ {
return buffer.last().isReady() ? buffer.count()
: buffer.count() - 1;
+ }
else
+ {
return 0;
+ }
}
/**
diff --git a/src/shared/utils/gui/GridLayout.h b/src/shared/utils/gui/GridLayout.h
index 91412b370..346c00bb2 100644
--- a/src/shared/utils/gui/GridLayout.h
+++ b/src/shared/utils/gui/GridLayout.h
@@ -64,9 +64,7 @@ public:
void setCell(View* child, uint8_t row, uint8_t col)
{
if (row >= numRows || col >= numCols)
- {
return;
- }
mapChilds[GridPosition(row, col)] = child;
@@ -162,9 +160,7 @@ public:
{
std::vector<View*> out;
for (auto it = mapChilds.begin(); it != mapChilds.end(); it++)
- {
out.push_back(it->second);
- }
return out;
}
@@ -192,9 +188,7 @@ private:
mapChildBounds[pos] = childBounds;
if (mapChilds.count(pos) > 0)
- {
mapChilds[pos]->setBounds(childBounds);
- }
}
}
}
diff --git a/src/shared/utils/gui/NavController.h b/src/shared/utils/gui/NavController.h
index 617af98d7..8d93d4aa1 100644
--- a/src/shared/utils/gui/NavController.h
+++ b/src/shared/utils/gui/NavController.h
@@ -51,9 +51,7 @@ public:
void updateViewTree(View* root)
{
if (selectedIndex < vecSelectable.size())
- {
vecSelectable.at(selectedIndex)->setSelected(false);
- }
vecSelectable.clear();
selectedIndex = 0;
@@ -61,9 +59,7 @@ public:
updateSelectableViews(root);
if (vecSelectable.size() > 0)
- {
vecSelectable.at(0)->setSelected(true);
- }
}
void onButtonEvent(ButtonEvent press)
@@ -72,29 +68,37 @@ public:
{
case ButtonEvent::PRESSED:
if (selectedIndex < vecSelectable.size())
+ {
vecSelectable.at(selectedIndex)
->performInteraction(Interaction::BTN_DOWN);
+ }
if (vecSelectable.size() > 0)
selectNext();
break;
case ButtonEvent::SHORT_PRESS:
if (selectedIndex < vecSelectable.size())
+ {
vecSelectable.at(selectedIndex)
->performInteraction(Interaction::BTN_UP);
+ }
if (vecSelectable.size() > 0)
selectNext();
break;
case ButtonEvent::LONG_PRESS:
if (selectedIndex < vecSelectable.size())
+ {
vecSelectable.at(selectedIndex)
->performInteraction(Interaction::CLICK);
+ }
if (vecSelectable.size() > 0)
selectNext();
break;
case ButtonEvent::VERY_LONG_PRESS:
if (selectedIndex < vecSelectable.size())
+ {
vecSelectable.at(selectedIndex)
->performInteraction(Interaction::LONG_CLICK);
+ }
if (vecSelectable.size() > 0)
selectNext();
break;
@@ -108,9 +112,7 @@ private:
{
// Deselect old drawble
if (selectedIndex < vecSelectable.size())
- {
vecSelectable.at(selectedIndex)->setSelected(false);
- }
if (vecSelectable.size() > 0)
{
@@ -122,9 +124,7 @@ private:
dynamic_cast<TextView*>(vecSelectable.at(selectedIndex));
if (text)
- {
LOG_DEBUG(logger, "{}", text->getText().c_str());
- }
}
}
@@ -134,9 +134,7 @@ private:
for (auto child : childs)
{
if (child->isSelectable())
- {
vecSelectable.push_back(child);
- }
updateSelectableViews(child);
}
}
diff --git a/src/shared/utils/gui/OptionView.h b/src/shared/utils/gui/OptionView.h
index 113f6bfca..8691325e3 100644
--- a/src/shared/utils/gui/OptionView.h
+++ b/src/shared/utils/gui/OptionView.h
@@ -46,9 +46,7 @@ public:
{
uint8_t numRows = options.size() / numCols;
if (options.size() % numCols != 0)
- {
++numRows;
- }
gridOptions = new GridLayout(numRows, numCols);
@@ -69,9 +67,7 @@ public:
gridOptions->setCell(tvOpt, gridPos++);
if (i == defaultOption)
- {
selectOption(tvOpt);
- }
++i;
}
@@ -82,9 +78,7 @@ public:
delete gridOptions;
delete tvTitle;
for (auto it = mapOptions.begin(); it != mapOptions.end(); it++)
- {
delete it->first;
- }
}
void setBounds(Bounds bounds) override
@@ -132,9 +126,7 @@ private:
void selectOption(TextView* opt)
{
if (selectedOption != nullptr)
- {
selectedOption->setBackgroundColor(colBgNormal);
- }
selectedOption = opt;
@@ -150,12 +142,8 @@ private:
selectOption(textview);
for (auto l : optListeners)
- {
if (l != nullptr)
- {
l(mapOptions[textview]);
- }
- }
}
}
diff --git a/src/shared/utils/gui/ScreenManager.h b/src/shared/utils/gui/ScreenManager.h
index 8e69bb22c..c2185c118 100644
--- a/src/shared/utils/gui/ScreenManager.h
+++ b/src/shared/utils/gui/ScreenManager.h
@@ -61,9 +61,7 @@ public:
root->setBounds({{0, 0}, {dc.getWidth(), dc.getHeight()}});
if (screens.size() == 1)
- {
showScreen(id);
- }
}
void onButtonEvent(ButtonEvent press) { controller.onButtonEvent(press); }
@@ -112,9 +110,7 @@ private:
view->draw(dc);
for (View* c : view->getChilds())
- {
viewsDc.push_back(c);
- }
}
}
diff --git a/src/shared/utils/gui/TextView.h b/src/shared/utils/gui/TextView.h
index 2647a669d..db0fe942f 100644
--- a/src/shared/utils/gui/TextView.h
+++ b/src/shared/utils/gui/TextView.h
@@ -159,13 +159,9 @@ protected:
if (c >= font.getStartChar() && c <= font.getEndChar())
{
if (font.isFixedWidth())
- {
w += font.getWidth();
- }
else
- {
w += font.getWidths()[c - font.getStartChar()];
- }
}
}
return w;
diff --git a/src/shared/utils/gui/VerticalLayout.h b/src/shared/utils/gui/VerticalLayout.h
index 2eae2370c..af9c87c85 100644
--- a/src/shared/utils/gui/VerticalLayout.h
+++ b/src/shared/utils/gui/VerticalLayout.h
@@ -73,9 +73,7 @@ public:
View::draw(dc);
for (auto view : childs)
- {
view.drawable->draw(dc);
- }
}
virtual std::vector<View*> getChilds() override
@@ -83,9 +81,7 @@ public:
std::vector<View*> out;
out.reserve(childs.size());
for (auto v : childs)
- {
out.push_back(v.drawable);
- }
return out;
}
diff --git a/src/shared/utils/gui/View.h b/src/shared/utils/gui/View.h
index 6c9aba9dc..87634bc85 100644
--- a/src/shared/utils/gui/View.h
+++ b/src/shared/utils/gui/View.h
@@ -148,9 +148,7 @@ public:
void invalidate()
{
if (!invalidated)
- {
invalidated = true;
- }
}
/**
@@ -162,9 +160,7 @@ public:
std::vector<View*> childs = getChilds();
for (auto child : childs)
- {
child->invalidateTree();
- }
}
/**
@@ -234,12 +230,8 @@ public:
virtual void performInteraction(Interaction action)
{
for (auto lst : listeners)
- {
if (lst)
- {
lst(this, action);
- }
- }
}
protected:
diff --git a/src/tests/actuators/test-hbridge.cpp b/src/tests/actuators/test-hbridge.cpp
index 64cd57ba8..73ff47481 100644
--- a/src/tests/actuators/test-hbridge.cpp
+++ b/src/tests/actuators/test-hbridge.cpp
@@ -56,9 +56,7 @@ void wait()
t = Kernel::getOldTick();
if (print)
- {
TRACE("Elapsed time : %.2f \n", (t - t0) / 1000.0);
- }
}
measuredTime = t - t0;
@@ -88,9 +86,7 @@ int main()
stringstream(temp) >> duty;
if (!(freq >= 1 && freq <= 30000 && duty >= 0.0f && duty <= 100.0f))
- {
TRACE("Invalid inputs!\n");
- }
} while (
!(freq >= 1 && freq <= 30000 && duty >= 0.0f && duty <= 100.0f));
diff --git a/src/tests/actuators/test-stepper-pwm.cpp b/src/tests/actuators/test-stepper-pwm.cpp
index a9e23e585..1b2a24cb6 100644
--- a/src/tests/actuators/test-stepper-pwm.cpp
+++ b/src/tests/actuators/test-stepper-pwm.cpp
@@ -144,4 +144,4 @@ int main()
doRoutine(stepper);
Thread::sleep(10 * 1000);
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/algorithms/ADA/ValueFollower.h b/src/tests/algorithms/ADA/ValueFollower.h
index 4b1b0ab76..396090910 100644
--- a/src/tests/algorithms/ADA/ValueFollower.h
+++ b/src/tests/algorithms/ADA/ValueFollower.h
@@ -28,7 +28,7 @@
class ValueFollower
{
public:
- ValueFollower(Boardcore::PressureData *data, size_t length,
+ ValueFollower(Boardcore::PressureData* data, size_t length,
uint64_t timestampOffset = 0, float pressureOffset = 0)
: data(data), length(length), timestampOffset(timestampOffset),
pressureOffset(pressureOffset)
@@ -48,9 +48,13 @@ public:
return data[currentIndex].pressure + pressureOffset;
for (; currentIndex < length; currentIndex++)
+ {
if (data[currentIndex + 1].pressureTimestamp + timestampOffset >
timestamp)
+ {
return data[currentIndex].pressure + pressureOffset;
+ }
+ }
return data[length - 1].pressure + pressureOffset;
}
@@ -60,7 +64,7 @@ public:
u_int64_t getDataDuration() { return dataDuration; }
private:
- Boardcore::PressureData *data;
+ Boardcore::PressureData* data;
size_t length;
uint64_t timestampOffset;
diff --git a/src/tests/algorithms/ADA/test-ada.cpp b/src/tests/algorithms/ADA/test-ada.cpp
index 646604c67..0b243858f 100644
--- a/src/tests/algorithms/ADA/test-ada.cpp
+++ b/src/tests/algorithms/ADA/test-ada.cpp
@@ -41,7 +41,7 @@ uint64_t currentTimestamp = 0;
constexpr uint64_t DELTA_T = 50 * 1e3; // 50ms = 20Hz
constexpr float SAMPLING_PERIOD = 0.05;
-ADA *ada;
+ADA* ada;
void step()
{
diff --git a/src/tests/algorithms/Airbrakes/test-airbrakesInterp-data.h b/src/tests/algorithms/Airbrakes/test-airbrakesInterp-data.h
index 4da18d85d..931559120 100644
--- a/src/tests/algorithms/Airbrakes/test-airbrakesInterp-data.h
+++ b/src/tests/algorithms/Airbrakes/test-airbrakesInterp-data.h
@@ -11744,4 +11744,4 @@ static const std::vector<float> ABK = {
1,
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/tests/algorithms/Airbrakes/test-airbrakesInterp-references.h b/src/tests/algorithms/Airbrakes/test-airbrakesInterp-references.h
index 325e1e984..e12c9e18b 100644
--- a/src/tests/algorithms/Airbrakes/test-airbrakesInterp-references.h
+++ b/src/tests/algorithms/Airbrakes/test-airbrakesInterp-references.h
@@ -6728,4 +6728,4 @@ Boardcore::Trajectory t_open[] = {
const Boardcore::TrajectorySet CLOSED_TRAJECTORY_SET(t_closed, 11);
const Boardcore::TrajectorySet OPEN_TRAJECTORY_SET(t_open, 11);
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/tests/algorithms/NAS/test-nas-parafoil.cpp b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
index ed36658da..cdc08233a 100644
--- a/src/tests/algorithms/NAS/test-nas-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
@@ -165,7 +165,9 @@ void step()
nas->predictGyro(angularSpeed);
if (gpsPos[0] < 1e3 && gpsPos[0] > -1e3 && gpsPos[1] < 1e3 &&
gpsPos[1] > -1e3)
+ {
nas->predictAcc(acceleration);
+ }
// Correct step
magneticField.normalize();
diff --git a/src/tests/algorithms/NAS/test-triad-parafoil.cpp b/src/tests/algorithms/NAS/test-triad-parafoil.cpp
index e8b323f2e..05498c830 100644
--- a/src/tests/algorithms/NAS/test-triad-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-triad-parafoil.cpp
@@ -71,8 +71,10 @@ int main()
auto kalmanState = state.getInitX();
if (!std::isnan(kalmanState(9)))
+ {
printf("w%fwa%fab%fbc%fc\n", kalmanState(9), kalmanState(6),
kalmanState(7), kalmanState(8));
+ }
Kernel::Thread::sleepUntil(lastTick + 20);
lastTick = Kernel::getOldTick();
diff --git a/src/tests/algorithms/NAS/test-triad.cpp b/src/tests/algorithms/NAS/test-triad.cpp
index c9f7b6d11..c0204ce97 100644
--- a/src/tests/algorithms/NAS/test-triad.cpp
+++ b/src/tests/algorithms/NAS/test-triad.cpp
@@ -70,8 +70,10 @@ int main()
auto kalmanState = state.getInitX();
if (!std::isnan(kalmanState(9)))
+ {
printf("w%fwa%fab%fbc%fc\n", kalmanState(9), kalmanState(6),
kalmanState(7), kalmanState(8));
+ }
Kernel::Thread::sleepUntil(lastTick + 20);
lastTick = Kernel::getOldTick();
diff --git a/src/tests/boards/test-compute-unit.cpp b/src/tests/boards/test-compute-unit.cpp
index 6bb8a4874..b8304bb11 100644
--- a/src/tests/boards/test-compute-unit.cpp
+++ b/src/tests/boards/test-compute-unit.cpp
@@ -66,4 +66,4 @@ int main()
delayUs(500);
}
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/catch-tests-entry.cpp b/src/tests/catch/catch-tests-entry.cpp
index 1acb03098..ba7c60ffe 100644
--- a/src/tests/catch/catch-tests-entry.cpp
+++ b/src/tests/catch/catch-tests-entry.cpp
@@ -105,9 +105,7 @@ static vector<string> splitSpaces(const string& str)
size_t len = p2 - p; // Length of the substring
if (len > 0)
- {
out.push_back(str.substr(p, len));
- }
p = p2 + 1;
} while (!end);
@@ -152,18 +150,14 @@ int main()
// Clear memory
for (size_t i = 0; i < argc; i++)
- {
delete[] argv[i];
- }
delete[] argv;
printf("End.\n");
// Infinite loop to avoid board reset each time we return
while (true)
- {
Thread::sleep(10000);
- }
}
#endif // COMPILE_FOR_HOST
diff --git a/src/tests/catch/propagator/test-propagator-data.h b/src/tests/catch/propagator/test-propagator-data.h
index 0ce932d05..f2044e98d 100644
--- a/src/tests/catch/propagator/test-propagator-data.h
+++ b/src/tests/catch/propagator/test-propagator-data.h
@@ -89,106 +89,106 @@ namespace TestPropagator1
std::chrono::milliseconds dt = 20ms;
int n = 100;
Boardcore::NASState nas[] = {
- {1, {0, 42, 0, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {2, {-0.02, 42, 0.02, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {3, {-0.04, 42, 0.04, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {4, {-0.06, 42, 0.06, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {5, {-0.08, 42, 0.08, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {6, {-0.1, 42, 0.1, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {7, {-0.12, 42, 0.12, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {8, {-0.14, 42, 0.14, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {9, {-0.16, 42, 0.16, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {10, {-0.18, 42, 0.18, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {11, {-0.2, 42, 0.2, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {12, {-0.22, 42, 0.22, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {13, {-0.24, 42, 0.24, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {14, {-0.26, 42, 0.26, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {15, {-0.28, 42, 0.28, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {16, {-0.3, 42, 0.3, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {17, {-0.32, 42, 0.32, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {18, {-0.34, 42, 0.34, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {19, {-0.36, 42, 0.36, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {20, {-0.38, 42, 0.38, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {21, {-0.4, 42, 0.4, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {22, {-0.42, 42, 0.42, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {23, {-0.44, 42, 0.44, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {24, {-0.46, 42, 0.46, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {25, {-0.48, 42, 0.48, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {26, {-0.5, 42, 0.5, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {27, {-0.52, 42, 0.52, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {28, {-0.54, 42, 0.54, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {29, {-0.56, 42, 0.56, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {30, {-0.58, 42, 0.58, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {31, {-0.6, 42, 0.6, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {32, {-0.62, 42, 0.62, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {33, {-0.64, 42, 0.64, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {34, {-0.66, 42, 0.66, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {35, {-0.68, 42, 0.68, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {36, {-0.7, 42, 0.7, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {37, {-0.72, 42, 0.72, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {38, {-0.74, 42, 0.74, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {39, {-0.76, 42, 0.76, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {40, {-0.78, 42, 0.78, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {41, {-0.8, 42, 0.8, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {42, {-0.82, 42, 0.82, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {43, {-0.84, 42, 0.84, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {44, {-0.86, 42, 0.86, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {45, {-0.88, 42, 0.88, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {46, {-0.9, 42, 0.9, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {47, {-0.92, 42, 0.92, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {48, {-0.94, 42, 0.94, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {49, {-0.96, 42, 0.96, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {50, {-0.98, 42, 0.98, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {51, {-1, 42, 1, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {52, {-1.02, 42, 1.02, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {53, {-1.04, 42, 1.04, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {54, {-1.06, 42, 1.06, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {55, {-1.08, 42, 1.08, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {56, {-1.1, 42, 1.1, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {57, {-1.12, 42, 1.12, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {58, {-1.14, 42, 1.14, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {59, {-1.16, 42, 1.16, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {60, {-1.18, 42, 1.18, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {61, {-1.2, 42, 1.2, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {62, {-1.22, 42, 1.22, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {63, {-1.24, 42, 1.24, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {64, {-1.26, 42, 1.26, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {65, {-1.28, 42, 1.28, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {66, {-1.3, 42, 1.3, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {67, {-1.32, 42, 1.32, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {68, {-1.34, 42, 1.34, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {69, {-1.36, 42, 1.36, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {70, {-1.38, 42, 1.38, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {71, {-1.4, 42, 1.4, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {72, {-1.42, 42, 1.42, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {73, {-1.44, 42, 1.44, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {74, {-1.46, 42, 1.46, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {75, {-1.48, 42, 1.48, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {76, {-1.5, 42, 1.5, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {77, {-1.52, 42, 1.52, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {78, {-1.54, 42, 1.54, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {79, {-1.56, 42, 1.56, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {80, {-1.58, 42, 1.58, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {81, {-1.6, 42, 1.6, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {82, {-1.62, 42, 1.62, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {83, {-1.64, 42, 1.64, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {84, {-1.66, 42, 1.66, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {85, {-1.68, 42, 1.68, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {86, {-1.7, 42, 1.7, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {87, {-1.72, 42, 1.72, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {88, {-1.74, 42, 1.74, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {89, {-1.76, 42, 1.76, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {90, {-1.78, 42, 1.78, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {91, {-1.8, 42, 1.8, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {92, {-1.82, 42, 1.82, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {93, {-1.84, 42, 1.84, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {94, {-1.86, 42, 1.86, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {95, {-1.88, 42, 1.88, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {96, {-1.9, 42, 1.9, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {97, {-1.92, 42, 1.92, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {98, {-1.94, 42, 1.94, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {99, {-1.96, 42, 1.96, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
- {100, {-1.98, 42, 1.98, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}}};
+ {1, {0, 42, 0, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {2, {-0.02, 42, 0.02, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {3, {-0.04, 42, 0.04, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {4, {-0.06, 42, 0.06, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {5, {-0.08, 42, 0.08, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {6, {-0.1, 42, 0.1, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {7, {-0.12, 42, 0.12, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {8, {-0.14, 42, 0.14, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {9, {-0.16, 42, 0.16, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {10, {-0.18, 42, 0.18, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {11, {-0.2, 42, 0.2, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {12, {-0.22, 42, 0.22, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {13, {-0.24, 42, 0.24, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {14, {-0.26, 42, 0.26, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {15, {-0.28, 42, 0.28, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {16, {-0.3, 42, 0.3, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {17, {-0.32, 42, 0.32, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {18, {-0.34, 42, 0.34, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {19, {-0.36, 42, 0.36, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {20, {-0.38, 42, 0.38, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {21, {-0.4, 42, 0.4, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {22, {-0.42, 42, 0.42, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {23, {-0.44, 42, 0.44, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {24, {-0.46, 42, 0.46, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {25, {-0.48, 42, 0.48, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {26, {-0.5, 42, 0.5, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {27, {-0.52, 42, 0.52, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {28, {-0.54, 42, 0.54, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {29, {-0.56, 42, 0.56, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {30, {-0.58, 42, 0.58, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {31, {-0.6, 42, 0.6, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {32, {-0.62, 42, 0.62, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {33, {-0.64, 42, 0.64, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {34, {-0.66, 42, 0.66, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {35, {-0.68, 42, 0.68, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {36, {-0.7, 42, 0.7, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {37, {-0.72, 42, 0.72, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {38, {-0.74, 42, 0.74, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {39, {-0.76, 42, 0.76, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {40, {-0.78, 42, 0.78, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {41, {-0.8, 42, 0.8, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {42, {-0.82, 42, 0.82, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {43, {-0.84, 42, 0.84, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {44, {-0.86, 42, 0.86, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {45, {-0.88, 42, 0.88, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {46, {-0.9, 42, 0.9, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {47, {-0.92, 42, 0.92, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {48, {-0.94, 42, 0.94, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {49, {-0.96, 42, 0.96, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {50, {-0.98, 42, 0.98, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {51, {-1, 42, 1, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {52, {-1.02, 42, 1.02, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {53, {-1.04, 42, 1.04, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {54, {-1.06, 42, 1.06, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {55, {-1.08, 42, 1.08, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {56, {-1.1, 42, 1.1, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {57, {-1.12, 42, 1.12, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {58, {-1.14, 42, 1.14, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {59, {-1.16, 42, 1.16, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {60, {-1.18, 42, 1.18, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {61, {-1.2, 42, 1.2, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {62, {-1.22, 42, 1.22, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {63, {-1.24, 42, 1.24, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {64, {-1.26, 42, 1.26, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {65, {-1.28, 42, 1.28, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {66, {-1.3, 42, 1.3, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {67, {-1.32, 42, 1.32, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {68, {-1.34, 42, 1.34, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {69, {-1.36, 42, 1.36, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {70, {-1.38, 42, 1.38, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {71, {-1.4, 42, 1.4, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {72, {-1.42, 42, 1.42, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {73, {-1.44, 42, 1.44, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {74, {-1.46, 42, 1.46, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {75, {-1.48, 42, 1.48, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {76, {-1.5, 42, 1.5, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {77, {-1.52, 42, 1.52, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {78, {-1.54, 42, 1.54, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {79, {-1.56, 42, 1.56, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {80, {-1.58, 42, 1.58, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {81, {-1.6, 42, 1.6, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {82, {-1.62, 42, 1.62, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {83, {-1.64, 42, 1.64, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {84, {-1.66, 42, 1.66, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {85, {-1.68, 42, 1.68, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {86, {-1.7, 42, 1.7, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {87, {-1.72, 42, 1.72, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {88, {-1.74, 42, 1.74, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {89, {-1.76, 42, 1.76, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {90, {-1.78, 42, 1.78, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {91, {-1.8, 42, 1.8, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {92, {-1.82, 42, 1.82, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {93, {-1.84, 42, 1.84, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {94, {-1.86, 42, 1.86, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {95, {-1.88, 42, 1.88, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {96, {-1.9, 42, 1.9, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {97, {-1.92, 42, 1.92, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {98, {-1.94, 42, 1.94, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {99, {-1.96, 42, 1.96, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}},
+ {100, {-1.98, 42, 1.98, -1, 0, 1, 0, 0, 0, 1, 0, 0, 0}}};
Boardcore::PropagatorState STATE0(0, 0, nas[0]);
@@ -199,224 +199,224 @@ namespace TestPropagator2
std::chrono::milliseconds dt = 20ms;
int n = 100;
Boardcore::NASState nas[] = {
- {1, {12, -24, -48, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {2, {11.994, -23.976, -47.932, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {3, {11.988, -23.952, -47.864, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {4, {11.982, -23.928, -47.796, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {5, {11.976, -23.904, -47.728, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {6, {11.97, -23.88, -47.66, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {7, {11.964, -23.856, -47.592, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {8, {11.958, -23.832, -47.524, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {9, {11.952, -23.808, -47.456, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {10, {11.946, -23.784, -47.388, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {11, {11.94, -23.76, -47.32, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {12, {11.934, -23.736, -47.252, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {13, {11.928, -23.712, -47.184, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {14, {11.922, -23.688, -47.116, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {15, {11.916, -23.664, -47.048, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {16, {11.91, -23.64, -46.98, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {17, {11.904, -23.616, -46.912, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {18, {11.898, -23.592, -46.844, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {19, {11.892, -23.568, -46.776, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {20, {11.886, -23.544, -46.708, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {21, {11.88, -23.52, -46.64, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {22, {11.874, -23.496, -46.572, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {23, {11.868, -23.472, -46.504, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {24, {11.862, -23.448, -46.436, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {25,
+ {1, {12, -24, -48, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {2, {11.994, -23.976, -47.932, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {3, {11.988, -23.952, -47.864, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {4, {11.982, -23.928, -47.796, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {5, {11.976, -23.904, -47.728, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {6, {11.97, -23.88, -47.66, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {7, {11.964, -23.856, -47.592, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {8, {11.958, -23.832, -47.524, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {9, {11.952, -23.808, -47.456, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {10, {11.946, -23.784, -47.388, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {11, {11.94, -23.76, -47.32, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {12, {11.934, -23.736, -47.252, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {13, {11.928, -23.712, -47.184, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {14, {11.922, -23.688, -47.116, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {15, {11.916, -23.664, -47.048, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {16, {11.91, -23.64, -46.98, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {17, {11.904, -23.616, -46.912, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {18, {11.898, -23.592, -46.844, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {19, {11.892, -23.568, -46.776, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {20, {11.886, -23.544, -46.708, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {21, {11.88, -23.52, -46.64, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {22, {11.874, -23.496, -46.572, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {23, {11.868, -23.472, -46.504, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {24, {11.862, -23.448, -46.436, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {25,
{11.856, -23.424, -46.3680000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {26,
+ {26,
{11.85, -23.4, -46.3000000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {27,
+ {27,
{11.844, -23.376, -46.2320000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {28,
+ {28,
{11.838, -23.352, -46.1640000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {29,
+ {29,
{11.832, -23.328, -46.0960000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {30,
+ {30,
{11.826, -23.304, -46.0280000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {31,
+ {31,
{11.82, -23.28, -45.9600000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {32,
+ {32,
{11.814, -23.256, -45.8920000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {33,
+ {33,
{11.808, -23.232, -45.8240000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {34,
+ {34,
{11.802, -23.208, -45.7560000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {35,
+ {35,
{11.796, -23.184, -45.6880000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {36,
+ {36,
{11.79, -23.16, -45.6200000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {37,
+ {37,
{11.784, -23.136, -45.5520000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {38,
+ {38,
{11.778, -23.112, -45.4840000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {39,
+ {39,
{11.772, -23.088, -45.4160000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {40,
+ {40,
{11.766, -23.064, -45.3480000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {41,
+ {41,
{11.76, -23.04, -45.2800000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {42,
+ {42,
{11.754, -23.016, -45.2120000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {43,
+ {43,
{11.748, -22.992, -45.1440000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {44,
+ {44,
{11.742, -22.968, -45.0760000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {45,
+ {45,
{11.736, -22.944, -45.0080000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {46,
+ {46,
{11.73, -22.92, -44.9400000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {47,
+ {47,
{11.724, -22.896, -44.8720000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {48,
+ {48,
{11.718, -22.872, -44.8040000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {49,
+ {49,
{11.712, -22.848, -44.7360000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {50,
+ {50,
{11.706, -22.824, -44.6680000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {51, {11.7, -22.8, -44.6000000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {52,
+ {51, {11.7, -22.8, -44.6000000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
+ {52,
{11.694, -22.776, -44.5320000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {53,
+ {53,
{11.688, -22.752, -44.4640000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {54,
+ {54,
{11.682, -22.728, -44.3960000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {55,
+ {55,
{11.676, -22.704, -44.3280000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1, 0, 0, 0}},
- {56,
+ {56,
{11.67, -22.6799999999999, -44.2600000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {57,
+ {57,
{11.664, -22.6559999999999, -44.1920000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {58,
+ {58,
{11.658, -22.6319999999999, -44.1240000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {59,
+ {59,
{11.652, -22.6079999999999, -44.0560000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {60,
+ {60,
{11.646, -22.5839999999999, -43.9880000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {61,
+ {61,
{11.64, -22.5599999999999, -43.9200000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {62,
+ {62,
{11.634, -22.5359999999999, -43.8520000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {63,
+ {63,
{11.628, -22.5119999999999, -43.7840000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {64,
+ {64,
{11.622, -22.4879999999999, -43.7160000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {65,
+ {65,
{11.616, -22.4639999999999, -43.6480000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {66,
+ {66,
{11.61, -22.4399999999999, -43.5800000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {67,
+ {67,
{11.604, -22.4159999999999, -43.5120000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {68,
+ {68,
{11.598, -22.3919999999999, -43.4440000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {69,
+ {69,
{11.592, -22.3679999999999, -43.3760000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {70,
+ {70,
{11.586, -22.3439999999999, -43.3080000000001, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {71,
+ {71,
{11.58, -22.3199999999999, -43.2400000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {72,
+ {72,
{11.574, -22.2959999999999, -43.1720000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {73,
+ {73,
{11.568, -22.2719999999999, -43.1040000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {74,
+ {74,
{11.562, -22.2479999999999, -43.0360000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {75,
+ {75,
{11.556, -22.2239999999999, -42.9680000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {76,
+ {76,
{11.55, -22.1999999999999, -42.9000000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {77,
+ {77,
{11.544, -22.1759999999999, -42.8320000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {78,
+ {78,
{11.538, -22.1519999999999, -42.7640000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {79,
+ {79,
{11.532, -22.1279999999999, -42.6960000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {80,
+ {80,
{11.526, -22.1039999999999, -42.6280000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {81,
+ {81,
{11.52, -22.0799999999999, -42.5600000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {82,
+ {82,
{11.514, -22.0559999999999, -42.4920000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {83,
+ {83,
{11.508, -22.0319999999999, -42.4240000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {84,
+ {84,
{11.502, -22.0079999999999, -42.3560000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {85,
+ {85,
{11.496, -21.9839999999999, -42.2880000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {86,
+ {86,
{11.49, -21.9599999999999, -42.2200000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {87,
+ {87,
{11.484, -21.9359999999999, -42.1520000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {88,
+ {88,
{11.478, -21.9119999999999, -42.0840000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {89,
+ {89,
{11.472, -21.8879999999999, -42.0160000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {90,
+ {90,
{11.466, -21.8639999999999, -41.9480000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {91,
+ {91,
{11.46, -21.8399999999999, -41.8800000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {92,
+ {92,
{11.454, -21.8159999999999, -41.8120000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {93,
+ {93,
{11.448, -21.7919999999999, -41.7440000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {94,
+ {94,
{11.442, -21.7679999999999, -41.6760000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {95,
+ {95,
{11.436, -21.7439999999999, -41.6080000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {96,
+ {96,
{11.43, -21.7199999999999, -41.5400000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {97,
+ {97,
{11.424, -21.6959999999999, -41.4720000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {98,
+ {98,
{11.418, -21.6719999999999, -41.4040000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {99,
+ {99,
{11.412, -21.6479999999999, -41.3360000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}},
- {100,
+ {100,
{11.406, -21.6239999999999, -41.2680000000002, -0.3, 1.2, 3.4, 0, 0, 0, 1,
0, 0, 0}}};
@@ -429,274 +429,274 @@ namespace TestPropagator3
std::chrono::milliseconds dt = 500ms;
int n = 100;
Boardcore::NASState nas[] = {
- {1, {12, -24, -48, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {2, {11.85, -23.4, -46.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {3, {11.7, -22.8, -44.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {4, {11.55, -22.2, -42.9, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {5, {11.4, -21.6, -41.2, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {6, {11.25, -21, -39.5, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {7, {11.1, -20.4, -37.8, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {8, {10.95, -19.8, -36.1, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {9, {10.8, -19.2, -34.4, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {10, {10.65, -18.6, -32.7, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {11, {10.5, -18, -31, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {12, {10.35, -17.4, -29.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {13, {10.2, -16.8, -27.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {14, {10.05, -16.2, -25.9, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {15, {9.9, -15.6, -24.2, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {16,
+ {1, {12, -24, -48, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {2, {11.85, -23.4, -46.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {3, {11.7, -22.8, -44.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {4, {11.55, -22.2, -42.9, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {5, {11.4, -21.6, -41.2, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {6, {11.25, -21, -39.5, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {7, {11.1, -20.4, -37.8, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {8, {10.95, -19.8, -36.1, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {9, {10.8, -19.2, -34.4, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {10, {10.65, -18.6, -32.7, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {11, {10.5, -18, -31, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {12, {10.35, -17.4, -29.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {13, {10.2, -16.8, -27.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {14, {10.05, -16.2, -25.9, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {15, {9.9, -15.6, -24.2, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
+ {16,
{9.74999999999999, -15, -22.5, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {17,
+ {17,
{9.59999999999999, -14.4, -20.8, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {18,
+ {18,
{9.44999999999999, -13.8, -19.1, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {19,
+ {19,
{9.29999999999999, -13.2, -17.4, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {20,
+ {20,
{9.14999999999999, -12.6, -15.7, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {21,
+ {21,
{8.99999999999999, -12, -14, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {22,
+ {22,
{8.84999999999999, -11.4, -12.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {23,
+ {23,
{8.69999999999999, -10.8, -10.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {24,
+ {24,
{8.54999999999999, -10.2, -8.89999999999998, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {25,
+ {25,
{8.39999999999999, -9.59999999999999, -7.19999999999998, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {26,
+ {26,
{8.24999999999999, -8.99999999999999, -5.49999999999998, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {27,
+ {27,
{8.09999999999999, -8.39999999999999, -3.79999999999998, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {28,
+ {28,
{7.94999999999999, -7.79999999999999, -2.09999999999998, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {29,
+ {29,
{7.79999999999999, -7.19999999999999, -0.399999999999984, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {30,
+ {30,
{7.64999999999999, -6.59999999999999, 1.30000000000002, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {31,
+ {31,
{7.49999999999999, -5.99999999999999, 3.00000000000002, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {32,
+ {32,
{7.34999999999999, -5.39999999999999, 4.70000000000002, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {33,
+ {33,
{7.19999999999999, -4.79999999999999, 6.40000000000002, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {34,
+ {34,
{7.04999999999999, -4.19999999999999, 8.10000000000002, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {35,
+ {35,
{6.89999999999999, -3.59999999999999, 9.80000000000001, -0.3, 1.2, 3.4,
0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {36,
+ {36,
{6.74999999999999, -2.99999999999999, 11.5, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {37,
+ {37,
{6.59999999999999, -2.39999999999999, 13.2, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {38,
+ {38,
{6.44999999999999, -1.79999999999999, 14.9, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {39,
+ {39,
{6.29999999999999, -1.19999999999999, 16.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {40,
+ {40,
{6.14999999999999, -0.599999999999988, 18.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {41,
+ {41,
{5.99999999999999, 1.17683640610267e-14, 20, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {42,
+ {42,
{5.84999999999999, 0.600000000000012, 21.7, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {43,
+ {43,
{5.69999999999999, 1.20000000000001, 23.4, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {44,
+ {44,
{5.54999999999998, 1.80000000000001, 25.1, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {45,
+ {45,
{5.39999999999998, 2.40000000000001, 26.8, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {46,
+ {46,
{5.24999999999998, 3.00000000000001, 28.5, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {47,
+ {47,
{5.09999999999998, 3.60000000000001, 30.2, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {48,
+ {48,
{4.94999999999998, 4.20000000000001, 31.9, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {49,
+ {49,
{4.79999999999998, 4.80000000000001, 33.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {50,
+ {50,
{4.64999999999998, 5.40000000000001, 35.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {51,
+ {51,
{4.49999999999998, 6.00000000000001, 37, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {52,
+ {52,
{4.34999999999998, 6.60000000000001, 38.7, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {53,
+ {53,
{4.19999999999998, 7.20000000000001, 40.4, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {54,
+ {54,
{4.04999999999998, 7.80000000000001, 42.1, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {55,
+ {55,
{3.89999999999998, 8.40000000000001, 43.8, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {56,
+ {56,
{3.74999999999998, 9.00000000000001, 45.5, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {57,
+ {57,
{3.59999999999998, 9.60000000000001, 47.2, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {58,
+ {58,
{3.44999999999998, 10.2, 48.9, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {59,
+ {59,
{3.29999999999998, 10.8, 50.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {60,
+ {60,
{3.14999999999998, 11.4, 52.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {61,
+ {61,
{2.99999999999998, 12, 54, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {62,
+ {62,
{2.84999999999998, 12.6, 55.7, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {63,
+ {63,
{2.69999999999998, 13.2, 57.4, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {64,
+ {64,
{2.54999999999998, 13.8, 59.1000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {65,
+ {65,
{2.39999999999998, 14.4, 60.8000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {66,
+ {66,
{2.24999999999998, 15, 62.5000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {67,
+ {67,
{2.09999999999998, 15.6, 64.2000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {68,
+ {68,
{1.94999999999998, 16.2, 65.9000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {69,
+ {69,
{1.79999999999998, 16.8, 67.6000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {70,
+ {70,
{1.64999999999998, 17.4, 69.3000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {71,
+ {71,
{1.49999999999998, 18, 71.0000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {72,
+ {72,
{1.34999999999998, 18.6, 72.7000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {73,
+ {73,
{1.19999999999998, 19.2, 74.4000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {74,
+ {74,
{1.04999999999998, 19.8, 76.1000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {75,
+ {75,
{0.899999999999983, 20.4, 77.8000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {76,
+ {76,
{0.749999999999983, 21, 79.5000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {77,
+ {77,
{0.599999999999983, 21.6, 81.2000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {78,
+ {78,
{0.449999999999983, 22.2, 82.9000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {79,
+ {79,
{0.299999999999983, 22.8, 84.6000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {80,
+ {80,
{0.149999999999983, 23.4, 86.3000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {81,
+ {81,
{-1.71529457304587e-14, 24, 88.0000000000001, -0.3, 1.2, 3.4, 0.5, 0.5,
0.5, 0.5, 1, 2, 3}},
- {82,
+ {82,
{-0.150000000000017, 24.6, 89.7000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {83,
+ {83,
{-0.300000000000017, 25.2, 91.4000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {84,
+ {84,
{-0.450000000000017, 25.8, 93.1000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {85,
+ {85,
{-0.600000000000017, 26.4, 94.8000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {86,
+ {86,
{-0.750000000000017, 27, 96.5000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {87,
+ {87,
{-0.900000000000017, 27.6, 98.2000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {88,
+ {88,
{-1.05000000000002, 28.2, 99.9000000000001, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5,
0.5, 1, 2, 3}},
- {89,
+ {89,
{-1.20000000000002, 28.8, 101.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {90,
+ {90,
{-1.35000000000002, 29.4, 103.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {91,
+ {91,
{-1.50000000000002, 30, 105, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2, 3}},
- {92,
+ {92,
{-1.65000000000002, 30.6, 106.7, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {93,
+ {93,
{-1.80000000000002, 31.2, 108.4, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {94,
+ {94,
{-1.95000000000002, 31.8, 110.1, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {95,
+ {95,
{-2.10000000000002, 32.4, 111.8, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {96,
+ {96,
{-2.25000000000002, 33, 113.5, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {97,
+ {97,
{-2.40000000000002, 33.6, 115.2, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {98,
+ {98,
{-2.55000000000002, 34.2, 116.9, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {99,
+ {99,
{-2.70000000000002, 34.8, 118.6, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}},
- {100,
+ {100,
{-2.85000000000002, 35.4, 120.3, -0.3, 1.2, 3.4, 0.5, 0.5, 0.5, 0.5, 1, 2,
3}}};
Boardcore::PropagatorState STATE0(0, 0, nas[0]);
-} // namespace TestPropagator3
\ No newline at end of file
+} // namespace TestPropagator3
diff --git a/src/tests/catch/propagator/test-propagator.cpp b/src/tests/catch/propagator/test-propagator.cpp
index d2559cc1c..1877221bd 100644
--- a/src/tests/catch/propagator/test-propagator.cpp
+++ b/src/tests/catch/propagator/test-propagator.cpp
@@ -116,4 +116,4 @@ TEST_CASE("Propagator Update Test 3")
using namespace TestPropagator3;
testPropagator(dt, STATE0, nas, n);
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/skyQuaternion/test-skyquaternion.cpp b/src/tests/catch/skyQuaternion/test-skyquaternion.cpp
index 4b9aab4aa..f30c4aabc 100644
--- a/src/tests/catch/skyQuaternion/test-skyquaternion.cpp
+++ b/src/tests/catch/skyQuaternion/test-skyquaternion.cpp
@@ -32,7 +32,7 @@ using namespace Eigen;
using namespace Boardcore;
using namespace SkyQuaternion;
-void testEulerAngles(const Vector3f &actual, const Vector3f &expected)
+void testEulerAngles(const Vector3f& actual, const Vector3f& expected)
{
REQUIRE(actual[0] == Approx(expected[0]).margin(0.0001));
REQUIRE(actual[1] == Approx(expected[1]).margin(0.0001));
@@ -50,4 +50,4 @@ TEST_CASE("quat2stepperAngles")
Boardcore::SkyQuaternion::quat2stepperAngles(Vector4f(inputs[i]));
testEulerAngles(euler, outputs[i]);
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-MEA.cpp b/src/tests/catch/test-MEA.cpp
index c644a6ff2..c0bcda372 100644
--- a/src/tests/catch/test-MEA.cpp
+++ b/src/tests/catch/test-MEA.cpp
@@ -121,4 +121,4 @@ TEST_CASE("MEA Update Test")
<< " != " << ESTIMATED_PRESSURE[i]);
}
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-aero.cpp b/src/tests/catch/test-aero.cpp
index d1f52a663..942244bce 100644
--- a/src/tests/catch/test-aero.cpp
+++ b/src/tests/catch/test-aero.cpp
@@ -66,7 +66,6 @@ TEST_CASE("[AeroUtils] relPressure")
TEST_CASE("[AeroUtils] relDensity")
{
-
REQUIRE(relDensity(101325) == Approx(1.225).epsilon(0.0001));
REQUIRE(relDensity(100129.438691069) ==
Approx(1.21328277727309).epsilon(0.0001));
@@ -186,12 +185,13 @@ TEST_CASE("[AeroUtils] computeMach")
float mach[] = {0, 0.2955, 0.2972, 0.2990, 0.3007, 0.3025, 0.3043, 0};
for (int i = 0; i < sizeof(d) / sizeof(float); i++)
+ {
REQUIRE(computeMach(d[i], vtot[i], t0) ==
Approx(mach[i]).epsilon(0.001));
+ }
}
{
-
// Test for a different t0 from atmosisa
const float t0 = 287.11;
float d[] = {0, -315.556, -631.111, -946.667, -1262.222,
@@ -219,7 +219,9 @@ TEST_CASE("[AeroUtils] computeMach")
1.14129591962841};
for (int i = 0; i < sizeof(d) / sizeof(float); i++)
+ {
REQUIRE(computeMach(d[i], vtot[i], t0) ==
Approx(mach[i]).epsilon(0.001));
+ }
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-airbrakesInterp.cpp b/src/tests/catch/test-airbrakesInterp.cpp
index 20137849b..e2549c990 100644
--- a/src/tests/catch/test-airbrakesInterp.cpp
+++ b/src/tests/catch/test-airbrakesInterp.cpp
@@ -96,7 +96,5 @@ TEST_CASE("ABK Update Test")
abk.begin(28.8);
for (size_t i = 0; i < Z.size(); i++)
- {
abk.update();
- }
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-buttonhandler.cpp b/src/tests/catch/test-buttonhandler.cpp
index 64a06d45c..e26a94f0c 100644
--- a/src/tests/catch/test-buttonhandler.cpp
+++ b/src/tests/catch/test-buttonhandler.cpp
@@ -87,7 +87,6 @@ using ButtonHandler_t = ButtonHandler<ButtonMock>;
class ButtonHandlerTestFixture
{
-
public:
ButtonHandlerTestFixture() : handler(nullptr)
{
@@ -118,9 +117,7 @@ protected:
void callback(int id, ButtonPress pressType)
{
if (id != 0x5E)
- {
return;
- }
switch (pressType)
{
case ButtonPress::DOWN:
diff --git a/src/tests/catch/test-dependencymanager.cpp b/src/tests/catch/test-dependencymanager.cpp
index 1b1691390..65c8d68a4 100644
--- a/src/tests/catch/test-dependencymanager.cpp
+++ b/src/tests/catch/test-dependencymanager.cpp
@@ -40,10 +40,10 @@ public:
bool bong_a() { return value; }
- void inject(DependencyInjector &getter) { b = getter.get<B>(); }
+ void inject(DependencyInjector& getter) { b = getter.get<B>(); }
private:
- B *b = nullptr;
+ B* b = nullptr;
bool value = false;
};
@@ -134,8 +134,8 @@ TEST_CASE("DependencyManager - Circular dependencies")
{
DependencyManager manager;
- Boardcore::A *a = new Boardcore::A();
- Boardcore::B *b = new Boardcore::B();
+ Boardcore::A* a = new Boardcore::A();
+ Boardcore::B* b = new Boardcore::B();
REQUIRE(manager.insert(a));
REQUIRE(manager.insert(b));
@@ -160,10 +160,10 @@ TEST_CASE("DependencyManager - Virtual Dependencies")
{
DependencyManager manager;
- Boardcore::A *a = new Boardcore::A();
- Boardcore::B *b = new Boardcore::B();
- Boardcore::C *c = new Boardcore::C();
- Boardcore::D *d = new Boardcore::D();
+ Boardcore::A* a = new Boardcore::A();
+ Boardcore::B* b = new Boardcore::B();
+ Boardcore::C* c = new Boardcore::C();
+ Boardcore::D* d = new Boardcore::D();
REQUIRE(manager.insert<Boardcore::A>(a));
REQUIRE(manager.insert<Boardcore::B>(b));
@@ -194,7 +194,7 @@ TEST_CASE("DependencyManager - Inject fail")
{
DependencyManager manager;
- Boardcore::A *a = new Boardcore::A();
+ Boardcore::A* a = new Boardcore::A();
REQUIRE(manager.insert(a));
REQUIRE_FALSE(manager.inject());
@@ -204,8 +204,8 @@ TEST_CASE("DependencyManager - Insert two instances fail")
{
DependencyManager manager;
- Boardcore::A *a1 = new Boardcore::A();
- Boardcore::A *a2 = new Boardcore::A();
+ Boardcore::A* a1 = new Boardcore::A();
+ Boardcore::A* a2 = new Boardcore::A();
REQUIRE(manager.insert(a1));
REQUIRE_FALSE(manager.insert(a2));
@@ -215,10 +215,10 @@ TEST_CASE("DependencyManager - Dependency tree")
{
DependencyManager manager;
- Boardcore::E *e = new Boardcore::E();
- Boardcore::F *f = new Boardcore::F();
- Boardcore::H *h = new Boardcore::H();
- Boardcore::I *i = new Boardcore::I();
+ Boardcore::E* e = new Boardcore::E();
+ Boardcore::F* f = new Boardcore::F();
+ Boardcore::H* h = new Boardcore::H();
+ Boardcore::I* i = new Boardcore::I();
REQUIRE(manager.insert(e));
REQUIRE(manager.insert(f));
@@ -229,4 +229,4 @@ TEST_CASE("DependencyManager - Dependency tree")
REQUIRE(i->get_ultimate_true_answer() == 111);
manager.graphviz(std::cout);
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-kalman.cpp b/src/tests/catch/test-kalman.cpp
index e44e3fb2e..227fa4eee 100644
--- a/src/tests/catch/test-kalman.cpp
+++ b/src/tests/catch/test-kalman.cpp
@@ -101,9 +101,7 @@ TEST_CASE("Update test")
filter.predictUpdateF(F_new);
if (!filter.correct(y))
- {
FAIL("Correction failed at iteration : " << i << " \n");
- }
if (filter.getState()(0, 0) != Approx(STATE_1[i]).epsilon(0.01))
{
diff --git a/src/tests/catch/test-modulemanager.cpp b/src/tests/catch/test-modulemanager.cpp
index 9b0b96f5c..3edfc3576 100644
--- a/src/tests/catch/test-modulemanager.cpp
+++ b/src/tests/catch/test-modulemanager.cpp
@@ -34,7 +34,7 @@ protected:
public:
virtual int getDummy() { return dummy; };
- virtual void toggleDummy(){};
+ virtual void toggleDummy() {};
};
class HILSensors : public SensorsModule
@@ -110,4 +110,4 @@ TEST_CASE("ModuleManager - Insertion after get call")
// Verify that the initially inserted module didn't change
modules.get<Radio>()->setDummy(345);
REQUIRE(modules.get<Radio>()->getDummy() == 345);
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-packetqueue.cpp b/src/tests/catch/test-packetqueue.cpp
index 0b7eecdc0..db347dee3 100644
--- a/src/tests/catch/test-packetqueue.cpp
+++ b/src/tests/catch/test-packetqueue.cpp
@@ -75,9 +75,7 @@ TEST_CASE("Packet tests")
REQUIRE(p.getMsgCount() == 0);
// REQUIRE(p.dump(buf) == 0);
for (int i = 0; i < BUF_LEN; i++)
- {
REQUIRE(buf[i] == 0);
- }
}
SECTION("Adding stuff to packet")
diff --git a/src/tests/catch/test-pitot.cpp b/src/tests/catch/test-pitot.cpp
index 6fef5533f..3b84e6098 100644
--- a/src/tests/catch/test-pitot.cpp
+++ b/src/tests/catch/test-pitot.cpp
@@ -70,4 +70,4 @@ TEST_CASE("Pitot Test")
<< pitot.getLastSample().airspeed << " != " << results[i]);
}
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-registry-frontend.cpp b/src/tests/catch/test-registry-frontend.cpp
index aa989018e..cfaa741e5 100644
--- a/src/tests/catch/test-registry-frontend.cpp
+++ b/src/tests/catch/test-registry-frontend.cpp
@@ -51,7 +51,7 @@ static constexpr uint32_t FLOAT_VALUE_ID = 13;
* @param entryId The id of the configuration entry
* @param entry The EntryStructsUnion structure of the configuration entry
*/
-void visitFunction(ConfigurationId entryId, EntryStructsUnion &entry)
+void visitFunction(ConfigurationId entryId, EntryStructsUnion& entry)
{
switch (entryId)
{
@@ -88,7 +88,7 @@ class FakeBackend : public RegistryBackend
public:
int &startCount, &saveCount, &loadCount;
- FakeBackend(int &startCount, int &saveCount, int &loadCount)
+ FakeBackend(int& startCount, int& saveCount, int& loadCount)
: startCount(startCount), saveCount(saveCount), loadCount(loadCount)
{
}
@@ -99,13 +99,13 @@ public:
return true;
}
- bool load(std::vector<uint8_t> &) override
+ bool load(std::vector<uint8_t>&) override
{
loadCount++;
return true;
}
- bool save(std::vector<uint8_t> &) override
+ bool save(std::vector<uint8_t>&) override
{
saveCount++;
return true;
@@ -393,4 +393,4 @@ TEST_CASE("RegistryFrontend test - Backend test")
REQUIRE(startCount == 1);
REQUIRE(saveCount == 1);
REQUIRE(loadCount == 1);
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-sensormanager-catch.cpp b/src/tests/catch/test-sensormanager-catch.cpp
index 01ca815a3..78828284c 100644
--- a/src/tests/catch/test-sensormanager-catch.cpp
+++ b/src/tests/catch/test-sensormanager-catch.cpp
@@ -96,40 +96,40 @@ private:
SensorSampler* samplerSensor5;
TestSensor s1;
- SensorInfo s1_info{
- /*ID=*/"s1",
- /*Period=*/1000,
- /*Callback=*/[]() { std::cout << "Callback 1!" << std::endl; },
- /*Enabled=*/true};
+ SensorInfo s1_info{/*ID=*/"s1",
+ /*Period=*/1000,
+ /*Callback=*/[]()
+ { std::cout << "Callback 1!" << std::endl; },
+ /*Enabled=*/true};
TestSensor s2;
- SensorInfo s2_info{
- /*ID=*/"s2",
- /*Period=*/1000ms,
- /*Callback=*/[]() { std::cout << "Callback 2!" << std::endl; },
- /*Enabled=*/false};
+ SensorInfo s2_info{/*ID=*/"s2",
+ /*Period=*/1000ms,
+ /*Callback=*/[]()
+ { std::cout << "Callback 2!" << std::endl; },
+ /*Enabled=*/false};
TestSensor s3;
- SensorInfo s3_info{
- /*ID=*/"s3",
- /*Period=*/500,
- /*Callback=*/[]() { std::cout << "Callback 3!" << std::endl; },
- /*Enabled=*/true};
+ SensorInfo s3_info{/*ID=*/"s3",
+ /*Period=*/500,
+ /*Callback=*/[]()
+ { std::cout << "Callback 3!" << std::endl; },
+ /*Enabled=*/true};
TestSensor s4;
- SensorInfo s4_info{
- /*ID=*/"s4",
- /*Period=*/1_hz,
- /*Callback=*/[]() { std::cout << "Callback 4!" << std::endl; },
- /*Enabled=*/true};
+ SensorInfo s4_info{/*ID=*/"s4",
+ /*Period=*/1_hz,
+ /*Callback=*/[]()
+ { std::cout << "Callback 4!" << std::endl; },
+ /*Enabled=*/true};
// always failing self-test
FailingSensorCatch s5;
- SensorInfo s5_info{
- /*ID=*/"s5",
- /*Period=*/2000,
- /*Callback=*/[]() { std::cout << "Callback 5!" << std::endl; },
- /*Enabled=*/true};
+ SensorInfo s5_info{/*ID=*/"s5",
+ /*Period=*/2000,
+ /*Callback=*/[]()
+ { std::cout << "Callback 5!" << std::endl; },
+ /*Enabled=*/true};
};
TEST_CASE_METHOD(SensorManagerFixture,
diff --git a/src/tests/catch/test-units.cpp b/src/tests/catch/test-units.cpp
index 1daa16ba8..b461d9fed 100644
--- a/src/tests/catch/test-units.cpp
+++ b/src/tests/catch/test-units.cpp
@@ -34,7 +34,7 @@
using namespace Boardcore;
template <class T>
-bool eq(T const &a, T const &b)
+bool eq(T const& a, T const& b)
{
return std::fabs(a.value() - b.value()) < 1e-6;
}
@@ -103,4 +103,4 @@ TEST_CASE("Units Test")
REQUIRE(a == Radian(2 * PI));
a /= 2;
REQUIRE(a == Radian(PI));
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/xbee/MockXbeeSPIBus.h b/src/tests/catch/xbee/MockXbeeSPIBus.h
index 44c48d141..23f4e2af2 100644
--- a/src/tests/catch/xbee/MockXbeeSPIBus.h
+++ b/src/tests/catch/xbee/MockXbeeSPIBus.h
@@ -87,9 +87,7 @@ protected:
uint8_t r = MockSPIBus::_read();
if (inBufPosCntr == inBuf.size())
- {
resetATTN();
- }
return r;
}
diff --git a/src/tests/catch/xbee/test-xbee-parser.cpp b/src/tests/catch/xbee/test-xbee-parser.cpp
index 26867ab7a..412e27eb2 100644
--- a/src/tests/catch/xbee/test-xbee-parser.cpp
+++ b/src/tests/catch/xbee/test-xbee-parser.cpp
@@ -51,18 +51,14 @@ void calcChecksum(uint8_t* frame, size_t frameSize)
{
frame[frameSize - 1] = 0;
for (size_t i = 3; i < frameSize - 1; i++)
- {
frame[frameSize - 1] += frame[i];
- }
frame[frameSize - 1] = 0xFF - frame[frameSize - 1];
}
void printHex(uint8_t* frame, size_t frameSize)
{
for (size_t i = 0; i < frameSize; i++)
- {
printf("%02X ", frame[i]);
- }
printf("\n");
}
@@ -79,9 +75,7 @@ void printu64(uint64_t v)
void printBuf(uint8_t* buf, size_t size)
{
for (size_t i = 0; i < size; i++)
- {
printf("%02X ", buf[i]);
- }
printf("\n");
}
@@ -538,9 +532,7 @@ TEST_CASE("Parser edge cases")
REQUIRE_FALSE(res == APIFrameParser::ParseResult::SUCCESS);
if (i == len - 1)
- {
REQUIRE(res == APIFrameParser::ParseResult::FAIL);
- }
}
}
diff --git a/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h b/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
index 991c9b96a..0059bfc6c 100644
--- a/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
+++ b/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
@@ -84,9 +84,7 @@ private:
parent.txPackets.waitUntilNotEmpty();
if (shouldStop())
- {
return;
- }
Boardcore::Canbus::CanPacket p = parent.txPackets.pop();
parent.canbus.send(p);
p.timestamp = Boardcore::Kernel::getOldTick();
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
index 446127e97..372fc4b2b 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
@@ -98,9 +98,7 @@ void sendNewRequest()
packet.id = seq++;
if (packet.id % 2 == 0)
- {
packet.id = 0xFFFFFFF - packet.id;
- }
packet.ext = 1;
packet.length = 8;
@@ -108,9 +106,7 @@ void sendNewRequest()
packet.data[0] = 0x44;
for (int i = 1; i < 8; ++i)
- {
packet.data[i] = seq + i;
- }
{
Lock<FastMutex> l(mutexMsgs);
@@ -132,9 +128,7 @@ public:
{
Lock<FastMutex> l(mutexMsgs);
if (msgs.isFull())
- {
++bufferFull;
- }
while (!msgs.isEmpty())
{
CanMsg msg = msgs.get();
@@ -147,9 +141,7 @@ public:
{
msgstats.add(msg.ts * 1.0f);
if (msg.ts > MSG_DEADLINE)
- {
++missedDeadline;
- }
}
else
{
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp b/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
index 0002deca0..4c06c8513 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
@@ -121,7 +121,6 @@ int main()
p.data[i] = 1 << i;
for (;;)
{
-
// printPacket("TX", p);
p.timestamp = Kernel::getOldTick();
c->send(p);
@@ -133,9 +132,7 @@ int main()
// c->send(p);
while (!c->getRXBuffer().isEmpty())
- {
load.addPacket(c->getRXBuffer().pop().packet);
- }
// c->getRXBuffer().waitUntilNotEmpty();
// CanRXPacket prx = c->getRXBuffer().pop();
// printRXPacket("RX", prx);
diff --git a/src/tests/drivers/i2c/test-i2c-driver.cpp b/src/tests/drivers/i2c/test-i2c-driver.cpp
index 2519269de..92e0ed686 100644
--- a/src/tests/drivers/i2c/test-i2c-driver.cpp
+++ b/src/tests/drivers/i2c/test-i2c-driver.cpp
@@ -98,7 +98,7 @@ I2CDriver::I2CSlaveConfig OLEDConfig{OLED.addressSensor,
I2CDriver::I2CSlaveConfig LPSConfig{
LPS.addressSensor, I2CDriver::Addressing::BIT7, I2CDriver::Speed::STANDARD};
-bool i2cDriver(I2CDriver &i2c, I2CSensor sensor,
+bool i2cDriver(I2CDriver& i2c, I2CSensor sensor,
I2CDriver::I2CSlaveConfig sensorConfig)
{
const size_t nRead = 300;
diff --git a/src/tests/drivers/i2c/test-i2c.cpp b/src/tests/drivers/i2c/test-i2c.cpp
index a84942dfb..b47b8248f 100644
--- a/src/tests/drivers/i2c/test-i2c.cpp
+++ b/src/tests/drivers/i2c/test-i2c.cpp
@@ -97,7 +97,7 @@ I2CDriver::I2CSlaveConfig OLEDConfig{OLED.addressSensor,
I2CDriver::I2CSlaveConfig LPSConfig{
LPS.addressSensor, I2CDriver::Addressing::BIT7, I2CDriver::Speed::STANDARD};
-bool i2cDriver(I2C &i2c, I2CSensor sensor,
+bool i2cDriver(I2C& i2c, I2CSensor sensor,
I2CDriver::I2CSlaveConfig sensorConfig)
{
buffer = 48;
diff --git a/src/tests/drivers/test-MBLoadCell.cpp b/src/tests/drivers/test-MBLoadCell.cpp
index 6b94d3879..7420314b3 100644
--- a/src/tests/drivers/test-MBLoadCell.cpp
+++ b/src/tests/drivers/test-MBLoadCell.cpp
@@ -41,15 +41,17 @@ const uint8_t btnUserId = 1;
* button is pressed for a long time, resets the minimum and maximum values of
* the recorded weights
*/
-void buttonCallback(ButtonEvent btnPress, MBLoadCell *loadcell)
+void buttonCallback(ButtonEvent btnPress, MBLoadCell* loadcell)
{
if (btnPress == ButtonEvent::PRESSED)
+ {
TRACE(
"## MAX: %.2f [Kg] (ts: %.3f)\t##\tMIN: %.2f [Kg] (ts: %.3f) ##\n",
loadcell->getMaxWeight().load,
loadcell->getMaxWeight().loadTimestamp / 1000000.0,
loadcell->getMinWeight().load,
loadcell->getMinWeight().load / 1000000.0);
+ }
if (btnPress == ButtonEvent::LONG_PRESS)
loadcell->resetMaxMinWeights();
diff --git a/src/tests/drivers/test-wiz5500.cpp b/src/tests/drivers/test-wiz5500.cpp
index e1805e4ad..34067d4ca 100644
--- a/src/tests/drivers/test-wiz5500.cpp
+++ b/src/tests/drivers/test-wiz5500.cpp
@@ -76,7 +76,7 @@ void setupBoard() {}
#error "Target not supported"
#endif
-Wiz5500 *wiz = nullptr;
+Wiz5500* wiz = nullptr;
#ifdef INTN_IRQ
void __attribute__((used)) INTN_IRQ()
@@ -95,7 +95,7 @@ void socket0SendLoop()
size_t len = sprintf(msg, "Suca palle (DIO0) (0 %d)\n", i);
printf("[wiz5500] Sending though socket 0...\n");
- wiz->send(0, reinterpret_cast<uint8_t *>(msg), len);
+ wiz->send(0, reinterpret_cast<uint8_t*>(msg), len);
Thread::sleep(2000);
i += 1;
}
@@ -107,7 +107,7 @@ void socket0RecvLoop()
{
char msg[1024];
ssize_t len =
- wiz->recv(0, reinterpret_cast<uint8_t *>(msg), sizeof(msg));
+ wiz->recv(0, reinterpret_cast<uint8_t*>(msg), sizeof(msg));
if (len != -1)
{
@@ -149,7 +149,7 @@ void socket1SendLoop()
size_t len = sprintf(msg, "Suca palle (DIO0) (1 %d)\n", i);
printf("[wiz5500] Sending though socket 1...\n");
- wiz->send(1, reinterpret_cast<uint8_t *>(msg), len);
+ wiz->send(1, reinterpret_cast<uint8_t*>(msg), len);
Thread::sleep(1333);
i += 1;
}
@@ -161,7 +161,7 @@ void socket1RecvLoop()
{
char msg[1024];
ssize_t len =
- wiz->recv(1, reinterpret_cast<uint8_t *>(msg), sizeof(msg));
+ wiz->recv(1, reinterpret_cast<uint8_t*>(msg), sizeof(msg));
if (len != -1)
{
@@ -199,7 +199,7 @@ void socket2SendLoop()
size_t len = sprintf(msg, "Suca palle (DIO0) (2 %d)\n", i);
printf("[wiz5500] Sending though socket 2...\n");
- wiz->send(2, reinterpret_cast<uint8_t *>(msg), len);
+ wiz->send(2, reinterpret_cast<uint8_t*>(msg), len);
Thread::sleep(1666);
i += 1;
}
@@ -212,7 +212,7 @@ void socket2RecvLoop()
char msg[1024];
WizIp dst_ip;
uint16_t dst_port;
- ssize_t len = wiz->recvfrom(2, reinterpret_cast<uint8_t *>(msg),
+ ssize_t len = wiz->recvfrom(2, reinterpret_cast<uint8_t*>(msg),
sizeof(msg), dst_ip, dst_port);
std::cout << dst_ip << " " << dst_port << std::endl;
@@ -327,4 +327,4 @@ int main()
}
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/tests/drivers/timer/test-timer-utils.cpp b/src/tests/drivers/timer/test-timer-utils.cpp
index 5824d9d3e..ffdde2be7 100644
--- a/src/tests/drivers/timer/test-timer-utils.cpp
+++ b/src/tests/drivers/timer/test-timer-utils.cpp
@@ -34,7 +34,7 @@ void printInputClock(APB bus);
void testGetTimerInputClock();
-void testTimerUtils(TIM_TypeDef *timer);
+void testTimerUtils(TIM_TypeDef* timer);
int main()
{
@@ -98,16 +98,12 @@ int main()
void printInputClock(APB bus)
{
if (bus == APB::APB1)
- {
printf("APB1");
- }
else
- {
printf("APB2");
- }
}
-void testTimerUtils(TIM_TypeDef *timer)
+void testTimerUtils(TIM_TypeDef* timer)
{
// Print the timer clock source
printInputClock(getTimerInputClock(timer));
diff --git a/src/tests/drivers/timer/test-timestamptimer.cpp b/src/tests/drivers/timer/test-timestamptimer.cpp
index de3ed4696..b3e4da399 100644
--- a/src/tests/drivers/timer/test-timestamptimer.cpp
+++ b/src/tests/drivers/timer/test-timestamptimer.cpp
@@ -32,7 +32,7 @@ using namespace ClockUtils;
void printInputClock(APB bus);
-void testTimerUtils(TIM_TypeDef *timer);
+void testTimerUtils(TIM_TypeDef* timer);
int main()
{
@@ -72,16 +72,12 @@ int main()
void printInputClock(APB bus)
{
if (bus == APB::APB1)
- {
printf("Timer input clock from APB1\n");
- }
else
- {
printf("Timer input clock from APB2\n");
- }
}
-void testTimerUtils(TIM_TypeDef *timer)
+void testTimerUtils(TIM_TypeDef* timer)
{
// Print the timer clock source
printInputClock(getTimerInputClock(timer));
diff --git a/src/tests/drivers/usart/test-usart.cpp b/src/tests/drivers/usart/test-usart.cpp
index f13bbf1a2..8e9c924f8 100644
--- a/src/tests/drivers/usart/test-usart.cpp
+++ b/src/tests/drivers/usart/test-usart.cpp
@@ -128,7 +128,7 @@ int baudrates[] = {2400, 9600, 19200, 38400, 57600,
* Communication: src -> dst
* tests the writeString, write and read methods of the USART drivers
*/
-bool testCommunicationSequential(USARTInterface *src, USARTInterface *dst)
+bool testCommunicationSequential(USARTInterface* src, USARTInterface* dst)
{
char buf_rx[64] = {0};
StructToSend struct_rx{0};
@@ -195,8 +195,8 @@ bool testCommunicationSequential(USARTInterface *src, USARTInterface *dst)
}
// Testing the non blocking read only if USART class
- if ((dynamic_cast<const USART *>(dst) != nullptr) &&
- !dynamic_cast<USART *>(dst)->read(&struct_rx, sizeof(StructToSend)))
+ if ((dynamic_cast<const USART*>(dst) != nullptr) &&
+ !dynamic_cast<USART*>(dst)->read(&struct_rx, sizeof(StructToSend)))
{
printf("Non blocking read passed!\n");
}
@@ -204,7 +204,7 @@ bool testCommunicationSequential(USARTInterface *src, USARTInterface *dst)
return passed;
}
-bool testClearQueue(USART *src, USART *dst)
+bool testClearQueue(USART* src, USART* dst)
{
char buf[128];
unsigned int nReads{0};
@@ -238,7 +238,7 @@ bool testClearQueue(USART *src, USART *dst)
return true;
}
-bool testReadTimeout(USART *src, USART *dst)
+bool testReadTimeout(USART* src, USART* dst)
{
using namespace std::chrono;
@@ -298,13 +298,9 @@ bool testReadTimeout(USART *src, USART *dst)
printf("\t%d<-- received: \t'%s'\n", dst->getId(), buf);
if (!result)
- {
printf("\tTimed out after %lldms\n", measuredTime.count());
- }
else
- {
printf("\tNo timeout\n");
- }
if (strcmp(buf, testString) != 0)
{
@@ -387,9 +383,7 @@ int main()
}
while (true)
- {
Thread::wait();
- }
return 0;
}
diff --git a/src/tests/drivers/xbee/EnergyScanData.h b/src/tests/drivers/xbee/EnergyScanData.h
index ab3dbc305..19488aac3 100644
--- a/src/tests/drivers/xbee/EnergyScanData.h
+++ b/src/tests/drivers/xbee/EnergyScanData.h
@@ -43,18 +43,14 @@ struct EnergyScanData
EnergyScanData(long long ts, array<int, 30> scan)
{
for (int i = 0; i < 30; i++)
- {
channelData[i] = scan[i];
- }
}
static string header()
{
string out = "timestamp";
for (int i = 0; i < 30; i++)
- {
out += ",channel_" + to_string(i);
- }
return out + "\n";
}
@@ -63,9 +59,7 @@ struct EnergyScanData
os << timestamp;
for (int i = 0; i < 30; i++)
- {
os << "," << channelData[i];
- }
os << "\n";
}
diff --git a/src/tests/drivers/xbee/XbeeTestData.h b/src/tests/drivers/xbee/XbeeTestData.h
index cde8e70c9..e44fcd01a 100644
--- a/src/tests/drivers/xbee/XbeeTestData.h
+++ b/src/tests/drivers/xbee/XbeeTestData.h
@@ -125,9 +125,7 @@ struct EnergyScanData
EnergyScanData(long long ts, const array<int, 30> scan)
{
for (int i = 0; i < 30; i++)
- {
channelData[i] = scan[i];
- }
timestamp = ts;
}
@@ -136,9 +134,7 @@ struct EnergyScanData
{
string out = "timestamp";
for (int i = 0; i < 30; i++)
- {
out += ",channel_" + to_string(i);
- }
return out + "\n";
}
@@ -147,9 +143,7 @@ struct EnergyScanData
os << timestamp;
for (int i = 0; i < 30; i++)
- {
os << "," << channelData[i];
- }
os << "\n";
}
diff --git a/src/tests/drivers/xbee/XbeeTransceiver.h b/src/tests/drivers/xbee/XbeeTransceiver.h
index 085e218a0..78a78f04b 100644
--- a/src/tests/drivers/xbee/XbeeTransceiver.h
+++ b/src/tests/drivers/xbee/XbeeTransceiver.h
@@ -233,9 +233,7 @@ private:
while (i <= (int)packetSize - (int)sizeof(expectedNum))
{
if (memcmp(packet + i, &expectedNum, sizeof(expectedNum)) != 0)
- {
return false;
- }
i += sizeof(expectedNum);
}
memcpy(packet + i, &expectedNum, packetSize % sizeof(expectedNum));
@@ -286,13 +284,9 @@ public:
void start()
{
if (senderEnabled)
- {
sender->start();
- }
if (receiverEnabled)
- {
receiver->start();
- }
}
void stop()
@@ -317,9 +311,7 @@ private:
logAPIFrame(frame);
if (frameListener)
- {
frameListener(frame);
- }
if (frame.frameType == Xbee::FTYPE_AT_COMMAND_RESPONSE)
{
@@ -327,9 +319,7 @@ private:
frame.toFrameType<Xbee::ATCommandResponseFrame>();
if (strncmp(at->getATCommand(), "DB", 2) == 0)
- {
receiver->data.RSSI = -*at->getCommandDataPointer();
- }
if (strncmp(at->getATCommand(), "ER", 2) == 0)
{
@@ -351,9 +341,7 @@ private:
ATCommandFrameLog dest;
logged = ATCommandFrameLog::toFrameType(frame, &dest);
if (logged)
- {
logger.log(dest);
- }
break;
}
case FTYPE_AT_COMMAND_RESPONSE:
@@ -361,9 +349,7 @@ private:
ATCommandResponseFrameLog dest;
logged = ATCommandResponseFrameLog::toFrameType(frame, &dest);
if (logged)
- {
logger.log(dest);
- }
break;
}
case FTYPE_MODEM_STATUS:
@@ -371,9 +357,7 @@ private:
ModemStatusFrameLog dest;
logged = ModemStatusFrameLog::toFrameType(frame, &dest);
if (logged)
- {
logger.log(dest);
- }
break;
}
case FTYPE_TX_REQUEST:
@@ -381,9 +365,7 @@ private:
TXRequestFrameLog dest;
logged = TXRequestFrameLog::toFrameType(frame, &dest);
if (logged)
- {
logger.log(dest);
- }
break;
}
case FTYPE_TX_STATUS:
@@ -391,9 +373,7 @@ private:
TXStatusFrameLog dest;
logged = TXStatusFrameLog::toFrameType(frame, &dest);
if (logged)
- {
logger.log(dest);
- }
break;
}
case FTYPE_RX_PACKET_FRAME:
@@ -401,9 +381,7 @@ private:
RXPacketFrameLog dest;
logged = RXPacketFrameLog::toFrameType(frame, &dest);
if (logged)
- {
logger.log(dest);
- }
break;
}
}
diff --git a/src/tests/drivers/xbee/gui/EnergyScanScreen.h b/src/tests/drivers/xbee/gui/EnergyScanScreen.h
index 49259f2d8..9a6f5338e 100644
--- a/src/tests/drivers/xbee/gui/EnergyScanScreen.h
+++ b/src/tests/drivers/xbee/gui/EnergyScanScreen.h
@@ -118,9 +118,7 @@ struct EnergyScanScreen
~EnergyScanScreen()
{
for (unsigned int i = 0; i < NUM_COLS; i++)
- {
delete colTitles[i];
- }
for (unsigned int i = 0; i < NUM_CHANNELS; ++i)
{
@@ -161,9 +159,7 @@ struct EnergyScanScreen
void resetStats()
{
for (unsigned int i = 0; i < NUM_CHANNELS; i++)
- {
chStats[i].reset();
- }
absMax = std::numeric_limits<float>::lowest();
absMin = std::numeric_limits<float>::max();
@@ -198,17 +194,11 @@ private:
{
float delta = absMax - absMin;
if (val >= absMax - delta * COLOR_PERCENTILE)
- {
tv->setTextColor(mxgui::green);
- }
else if (val <= absMin + delta * COLOR_PERCENTILE)
- {
tv->setTextColor(0xFDC0); // Light orange
- }
else
- {
tv->setTextColor(mxgui::white);
- }
}
float absMax = std::numeric_limits<float>::lowest();
float absMin = std::numeric_limits<float>::max();
diff --git a/src/tests/drivers/xbee/gui/StatusScreen.h b/src/tests/drivers/xbee/gui/StatusScreen.h
index b79055d9b..fb16295a4 100644
--- a/src/tests/drivers/xbee/gui/StatusScreen.h
+++ b/src/tests/drivers/xbee/gui/StatusScreen.h
@@ -209,17 +209,13 @@ struct StatusScreen
tvLogBufDropped.setText(to_string(stats.droppedSamples));
if (stats.droppedSamples > 0)
- {
tvLogBufDropped.setBackgroundColor(mxgui::red);
- }
tvLogBufFailed.setText(to_string(stats.writesFailed) + " (" +
to_string(stats.lastWriteError) + ")");
if (stats.lastWriteError != 0)
- {
tvLogBufFailed.setBackgroundColor(mxgui::red);
- }
tvLogBufWritten.setText(to_string(stats.buffersWritten));
tvLogBufTtw.setText(to_string(stats.averageWriteTime) + " ms");
diff --git a/src/tests/drivers/xbee/test-xbee-bidir.cpp b/src/tests/drivers/xbee/test-xbee-bidir.cpp
index 0aa00c84a..f34e57e85 100644
--- a/src/tests/drivers/xbee/test-xbee-bidir.cpp
+++ b/src/tests/drivers/xbee/test-xbee-bidir.cpp
@@ -82,9 +82,7 @@ void __attribute__((used)) EXTI5_IRQHandlerImpl()
#endif
{
if (xbeeDriver != nullptr)
- {
xbeeDriver->handleATTNInterrupt();
- }
}
int getUserBtnValue()
@@ -139,17 +137,13 @@ void setupXbee(XbeeConfig config)
if (config.dataRate80k)
{
if (!Xbee::setDataRate(*xbeeDriver, true))
- {
TRACE("[main] Error setting xbeeDriver data rate!\n");
- }
}
if (!config.freqHop)
{
if (!Xbee::disableFrequencyHopping(*xbeeDriver))
- {
TRACE("[main] Error disabling frequency hop!\n");
- }
}
}
}
@@ -199,13 +193,9 @@ int main()
XbeeTransceiver* trans =
new XbeeTransceiver(*xbeeDriver, logger, intv, 256, 333);
if (!config.txEnabled)
- {
trans->disableSender();
- }
if (!RUN_RECEIVER)
- {
trans->disableReceiver();
- }
trans->start();
// cppcheck-suppress knownConditionTrueFalse
diff --git a/src/tests/drivers/xbee/test-xbee-gui.cpp b/src/tests/drivers/xbee/test-xbee-gui.cpp
index 6b3099ff5..e31d38a3b 100644
--- a/src/tests/drivers/xbee/test-xbee-gui.cpp
+++ b/src/tests/drivers/xbee/test-xbee-gui.cpp
@@ -100,9 +100,7 @@ protected:
array<int, 30> scan;
for (uint16_t i = 0; i < response.getCommandDataLength(); i++)
- {
scan[i] = -(int)(*(response.getCommandDataPointer() + i));
- }
gui->screenEnergy.updateScan(scan);
@@ -218,7 +216,6 @@ void onStartButtonClick(View* btn __attribute__((unused)), Interaction action)
{
if (action == Interaction::CLICK)
{
-
XbeeConfig cfg = gui->screenConfig.config;
cfg.timestamp = Kernel::getOldTick();
logger.log(cfg);
@@ -242,19 +239,13 @@ void onStopButtonClick(View* btn, Interaction action)
TextView* tvBtn = dynamic_cast<TextView*>(btn);
if (tvBtn)
- {
tvBtn->setText("Stopping...");
- }
if (trans)
- {
trans->stop();
- }
if (energyScanner.isRunning())
- {
energyScanner.stop();
- }
logger.stop();
@@ -271,9 +262,7 @@ void onMarkButtonClick(View* btn __attribute__((unused)), Interaction action)
TextView* tvBtn = dynamic_cast<TextView*>(btn);
if (tvBtn)
- {
tvBtn->setText("Mark Log (" + to_string(markCounter) + ")");
- }
}
}
@@ -293,9 +282,7 @@ void startTransceiver(XbeeConfig config)
config.sendInterval);
if (!config.txEnabled)
- {
trans->disableSender();
- }
trans->start();
}
@@ -352,7 +339,5 @@ void configure()
void __attribute__((used)) EXTI5_IRQHandlerImpl()
{
if (xbee)
- {
xbee->handleATTNInterrupt();
- }
}
diff --git a/src/tests/events/fsm/test-fsm.cpp b/src/tests/events/fsm/test-fsm.cpp
index b6f2dc4f7..085a5be9b 100644
--- a/src/tests/events/fsm/test-fsm.cpp
+++ b/src/tests/events/fsm/test-fsm.cpp
@@ -62,9 +62,7 @@ int main()
printf("End\n");
for (;;)
- {
Thread::sleep(10000);
- }
// Stop the threds, even though we will never reach this point, but just for
// correctness ;)
diff --git a/src/tests/hil/BoardScheduler.cpp b/src/tests/hil/BoardScheduler.cpp
index b8acb5a4f..0e959c708 100644
--- a/src/tests/hil/BoardScheduler.cpp
+++ b/src/tests/hil/BoardScheduler.cpp
@@ -62,4 +62,4 @@ bool BoardScheduler::isStarted()
return scheduler1->isRunning() && scheduler2->isRunning() &&
scheduler3->isRunning() && scheduler4->isRunning();
}
-} // namespace HILTest
\ No newline at end of file
+} // namespace HILTest
diff --git a/src/tests/hil/BoardScheduler.h b/src/tests/hil/BoardScheduler.h
index 5664a8095..4cdc2f510 100644
--- a/src/tests/hil/BoardScheduler.h
+++ b/src/tests/hil/BoardScheduler.h
@@ -59,4 +59,4 @@ private:
Boardcore::TaskScheduler* scheduler3;
Boardcore::TaskScheduler* scheduler4;
};
-} // namespace HILTest
\ No newline at end of file
+} // namespace HILTest
diff --git a/src/tests/hil/Buses.h b/src/tests/hil/Buses.h
index 33dffab57..6ccc02181 100644
--- a/src/tests/hil/Buses.h
+++ b/src/tests/hil/Buses.h
@@ -53,4 +53,4 @@ public:
{
}
};
-} // namespace HILTest
\ No newline at end of file
+} // namespace HILTest
diff --git a/src/tests/hil/HILSimulationConfig.h b/src/tests/hil/HILSimulationConfig.h
index 2e9e218db..fbbd393d7 100644
--- a/src/tests/hil/HILSimulationConfig.h
+++ b/src/tests/hil/HILSimulationConfig.h
@@ -527,4 +527,4 @@ private:
}
};
-} // namespace HILConfig
\ No newline at end of file
+} // namespace HILConfig
diff --git a/src/tests/hil/Sensors/HILSensors.h b/src/tests/hil/Sensors/HILSensors.h
index 7d642072a..e3dca2dec 100644
--- a/src/tests/hil/Sensors/HILSensors.h
+++ b/src/tests/hil/Sensors/HILSensors.h
@@ -357,4 +357,4 @@ private:
std::unique_ptr<Boardcore::Pitot> pitot;
bool enableHw;
};
-} // namespace HILTest
\ No newline at end of file
+} // namespace HILTest
diff --git a/src/tests/hil/Sensors/Sensors.cpp b/src/tests/hil/Sensors/Sensors.cpp
index 1877bd5c7..bc1edb3d9 100644
--- a/src/tests/hil/Sensors/Sensors.cpp
+++ b/src/tests/hil/Sensors/Sensors.cpp
@@ -447,16 +447,13 @@ Sensors::getSensorInfo()
{
// Check wether the lambda is existent
if (sensorsInit[i])
- {
sensorState[i] = sensorsInit[i]();
- }
}
return sensorState;
}
void Sensors::lps22dfCreation()
{
-
// Get the correct SPI configuration
SPIBusConfig config = LPS22DF::getDefaultSPIConfig();
config.clockDivider = SPI::ClockDivider::DIV_16;
@@ -473,7 +470,6 @@ void Sensors::lps22dfCreation()
}
void Sensors::lps28dfw_1Creation()
{
-
// Configure the sensor
LPS28DFW::SensorConfig config{false, LPS28DFW_FSR, LPS28DFW_AVG,
LPS28DFW_ODR, false};
@@ -483,7 +479,6 @@ void Sensors::lps28dfw_1Creation()
}
void Sensors::lps28dfw_2Creation()
{
-
// Configure the sensor
LPS28DFW::SensorConfig config{true, LPS28DFW_FSR, LPS28DFW_AVG,
LPS28DFW_ODR, false};
@@ -493,7 +488,6 @@ void Sensors::lps28dfw_2Creation()
}
void Sensors::h3lis331dlCreation()
{
-
// Get the correct SPI configuration
SPIBusConfig config = H3LIS331DL::getDefaultSPIConfig();
config.clockDivider = SPI::ClockDivider::DIV_16;
@@ -505,7 +499,6 @@ void Sensors::h3lis331dlCreation()
}
void Sensors::lis2mdlCreation()
{
-
// Get the correct SPI configuration
SPIBusConfig config = LIS2MDL::getDefaultSPIConfig();
config.clockDivider = SPI::ClockDivider::DIV_16;
@@ -524,7 +517,6 @@ void Sensors::lis2mdlCreation()
void Sensors::ubxgpsCreation()
{
-
// Get the correct SPI configuration
SPIBusConfig config = UBXGPSSpi::getDefaultSPIConfig();
config.clockDivider = SPI::ClockDivider::DIV_64;
@@ -536,7 +528,6 @@ void Sensors::ubxgpsCreation()
void Sensors::lsm6dsrxCreation()
{
-
// Configure the SPI
SPIBusConfig config;
config.clockDivider = SPI::ClockDivider::DIV_32;
@@ -569,7 +560,6 @@ void Sensors::lsm6dsrxCreation()
void Sensors::ads131m08Creation()
{
-
// Configure the SPI
SPIBusConfig config;
config.clockDivider = SPI::ClockDivider::DIV_32;
@@ -690,9 +680,7 @@ void Sensors::lsm6dsrxCallback()
// For every instance inside the fifo log the sample
for (uint16_t i = 0; i < fifoSize; i++)
- {
Logger::getInstance().log(fifo.at(i));
- }
}
void Sensors::ads131m08Callback()
{
@@ -722,4 +710,4 @@ void Sensors::imuCallback()
Logger::getInstance().log(lastSample);
}
-} // namespace HILTest
\ No newline at end of file
+} // namespace HILTest
diff --git a/src/tests/hil/Sensors/Sensors.h b/src/tests/hil/Sensors/Sensors.h
index b487b7cd6..9b5dedf26 100644
--- a/src/tests/hil/Sensors/Sensors.h
+++ b/src/tests/hil/Sensors/Sensors.h
@@ -229,4 +229,4 @@ protected:
std::unique_ptr<Boardcore::HSCMRNN015PA> hscmrnn015pa_1;
std::unique_ptr<Boardcore::HSCMRNN015PA> hscmrnn015pa_2;
};
-} // namespace HILTest
\ No newline at end of file
+} // namespace HILTest
diff --git a/src/tests/hil/Sensors/SensorsConfig.h b/src/tests/hil/Sensors/SensorsConfig.h
index 09c6cb3e2..fdfaf8055 100644
--- a/src/tests/hil/Sensors/SensorsConfig.h
+++ b/src/tests/hil/Sensors/SensorsConfig.h
@@ -118,4 +118,4 @@ constexpr unsigned int CALIBRATION_PERIOD = 100;
constexpr unsigned int NUMBER_OF_SENSORS = 8;
} // namespace SensorsConfig
-} // namespace HILTest
\ No newline at end of file
+} // namespace HILTest
diff --git a/src/tests/hil/Sensors/SensorsData.h b/src/tests/hil/Sensors/SensorsData.h
index 8bc5ca1ef..e8e6abc50 100644
--- a/src/tests/hil/Sensors/SensorsData.h
+++ b/src/tests/hil/Sensors/SensorsData.h
@@ -114,8 +114,7 @@ struct HSCMRNN015PA_1Data : Boardcore::HSCMRNN015PAData
void print(std::ostream& os) const
{
- os << pressureTimestamp << "," << pressure << ","
- << "\n";
+ os << pressureTimestamp << "," << pressure << "," << "\n";
}
};
@@ -132,9 +131,8 @@ struct HSCMRNN015PA_2Data : Boardcore::HSCMRNN015PAData
void print(std::ostream& os) const
{
- os << pressureTimestamp << "," << pressure << ","
- << "\n";
+ os << pressureTimestamp << "," << pressure << "," << "\n";
}
};
-} // namespace HILTest
\ No newline at end of file
+} // namespace HILTest
diff --git a/src/tests/hil/test-hil.cpp b/src/tests/hil/test-hil.cpp
index 2b5790f6c..fb0d2b9bf 100644
--- a/src/tests/hil/test-hil.cpp
+++ b/src/tests/hil/test-hil.cpp
@@ -77,9 +77,7 @@ int main()
SIMULATION_PERIOD);
if (HIL_TEST)
- {
initResult &= ModuleManager::getInstance().insert<MainHIL>(hil);
- }
sensors = new HILSensors(&scheduler, buses, hil, false);
}
else
@@ -121,4 +119,4 @@ int main()
}
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/tests/logger/test-logger.cpp b/src/tests/logger/test-logger.cpp
index 49f61ff2e..891c54bfc 100644
--- a/src/tests/logger/test-logger.cpp
+++ b/src/tests/logger/test-logger.cpp
@@ -74,9 +74,7 @@ int main()
puts("stopped");
for (;;)
- {
Thread::sleep(1000);
- }
return 0;
}
diff --git a/src/tests/radio/sx1278/fsk/common.h b/src/tests/radio/sx1278/fsk/common.h
index 9106da46a..48560e623 100644
--- a/src/tests/radio/sx1278/fsk/common.h
+++ b/src/tests/radio/sx1278/fsk/common.h
@@ -24,7 +24,7 @@
#include <radio/SX1278/SX1278Fsk.h>
-static const char *stringFromErr(Boardcore::SX1278Fsk::Error err)
+static const char* stringFromErr(Boardcore::SX1278Fsk::Error err)
{
switch (err)
{
@@ -39,7 +39,7 @@ static const char *stringFromErr(Boardcore::SX1278Fsk::Error err)
}
}
-static const char *stringFromRxBw(Boardcore::SX1278Fsk::Config::RxBw rx_bw)
+static const char* stringFromRxBw(Boardcore::SX1278Fsk::Config::RxBw rx_bw)
{
switch (rx_bw)
{
@@ -90,7 +90,7 @@ static const char *stringFromRxBw(Boardcore::SX1278Fsk::Config::RxBw rx_bw)
}
}
-static void printConfig(const Boardcore::SX1278Fsk::Config &config)
+static void printConfig(const Boardcore::SX1278Fsk::Config& config)
{
printf("config.freq_rf = %d\n", config.freq_rf);
printf("config.freq_dev = %d\n", config.freq_dev);
diff --git a/src/tests/radio/sx1278/fsk/test-sx1278-bidir.cpp b/src/tests/radio/sx1278/fsk/test-sx1278-bidir.cpp
index 1d3670053..dfc0c9f11 100644
--- a/src/tests/radio/sx1278/fsk/test-sx1278-bidir.cpp
+++ b/src/tests/radio/sx1278/fsk/test-sx1278-bidir.cpp
@@ -58,7 +58,7 @@ using rxen = Gpio<GPIOD_BASE, 4>;
#error "Target not supported"
#endif
-SX1278Fsk *sx1278 = nullptr;
+SX1278Fsk* sx1278 = nullptr;
void __attribute__((used)) SX1278_IRQ_DIO0()
{
@@ -103,7 +103,7 @@ void recvLoop()
while (1)
{
ssize_t res =
- sx1278->receive(reinterpret_cast<uint8_t *>(buf), sizeof(buf));
+ sx1278->receive(reinterpret_cast<uint8_t*>(buf), sizeof(buf));
if (res != -1)
{
// Make sure there is a terminator somewhere
@@ -114,7 +114,7 @@ void recvLoop()
}
}
-void sendLoop(int interval, const char *data)
+void sendLoop(int interval, const char* data)
{
char buf[SX1278Fsk::MTU];
strncpy(buf, data, sizeof(buf) - 1);
@@ -123,7 +123,7 @@ void sendLoop(int interval, const char *data)
{
miosix::Thread::sleep(interval);
- sx1278->send(reinterpret_cast<uint8_t *>(buf), strlen(buf) + 1);
+ sx1278->send(reinterpret_cast<uint8_t*>(buf), strlen(buf) + 1);
printf("[sx1278] Sent '%s'\n", buf);
}
}
@@ -156,7 +156,7 @@ int main()
printf("\n[sx1278] Initialization complete!\n");
- const char *msg =
+ const char* msg =
"Very very very very very very very very very very very "
"very very very very very very very very very very very "
"very very very very very very very very very very very "
diff --git a/src/tests/radio/sx1278/gui/GUI.h b/src/tests/radio/sx1278/gui/GUI.h
index 9f317e8df..cb9f2cd77 100644
--- a/src/tests/radio/sx1278/gui/GUI.h
+++ b/src/tests/radio/sx1278/gui/GUI.h
@@ -112,7 +112,7 @@ public:
status.setText("READY");
}
- void updateStats(Data &stats)
+ void updateStats(Data& stats)
{
tx_bitrate.setText(format_link_speed(stats.tx_bitrate));
sent_count.setText(fmt::format("{}", stats.sent_count));
diff --git a/src/tests/radio/sx1278/lora/test-sx1278-bidir.cpp b/src/tests/radio/sx1278/lora/test-sx1278-bidir.cpp
index 673354430..73f165c29 100644
--- a/src/tests/radio/sx1278/lora/test-sx1278-bidir.cpp
+++ b/src/tests/radio/sx1278/lora/test-sx1278-bidir.cpp
@@ -61,7 +61,7 @@ using rxen = Gpio<GPIOD_BASE, 4>;
#error "Target not supported"
#endif
-SX1278Lora *sx1278 = nullptr;
+SX1278Lora* sx1278 = nullptr;
void __attribute__((used)) SX1278_IRQ_DIO0()
{
@@ -91,26 +91,22 @@ void initBoard()
#endif
}
-bool isByteBuf(uint8_t *buf, ssize_t len)
+bool isByteBuf(uint8_t* buf, ssize_t len)
{
for (ssize_t i = 0; i < len; i++)
- {
if (!isprint(buf[i]))
return true;
- }
return false;
}
-void formatByteBuf(uint8_t *buf, ssize_t len, char *out)
+void formatByteBuf(uint8_t* buf, ssize_t len, char* out)
{
for (ssize_t i = 0; i < len; i++)
- {
if (i == 0)
out += sprintf(out, "%02X", buf[i]);
else
out += sprintf(out, ":%02X", buf[i]);
- }
// Put terminator at the end
*out = '\0';
@@ -144,7 +140,7 @@ void recvLoop()
}
}
-void sendLoop(int interval, const char *data)
+void sendLoop(int interval, const char* data)
{
char buf[SX1278Lora::MTU];
strncpy(buf, data, sizeof(buf) - 1);
@@ -153,7 +149,7 @@ void sendLoop(int interval, const char *data)
{
miosix::Thread::sleep(interval);
- sx1278->send(reinterpret_cast<uint8_t *>(buf), strlen(buf));
+ sx1278->send(reinterpret_cast<uint8_t*>(buf), strlen(buf));
printf("[sx1278] Sent '%s'\n", buf);
}
}
@@ -192,7 +188,7 @@ int main()
printf("\n[sx1278] Initialization complete!\n");
- const char *msg =
+ const char* msg =
"Very very very very very very very very very very very "
"very very very very very very very very very very very "
"very very very very very very very very very very very "
diff --git a/src/tests/radio/sx1278/lora/test-sx1278-simple.cpp b/src/tests/radio/sx1278/lora/test-sx1278-simple.cpp
index efca424cc..569fcb468 100644
--- a/src/tests/radio/sx1278/lora/test-sx1278-simple.cpp
+++ b/src/tests/radio/sx1278/lora/test-sx1278-simple.cpp
@@ -57,7 +57,7 @@ using rxen = Gpio<GPIOD_BASE, 4>;
#error "Target not supported"
#endif
-SX1278Lora *sx1278 = nullptr;
+SX1278Lora* sx1278 = nullptr;
void __attribute__((used)) SX1278_IRQ_DIO0()
{
@@ -89,7 +89,6 @@ void initBoard()
int main()
{
-
initBoard();
SX1278Lora::Config config = {};
diff --git a/src/tests/radio/sx1278/sx1278-init.h b/src/tests/radio/sx1278/sx1278-init.h
index 04b5d5053..527a6774d 100644
--- a/src/tests/radio/sx1278/sx1278-init.h
+++ b/src/tests/radio/sx1278/sx1278-init.h
@@ -146,10 +146,10 @@ using rst = miosix::radio2::nrst;
#ifdef SX1278_IS_LORA
static constexpr size_t SX1278_MTU = Boardcore::SX1278Lora::MTU;
-Boardcore::SX1278Lora *sx1278 = nullptr;
+Boardcore::SX1278Lora* sx1278 = nullptr;
#else
static constexpr size_t SX1278_MTU = Boardcore::SX1278Fsk::MTU;
-Boardcore::SX1278Fsk *sx1278 = nullptr;
+Boardcore::SX1278Fsk* sx1278 = nullptr;
#endif
volatile int dio0_cnt = 0;
diff --git a/src/tests/radio/sx1278/test-sx1278-bench-gui.cpp b/src/tests/radio/sx1278/test-sx1278-bench-gui.cpp
index c07aea5c2..cea238a17 100644
--- a/src/tests/radio/sx1278/test-sx1278-bench-gui.cpp
+++ b/src/tests/radio/sx1278/test-sx1278-bench-gui.cpp
@@ -27,7 +27,7 @@
using namespace mxgui;
-GUI *gui = nullptr;
+GUI* gui = nullptr;
void initGUI()
{
@@ -46,10 +46,8 @@ int main()
initBoard();
initGUI();
if (!initRadio())
- {
while (1)
;
- }
// Set display to ready
gui->stats_screen.updateReady();
diff --git a/src/tests/radio/sx1278/test-sx1278-bench-serial.cpp b/src/tests/radio/sx1278/test-sx1278-bench-serial.cpp
index da250f7fe..ed5947dd6 100644
--- a/src/tests/radio/sx1278/test-sx1278-bench-serial.cpp
+++ b/src/tests/radio/sx1278/test-sx1278-bench-serial.cpp
@@ -27,10 +27,8 @@ int main()
{
initBoard();
if (!initRadio())
- {
while (1)
;
- }
// Initialize backgrounds threads
spawnThreads();
diff --git a/src/tests/radio/sx1278/test-sx1278-bench.cpp b/src/tests/radio/sx1278/test-sx1278-bench.cpp
index 67d02cecb..8f819bd7e 100644
--- a/src/tests/radio/sx1278/test-sx1278-bench.cpp
+++ b/src/tests/radio/sx1278/test-sx1278-bench.cpp
@@ -113,7 +113,7 @@ void recvLoop()
{
TestMsg msg = {};
- sx1278->receive((uint8_t *)&msg, sizeof(msg));
+ sx1278->receive((uint8_t*)&msg, sizeof(msg));
if (msg.validate())
{
stats.recv_count++;
@@ -142,7 +142,7 @@ void sendLoop()
TestMsg msg = {};
msg.generate();
- sx1278->send((uint8_t *)&msg, sizeof(msg));
+ sx1278->send((uint8_t*)&msg, sizeof(msg));
stats.sent_count++;
uint32_t cur = TimestampTimer::getTimestamp();
diff --git a/src/tests/scheduler/test-taskscheduler.cpp b/src/tests/scheduler/test-taskscheduler.cpp
index 07ef20a1c..8986af9ee 100644
--- a/src/tests/scheduler/test-taskscheduler.cpp
+++ b/src/tests/scheduler/test-taskscheduler.cpp
@@ -52,9 +52,7 @@ void task2Hz()
pin1.low();
if (taskLogEnabled)
- {
printf("2 Hz tick\n");
- }
}
void task5Hz()
@@ -64,9 +62,7 @@ void task5Hz()
pin2.low();
if (taskLogEnabled)
- {
printf("5 Hz tick\n");
- }
}
void task500Hz()
@@ -216,9 +212,7 @@ void test_fill_scheduler()
size_t lastId =
scheduler.addTask(f2Hz, 500, TaskScheduler::Policy::ONE_SHOT);
if (!lastId)
- {
break;
- }
taskCount++;
} while (true);
@@ -271,9 +265,7 @@ void test_runtime_add_task()
printf("Adding a new task (5Hz)\n");
if (!scheduler.addTask(f5Hz, 200))
- {
printf("Error adding task while the scheduler is running\n");
- }
Thread::sleep(4 * 1000);
@@ -338,9 +330,7 @@ void test_edge_cases()
printf("Starting the scheduler again\n");
if (scheduler.start())
- {
printf("Error: started the scheduler twice\n");
- }
Thread::sleep(1000);
diff --git a/src/tests/sensors/analog/test-analog-pressure-sensors.cpp b/src/tests/sensors/analog/test-analog-pressure-sensors.cpp
index d64e113db..417ed6a10 100644
--- a/src/tests/sensors/analog/test-analog-pressure-sensors.cpp
+++ b/src/tests/sensors/analog/test-analog-pressure-sensors.cpp
@@ -97,13 +97,9 @@ int main()
// Self test
if (ads1118.selfTest())
- {
TRACE("Self test successful!\n");
- }
else
- {
TRACE("Self test failed :( error: %d\n", ads1118.getLastError());
- }
// Read samples with sample()
while (1)
diff --git a/src/tests/sensors/calibration/test-calibration-stats.cpp b/src/tests/sensors/calibration/test-calibration-stats.cpp
index 25989ca65..1b114ba9f 100644
--- a/src/tests/sensors/calibration/test-calibration-stats.cpp
+++ b/src/tests/sensors/calibration/test-calibration-stats.cpp
@@ -192,9 +192,7 @@ int main()
data.accelerationY, data.accelerationZ);
if (sleepTime > 0)
- {
Thread::sleep(sleepTime);
- }
}
}
}
diff --git a/src/tests/sensors/test-ads1118.cpp b/src/tests/sensors/test-ads1118.cpp
index 4932da3b6..6aaf53e9d 100644
--- a/src/tests/sensors/test-ads1118.cpp
+++ b/src/tests/sensors/test-ads1118.cpp
@@ -103,13 +103,9 @@ int main()
// Self test
if (ads1118.selfTest())
- {
TRACE("Self test successful!\n");
- }
else
- {
TRACE("Self test failed :( error: %d\n", ads1118.getLastError());
- }
// Read the two channels indipendently
TRACE("\nNow reading the two channels with 'readInputAndWait()'\n");
diff --git a/src/tests/sensors/test-ads131m04.cpp b/src/tests/sensors/test-ads131m04.cpp
index 1e073ee6e..435f9c85f 100644
--- a/src/tests/sensors/test-ads131m04.cpp
+++ b/src/tests/sensors/test-ads131m04.cpp
@@ -65,13 +65,9 @@ int main()
printf("Now performing self test...\n");
if (ads131.selfTest())
- {
printf("Self test succeeded\n");
- }
else
- {
printf("Self test failed!\n");
- }
// ads131.calibrateOffset(ADS131M04Defs::Channel::CHANNEL_0);
// ads131.calibrateOffset(ADS131M04Defs::Channel::CHANNEL_1);
diff --git a/src/tests/sensors/test-ads131m08.cpp b/src/tests/sensors/test-ads131m08.cpp
index ea36065dc..688d4b1bd 100644
--- a/src/tests/sensors/test-ads131m08.cpp
+++ b/src/tests/sensors/test-ads131m08.cpp
@@ -65,13 +65,9 @@ int main()
printf("Now performing self test...\n");
if (ads131.selfTest())
- {
printf("Self test succeeded\n");
- }
else
- {
printf("Self test failed!\n");
- }
ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_0);
ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_1);
diff --git a/src/tests/sensors/test-bmp280-i2c.cpp b/src/tests/sensors/test-bmp280-i2c.cpp
index a913521be..4b5161476 100644
--- a/src/tests/sensors/test-bmp280-i2c.cpp
+++ b/src/tests/sensors/test-bmp280-i2c.cpp
@@ -35,14 +35,10 @@ int main()
BMP280I2C bmp280(bus);
if (!bmp280.init())
- {
printf("Init failed\n");
- }
if (!bmp280.selfTest())
- {
printf("Self test failed\n");
- }
while (true)
{
diff --git a/src/tests/sensors/test-bmx160.cpp b/src/tests/sensors/test-bmx160.cpp
index 43e3cc976..6557645cd 100644
--- a/src/tests/sensors/test-bmx160.cpp
+++ b/src/tests/sensors/test-bmx160.cpp
@@ -35,16 +35,14 @@ GpioPin spiSck(GPIOA_BASE, 5);
GpioPin spiMiso(GPIOA_BASE, 6);
GpioPin spiMosi(GPIOA_BASE, 7);
-BMX160 *sensor = nullptr;
+BMX160* sensor = nullptr;
uint32_t tick = 0;
void __attribute__((used)) EXTI5_IRQHandlerImpl()
{
tick = TimestampTimer::getTimestamp();
if (sensor)
- {
sensor->IRQupdateTimestamp(tick);
- }
}
int main()
diff --git a/src/tests/sensors/test-h3lis331dl.cpp b/src/tests/sensors/test-h3lis331dl.cpp
index 042f56645..7cc8a6137 100644
--- a/src/tests/sensors/test-h3lis331dl.cpp
+++ b/src/tests/sensors/test-h3lis331dl.cpp
@@ -69,9 +69,7 @@ int main()
{
printf("Failed init!\n");
if (sensor.getLastError() == SensorErrors::INVALID_WHOAMI)
- {
printf("Invalid WHOAMI\n");
- }
return -1;
}
diff --git a/src/tests/sensors/test-l3gd20-fifo.cpp b/src/tests/sensors/test-l3gd20-fifo.cpp
index 03d6677eb..76e9186c0 100644
--- a/src/tests/sensors/test-l3gd20-fifo.cpp
+++ b/src/tests/sensors/test-l3gd20-fifo.cpp
@@ -120,9 +120,7 @@ void __attribute__((used)) EXTI2_IRQHandlerImpl()
// Pass timestamp to the sensor
if (gyro != nullptr)
- {
gyro->IRQupdateTimestamp(currentTimestamp);
- }
}
void configure()
@@ -195,9 +193,7 @@ int main()
// Stop if we have enough data
if (dataCounter >= NUM_SAMPLES)
- {
break;
- }
}
++fifoNum;
@@ -230,7 +226,5 @@ int main()
printf("\n\n\nend.\n");
for (;;)
- {
Thread::sleep(1000);
- }
}
diff --git a/src/tests/sensors/test-l3gd20.cpp b/src/tests/sensors/test-l3gd20.cpp
index e9deb8b5c..b9bfbfdaa 100644
--- a/src/tests/sensors/test-l3gd20.cpp
+++ b/src/tests/sensors/test-l3gd20.cpp
@@ -91,9 +91,7 @@ void __attribute__((used)) EXTI2_IRQHandlerImpl()
// Pass timestamp to sensor
if (gyro != nullptr)
- {
gyro->IRQupdateTimestamp(currentTimestamp);
- }
}
void configure()
@@ -176,7 +174,5 @@ int main()
printf("\n\n\nend.\n");
for (;;)
- {
Thread::sleep(1000);
- }
}
diff --git a/src/tests/sensors/test-lis2mdl.cpp b/src/tests/sensors/test-lis2mdl.cpp
index a0060c76e..1239e4787 100644
--- a/src/tests/sensors/test-lis2mdl.cpp
+++ b/src/tests/sensors/test-lis2mdl.cpp
@@ -68,9 +68,7 @@ int main()
printf("Doing self test!\n");
if (!sensor.selfTest())
- {
printf("Error: selfTest() returned false!\n");
- }
printf("selfTest returned true\n");
printf("Now printing some sensor data:\n");
diff --git a/src/tests/sensors/test-lis3dsh.cpp b/src/tests/sensors/test-lis3dsh.cpp
index 7588e9cca..2672c0ae0 100644
--- a/src/tests/sensors/test-lis3dsh.cpp
+++ b/src/tests/sensors/test-lis3dsh.cpp
@@ -65,13 +65,9 @@ int main()
if (!sensor.init())
{
if (sensor.getLastError() == SensorErrors::INVALID_WHOAMI)
- {
printf("TEST FAILED: invalid WHO_AM_I value, init failed \n");
- }
else
- {
printf("TEST FAILED: init failed \n");
- }
return -1;
}
@@ -91,9 +87,7 @@ int main()
sensor.sample();
if (sensor.getLastError() == SensorErrors::NO_NEW_DATA)
- {
printf("\nWarning: no new data to be read \n");
- }
data = sensor.getLastSample();
diff --git a/src/tests/sensors/test-lis3mdl.cpp b/src/tests/sensors/test-lis3mdl.cpp
index 1298c92ae..0d53896b6 100644
--- a/src/tests/sensors/test-lis3mdl.cpp
+++ b/src/tests/sensors/test-lis3mdl.cpp
@@ -66,9 +66,7 @@ int main()
TRACE("Doing self test!\n");
bool ok = sensor.selfTest();
if (!ok)
- {
TRACE("Error: selfTest() returned false!\n");
- }
TRACE("Now printing some sensor data:\n");
Thread::sleep(100);
diff --git a/src/tests/sensors/test-lps28dfw.cpp b/src/tests/sensors/test-lps28dfw.cpp
index e5a287d1f..a5568d554 100644
--- a/src/tests/sensors/test-lps28dfw.cpp
+++ b/src/tests/sensors/test-lps28dfw.cpp
@@ -46,7 +46,7 @@ uint8_t nSamples = 10;
* ODR1 | AVG4 : 127.8 us/samp (W1+R1+W1+R5) @1Hz: 2.5 uA [FROM DS]
* ODR1 | AVG512 : 127.8 us/samp (W1+R1+W1+R5) @1Hz: 32.8 uA [FROM DS]
*/
-miosix::Thread *waiting = 0;
+miosix::Thread* waiting = 0;
bool sampleAvailable = false;
void __attribute__((used)) EXTI5_IRQHandlerImpl()
{
@@ -57,7 +57,7 @@ void __attribute__((used)) EXTI5_IRQHandlerImpl()
}
}
-void sampleOneShotMode(I2C &i2c)
+void sampleOneShotMode(I2C& i2c)
{
printf("Start One-Shot\n");
@@ -77,20 +77,16 @@ void sampleOneShotMode(I2C &i2c)
lps28dfw.sample();
if (lps28dfw.getLastError() == SensorErrors::NO_ERRORS)
- {
lps28dfw.getLastSample().print(std::cout);
- }
else
- {
printf("Error: %d\n", lps28dfw.getLastError());
- }
Thread::sleep(100);
}
printf("End One-Shot\n");
}
-void sampleContinuousMode(I2C &i2c)
+void sampleContinuousMode(I2C& i2c)
{
printf("Start Continuous\n");
@@ -112,19 +108,15 @@ void sampleContinuousMode(I2C &i2c)
lps28dfw.sample();
if (lps28dfw.getLastError() == SensorErrors::NO_ERRORS)
- {
lps28dfw.getLastSample().print(std::cout);
- }
else
- {
printf("Error: %d\n", lps28dfw.getLastError());
- }
}
printf("End Continuous\n");
}
-void sampleInterruptMode(I2C &i2c)
+void sampleInterruptMode(I2C& i2c)
{
printf("Start Interrupt\n");
// Setting up the Sensor
@@ -140,23 +132,16 @@ void sampleInterruptMode(I2C &i2c)
for (uint8_t i = 0; i < nSamples; i++)
{
-
while (!sampleAvailable)
- {
waiting->wait();
- }
sampleAvailable = false;
lps28dfw.sample();
if (lps28dfw.getLastError() == SensorErrors::NO_ERRORS)
- {
lps28dfw.getLastSample().print(std::cout);
- }
else
- {
printf("Error: %d\n", lps28dfw.getLastError());
- }
}
printf("End Interrupt\n");
diff --git a/src/tests/sensors/test-lps331ap.cpp b/src/tests/sensors/test-lps331ap.cpp
index b7e07db1a..d2beac56f 100644
--- a/src/tests/sensors/test-lps331ap.cpp
+++ b/src/tests/sensors/test-lps331ap.cpp
@@ -35,14 +35,10 @@ int main()
LPS331AP lps331(bus);
if (!lps331.init())
- {
printf("Init failed\n");
- }
if (!lps331.selfTest())
- {
printf("Self test failed\n");
- }
while (true)
{
diff --git a/src/tests/sensors/test-lsm6dsrx.cpp b/src/tests/sensors/test-lsm6dsrx.cpp
index ebaa8d668..a979fe0f4 100644
--- a/src/tests/sensors/test-lsm6dsrx.cpp
+++ b/src/tests/sensors/test-lsm6dsrx.cpp
@@ -56,7 +56,6 @@ void testFifoRead(SPIBus& bus, miosix::GpioPin csPin,
int main()
{
-
SPIBus bus(SPI3);
GpioPin csPin(GPIOE_BASE, 3); // PE3 CS
@@ -115,9 +114,7 @@ int main()
// testFifoFillingTime(bus, csPin, busConfiguration, sensConfig, int2Pin);
while (true)
- {
Thread::sleep(5000);
- }
return 0;
}
@@ -205,9 +202,7 @@ void testSampleImplTime(SPIBus& bus, miosix::GpioPin csPin,
{
TRACE("Self test failed\n\n");
while (true)
- {
Thread::sleep(2000);
- }
}
std::cout << "sensor initialized\n";
@@ -255,9 +250,7 @@ void testFifoRead(SPIBus& bus, miosix::GpioPin csPin,
{
std::cout << "Self test failed\n\n";
while (true)
- {
Thread::sleep(2000);
- }
}
while (true)
@@ -299,9 +292,7 @@ void testFifoRead(SPIBus& bus, miosix::GpioPin csPin,
// Check that gyr and acc timestamps are equal
if (buf[i].accelerationTimestamp != buf[i].angularSpeedTimestamp)
- {
std::cout << "Error, timestamps not equal\n\n";
- }
}
std::cout << "Extraction completed\n\n" << std::endl;
diff --git a/src/tests/sensors/test-max31855.cpp b/src/tests/sensors/test-max31855.cpp
index 71e9022d4..a4e7613ca 100644
--- a/src/tests/sensors/test-max31855.cpp
+++ b/src/tests/sensors/test-max31855.cpp
@@ -57,9 +57,7 @@ int main()
printf("Starting process verification!\n");
if (!sensor.checkConnected())
- {
printf("Sensor not connected!\n");
- }
while (true)
{
diff --git a/src/tests/sensors/test-max31856.cpp b/src/tests/sensors/test-max31856.cpp
index 11908d34b..d3a1bb54e 100644
--- a/src/tests/sensors/test-max31856.cpp
+++ b/src/tests/sensors/test-max31856.cpp
@@ -52,13 +52,9 @@ int main()
sensor.init();
if (!sensor.checkConnected())
- {
printf("The thermocouple is not connected\n");
- }
else
- {
printf("The thermocouple is connected\n");
- }
// Wait for one sample to be made
Thread::sleep(100);
diff --git a/src/tests/sensors/test-max6675.cpp b/src/tests/sensors/test-max6675.cpp
index be541c114..97091f189 100644
--- a/src/tests/sensors/test-max6675.cpp
+++ b/src/tests/sensors/test-max6675.cpp
@@ -53,9 +53,7 @@ int main()
printf("Starting process verification!\n");
if (!sensor.selfTest())
- {
printf("Sensor self test failed!\n");
- }
while (true)
{
diff --git a/src/tests/sensors/test-ms5803-i2c.cpp b/src/tests/sensors/test-ms5803-i2c.cpp
index 7a7b83ddb..e724a75a0 100644
--- a/src/tests/sensors/test-ms5803-i2c.cpp
+++ b/src/tests/sensors/test-ms5803-i2c.cpp
@@ -34,14 +34,10 @@ int main()
MS5803I2C ms5803(bus, 10);
if (!ms5803.init())
- {
printf("MS5803 Init failed\n");
- }
if (!ms5803.selfTest())
- {
printf("Self test failed\n");
- }
while (true)
{
diff --git a/src/tests/sensors/test-ms5803-spi.cpp b/src/tests/sensors/test-ms5803-spi.cpp
index 811dfcc18..f49fe9252 100644
--- a/src/tests/sensors/test-ms5803-spi.cpp
+++ b/src/tests/sensors/test-ms5803-spi.cpp
@@ -44,9 +44,7 @@ int main()
Thread::sleep(100);
if (!sensor.init())
- {
printf("MS5803 Init failed\n");
- }
Thread::sleep(100);
printf("pressureTimestamp,press,temperatureTimestamp,temp\n");
diff --git a/src/tests/sensors/test-ubxgps-serial.cpp b/src/tests/sensors/test-ubxgps-serial.cpp
index 0039317c1..4e293db96 100644
--- a/src/tests/sensors/test-ubxgps-serial.cpp
+++ b/src/tests/sensors/test-ubxgps-serial.cpp
@@ -54,23 +54,15 @@ int main()
// Init the gps
if (gps.init())
- {
printf("Successful gps initialization\n");
- }
else
- {
printf("Failed gps initialization\n");
- }
// Perform the selftest
if (gps.selfTest())
- {
printf("Successful gps selftest\n");
- }
else
- {
printf("Failed gps selftest\n");
- }
// Start the gps thread
gps.start();
diff --git a/src/tests/test-hsm.cpp b/src/tests/test-hsm.cpp
index 6e54aa78e..6390f38ef 100644
--- a/src/tests/test-hsm.cpp
+++ b/src/tests/test-hsm.cpp
@@ -115,13 +115,9 @@ State HSMUTTest::state_S(const Event& e)
break;
case EV_I:
if (this->foo == false)
- {
this->foo = true;
- }
else
- {
retState = UNHANDLED;
- }
break;
case EV_E:
retState = transition(&HSMUTTest::state_S11);
@@ -236,13 +232,9 @@ State HSMUTTest::state_S2(const Event& e)
break;
case EV_I:
if (this->foo == false)
- {
this->foo = true;
- }
else
- {
retState = UNHANDLED;
- }
break;
default:
retState = tranSuper(&HSMUTTest::state_S);
@@ -307,7 +299,6 @@ State HSMUTTest::state_S211(const Event& e)
int main()
{
-
EventBroker::getInstance().start();
HSMUTTest& hsm = HSMUTTest::getInstance();
diff --git a/src/tests/test-max485.cpp b/src/tests/test-max485.cpp
index 61a7068b1..f21701e2f 100644
--- a/src/tests/test-max485.cpp
+++ b/src/tests/test-max485.cpp
@@ -79,12 +79,12 @@ int baudrates[] = {2400, 9600, 19200, 38400, 57600,
115200, 230400, 256000, 460800, 921600};
// function for the thread that has to read from serial
-void readSer(USARTInterface &s) {}
+void readSer(USARTInterface& s) {}
// Communicatio: src -> dst
template <typename GPIO1_src, typename GPIO2_src, typename GPIO1_dst,
typename GPIO2_dst>
-void testCommunication(char *data, USARTInterface &src, USARTInterface &dst)
+void testCommunication(char* data, USARTInterface& src, USARTInterface& dst)
{
// resetting the buffer so precedent tests won't affect this one
memset(rcv, 0, strlen(rcv) + 1);
@@ -110,13 +110,9 @@ void testCommunication(char *data, USARTInterface &src, USARTInterface &dst)
t.join();
if (strcmp(data, rcv) == 0)
- {
printf("*** %d -> %d WORKING!\n", src.getId(), dst.getId());
- }
else
- {
printf("### ERROR: %d -> %d!\n", src.getId(), dst.getId());
- }
}
int main()
diff --git a/src/tests/test-sensormanager.cpp b/src/tests/test-sensormanager.cpp
index 1b4f55c5d..b67326b5b 100644
--- a/src/tests/test-sensormanager.cpp
+++ b/src/tests/test-sensormanager.cpp
@@ -40,7 +40,6 @@ using namespace std;
// Data produced by the MySensor sensor.
struct MySensorData : public PressureData, public TemperatureData
{
-
MySensorData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
MySensorData(float p, float t)
@@ -95,7 +94,6 @@ private:
struct MySensorDataFIFO : public AccelerometerData, public GyroscopeData
{
-
MySensorDataFIFO()
: AccelerometerData{TimestampTimer::getTimestamp(), 0.0, 0.0, 0.0},
GyroscopeData{TimestampTimer::getTimestamp(), 0.0, 0.0, 0.0}
@@ -166,9 +164,7 @@ public:
FIFOData getLastSample() override
{
if (index < FifoSize - 1)
- {
index++;
- }
TRACE("Index : %d \n", index);
diff --git a/src/tests/test-trace-logger.cpp b/src/tests/test-trace-logger.cpp
index 631e77f7a..b8d680266 100644
--- a/src/tests/test-trace-logger.cpp
+++ b/src/tests/test-trace-logger.cpp
@@ -46,9 +46,7 @@ int main()
LOG_ERR(logger, "This is a message {}", 52);
LOG_INFO(log2, "Ops, there was an {}!", "error");
for (int i = 0; i < 4; i++)
- {
LOG_INFO(log4, "This is an async log! {:d}", asyncCtr++);
- }
LOG_DEBUG(log3, "This is a verbose debug message {:.3f}", 1.234f);
LOG_CRIT(log3, "Float {:.1f} {:05.2f} {:f}", 1.234f, 1234.1234,
-9876.98765432f);
diff --git a/src/tests/utils/test-buttonhandler.cpp b/src/tests/utils/test-buttonhandler.cpp
index a47acd7bf..47f403921 100644
--- a/src/tests/utils/test-buttonhandler.cpp
+++ b/src/tests/utils/test-buttonhandler.cpp
@@ -69,4 +69,4 @@ void buttonCallback(ButtonEvent event, int buttonId)
default:
break;
}
-}
\ No newline at end of file
+}
--
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