src/tests/sensors/test-l3gd20.cpp

@@ -91,22 +91,20 @@ void __attribute__((used)) EXTI2_IRQHandlerImpl()
 
     // Pass timestamp to sensor
     if (gyro != nullptr)
-    {
         gyro->IRQupdateTimestamp(currentTimestamp);
 }
-}
 
 void configure()
 {
     // Set SPI pins to correct alternate mode
-    GpioSck::mode(Mode::ALTERNATE);
-    GpioMiso::mode(Mode::ALTERNATE);
-    GpioMosi::mode(Mode::ALTERNATE);
-
     GpioSck::alternateFunction(5);
     GpioMiso::alternateFunction(5);
     GpioMosi::alternateFunction(5);
 
+    GpioSck::mode(Mode::ALTERNATE);
+    GpioMiso::mode(Mode::ALTERNATE);
+    GpioMosi::mode(Mode::ALTERNATE);
+
     // Setup interrupt pin (sensors pulls INT2 up, so we set it to PULL_DOWN
     // to avoid spurious interrupts)
     GpioINT2::mode(Mode::INPUT_PULL_DOWN);
@@ -176,7 +174,5 @@ int main()
 
     printf("\n\n\nend.\n");
     for (;;)
-    {
         Thread::sleep(1000);
 }
-}

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");
 

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();
 

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);

src/tests/sensors/test-lps28dfw.cpp

@@ -77,13 +77,9 @@ 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);
     }
 
@@ -112,14 +108,10 @@ 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");
 }
@@ -140,24 +132,17 @@ 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");
 }

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)
     {

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;
 }
@@ -205,10 +202,8 @@ void testSampleImplTime(SPIBus& bus, miosix::GpioPin csPin,
     {
         TRACE("Self test failed\n\n");
         while (true)
-        {
             Thread::sleep(2000);
     }
-    }
 
     std::cout << "sensor initialized\n";
     while (true)
@@ -255,10 +250,8 @@ void testFifoRead(SPIBus& bus, miosix::GpioPin csPin,
     {
         std::cout << "Self test failed\n\n";
         while (true)
-        {
             Thread::sleep(2000);
     }
-    }
 
     while (true)
     {
@@ -271,17 +264,15 @@ void testFifoRead(SPIBus& bus, miosix::GpioPin csPin,
         }
 
         sens->sample();
-
-        const std::array<LSM6DSRXData, LSM6DSRXDefs::FIFO_SIZE>& buf =
-            sens->getLastFifo();
-
+        uint16_t fifoSize;
+        const auto buf = sens->getLastFifo(fifoSize);
         // Print fifo
         std::cout << "last fifo element:\n";
-        buf[sens->getLastFifoSize() - 1].print(std::cout);
-        std::cout << "last fifo size: " << sens->getLastFifoSize() << "\n";
+        buf[fifoSize - 1].print(std::cout);
+        std::cout << "last fifo size: " << fifoSize << "\n";
 
         // Check fifo data
-        for (uint16_t i = 1; i < sens->getLastFifoSize(); ++i)
+        for (uint16_t i = 1; i < fifoSize; ++i)
         {
             // Check for accelerometer timestamps
             if (buf[i].accelerationTimestamp <=
@@ -299,10 +290,8 @@ 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;
         Thread::sleep(1000);

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)
     {

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);

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)
     {

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)
     {

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");

src/tests/sensors/test-ubxgps-serial.cpp

@@ -32,34 +32,37 @@ using namespace miosix;
 
 #define RATE 4
 
+// USART2: AF7
+typedef miosix::Gpio<GPIOA_BASE, 2> u2tx1;
+typedef miosix::Gpio<GPIOA_BASE, 3> u2rx1;
+
 int main()
 {
     printf("Welcome to the ublox test\n");
 
+    u2rx1::getPin().alternateFunction(7);
+    u2rx1::getPin().mode(Mode::ALTERNATE);
+    u2tx1::getPin().alternateFunction(7);
+    u2tx1::getPin().mode(Mode::ALTERNATE);
+
+    USART usart(USART2, 38400);
+
     // Keep GPS baud rate at default for easier testing
-    UBXGPSSerial gps(38400, RATE, USART2, 9600);
+    UBXGPSSerial gps(usart, 38400, RATE, 9600);
     UBXGPSData dataGPS;
     printf("Gps allocated\n");
 
     // 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();
@@ -67,13 +70,11 @@ int main()
 
     while (true)
     {
-        printf("a\n");
         // Give time to the thread
         Thread::sleep(1000 / RATE);
 
         // Sample
         gps.sample();
-        printf("b\n");
         dataGPS = gps.getLastSample();
 
         // Print out the latest sample

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();

src/tests/test-max485.cpp

@@ -110,14 +110,10 @@ 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()
 {

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}
@@ -160,19 +158,18 @@ public:
     FIFOData sampleImpl()
     {
         index = 0;
-        return sensor->getFifoElement(index);
+        uint16_t actualFifoSize;
+        return sensor->getLastFifo(actualFifoSize)[index];
     }
 
     FIFOData getLastSample() override
     {
         if (index < FifoSize - 1)
-        {
             index++;
-        }
 
         TRACE("Index : %d \n", index);
-
-        return sensor->getFifoElement(index);
+        uint16_t actualFifoSize;
+        return sensor->getLastFifo(actualFifoSize)[index];
     }
 
 private:

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);