src/bsps/stm32f767zi_rig_v2/config/miosix_settings.h

@@ -27,8 +27,8 @@
 // The PARSING_FROM_IDE is because Netbeans gets confused by this, it is never
 // defined when compiling the code.
 #ifndef PARSING_FROM_IDE
-//#error This error is a reminder that you have not edited miosix_settings.h
-// yet.
+// #error This error is a reminder that you have not edited miosix_settings.h
+//  yet.
 #endif  // PARSING_FROM_IDE
 
 /**
@@ -70,14 +70,14 @@ namespace miosix
 // Uncomment only *one* of those
 
 #define SCHED_TYPE_PRIORITY
-//#define SCHED_TYPE_CONTROL_BASED
-//#define SCHED_TYPE_EDF
+// #define SCHED_TYPE_CONTROL_BASED
+// #define SCHED_TYPE_EDF
 
 /// \def WITH_CPU_TIME_COUNTER
 /// Allows to enable/disable CPUTimeCounter to save code size and remove its
 /// overhead from the scheduling process. By default it is not defined
 /// (CPUTimeCounter is disabled).
-//#define WITH_CPU_TIME_COUNTER
+// #define WITH_CPU_TIME_COUNTER
 
 //
 // Filesystem options
@@ -110,7 +110,7 @@ const unsigned char MAX_OPEN_FILES = 8;
 /// This enables the dynamic loader to load elf programs, the extended system
 /// call service and, if the hardware supports it, the MPU to provide memory
 /// isolation of processes
-//#define WITH_PROCESSES
+// #define WITH_PROCESSES
 
 #if defined(WITH_PROCESSES) && defined(__NO_EXCEPTIONS)
 #error Processes require C++ exception support
@@ -145,7 +145,7 @@ const unsigned char MAX_OPEN_FILES = 8;
 /// \def WITH_DEEP_SLEEP
 /// Adds interfaces and required variables to support deep sleep state switch
 /// automatically when peripherals are not required
-//#define WITH_DEEP_SLEEP
+// #define WITH_DEEP_SLEEP
 
 /**
  * \def JTAG_DISABLE_SLEEP

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);
 

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)
@@ -257,80 +257,80 @@ void IRQbspInit()
     userLed4::mode(Mode::OUTPUT);
 
     // RIG stuff
-    interfaces::spi1::sck::mode(Mode::ALTERNATE);
     interfaces::spi1::sck::alternateFunction(5);
-    interfaces::spi1::miso::mode(Mode::ALTERNATE);
+    interfaces::spi1::sck::mode(Mode::ALTERNATE);
     interfaces::spi1::miso::alternateFunction(5);
-    interfaces::spi1::mosi::mode(Mode::ALTERNATE);
+    interfaces::spi1::miso::mode(Mode::ALTERNATE);
     interfaces::spi1::mosi::alternateFunction(5);
+    interfaces::spi1::mosi::mode(Mode::ALTERNATE);
 
-    interfaces::spi2::sck::mode(Mode::ALTERNATE);
     interfaces::spi2::sck::alternateFunction(5);
-    interfaces::spi2::miso::mode(Mode::ALTERNATE);
+    interfaces::spi2::sck::mode(Mode::ALTERNATE);
     interfaces::spi2::miso::alternateFunction(5);
-    interfaces::spi2::mosi::mode(Mode::ALTERNATE);
+    interfaces::spi2::miso::mode(Mode::ALTERNATE);
     interfaces::spi2::mosi::alternateFunction(5);
+    interfaces::spi2::mosi::mode(Mode::ALTERNATE);
 
-    interfaces::spi3::sck::mode(Mode::ALTERNATE);
     interfaces::spi3::sck::alternateFunction(6);
-    interfaces::spi3::miso::mode(Mode::ALTERNATE);
+    interfaces::spi3::sck::mode(Mode::ALTERNATE);
     interfaces::spi3::miso::alternateFunction(6);
-    interfaces::spi3::mosi::mode(Mode::ALTERNATE);
+    interfaces::spi3::miso::mode(Mode::ALTERNATE);
     interfaces::spi3::mosi::alternateFunction(5);
+    interfaces::spi3::mosi::mode(Mode::ALTERNATE);
 
     /* Do not enable Flavio's bullshit
-    interfaces::spi4::sck::mode(Mode::ALTERNATE);
     interfaces::spi4::sck::alternateFunction(5);
-    interfaces::spi4::miso::mode(Mode::ALTERNATE);
+    interfaces::spi4::sck::mode(Mode::ALTERNATE);
     interfaces::spi4::miso::alternateFunction(5);
-    interfaces::spi4::mosi::mode(Mode::ALTERNATE);
+    interfaces::spi4::miso::mode(Mode::ALTERNATE);
     interfaces::spi4::mosi::alternateFunction(5);
+    interfaces::spi4::mosi::mode(Mode::ALTERNATE);
     */
 
-    interfaces::spi6::sck::mode(Mode::ALTERNATE);
     interfaces::spi6::sck::alternateFunction(5);
-    interfaces::spi6::miso::mode(Mode::ALTERNATE);
+    interfaces::spi6::sck::mode(Mode::ALTERNATE);
     interfaces::spi6::miso::alternateFunction(5);
-    interfaces::spi6::mosi::mode(Mode::ALTERNATE);
+    interfaces::spi6::miso::mode(Mode::ALTERNATE);
     interfaces::spi6::mosi::alternateFunction(5);
+    interfaces::spi6::mosi::mode(Mode::ALTERNATE);
 
     // We do not need to setup the miosix usart
 
-    interfaces::uart4::tx::mode(Mode::ALTERNATE);
     interfaces::uart4::tx::alternateFunction(8);
-    interfaces::uart4::rx::mode(Mode::ALTERNATE);
+    interfaces::uart4::tx::mode(Mode::ALTERNATE);
     interfaces::uart4::rx::alternateFunction(8);
+    interfaces::uart4::rx::mode(Mode::ALTERNATE);
 
-    interfaces::can1::tx::mode(Mode::ALTERNATE);
     interfaces::can1::tx::alternateFunction(9);
-    interfaces::can1::rx::mode(Mode::ALTERNATE);
+    interfaces::can1::tx::mode(Mode::ALTERNATE);
     interfaces::can1::rx::alternateFunction(9);
+    interfaces::can1::rx::mode(Mode::ALTERNATE);
 
-    interfaces::can2::tx::mode(Mode::ALTERNATE);
     interfaces::can2::tx::alternateFunction(9);
-    interfaces::can2::rx::mode(Mode::ALTERNATE);
+    interfaces::can2::tx::mode(Mode::ALTERNATE);
     interfaces::can2::rx::alternateFunction(9);
+    interfaces::can2::rx::mode(Mode::ALTERNATE);
 
-    interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
     interfaces::timers::tim1ch1::alternateFunction(1);
-    interfaces::timers::tim3ch3::mode(Mode::ALTERNATE);
+    interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
     interfaces::timers::tim3ch3::alternateFunction(2);
-    interfaces::timers::tim4ch1::mode(Mode::ALTERNATE);
+    interfaces::timers::tim3ch3::mode(Mode::ALTERNATE);
     interfaces::timers::tim4ch1::alternateFunction(2);
-    interfaces::timers::tim5ch3::mode(Mode::ALTERNATE);
+    interfaces::timers::tim4ch1::mode(Mode::ALTERNATE);
     interfaces::timers::tim5ch3::alternateFunction(2);
-    interfaces::timers::tim8ch1::mode(Mode::ALTERNATE);
+    interfaces::timers::tim5ch3::mode(Mode::ALTERNATE);
     interfaces::timers::tim8ch1::alternateFunction(3);
-    interfaces::timers::tim8ch2::mode(Mode::ALTERNATE);
+    interfaces::timers::tim8ch1::mode(Mode::ALTERNATE);
     interfaces::timers::tim8ch2::alternateFunction(3);
-    interfaces::timers::tim9ch2::mode(Mode::ALTERNATE);
+    interfaces::timers::tim8ch2::mode(Mode::ALTERNATE);
     interfaces::timers::tim9ch2::alternateFunction(3);
-    interfaces::timers::tim10ch1::mode(Mode::ALTERNATE);
+    interfaces::timers::tim9ch2::mode(Mode::ALTERNATE);
     interfaces::timers::tim10ch1::alternateFunction(3);
-    interfaces::timers::tim11ch1::mode(Mode::ALTERNATE);
+    interfaces::timers::tim10ch1::mode(Mode::ALTERNATE);
     interfaces::timers::tim11ch1::alternateFunction(3);
-    interfaces::timers::tim12ch2::mode(Mode::ALTERNATE);
+    interfaces::timers::tim11ch1::mode(Mode::ALTERNATE);
     interfaces::timers::tim12ch2::alternateFunction(9);
+    interfaces::timers::tim12ch2::mode(Mode::ALTERNATE);
 
     interfaces::adcs::adc12in9::mode(Mode::INPUT_ANALOG);
     interfaces::adcs::adc123in11::mode(Mode::INPUT_ANALOG);

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

src/entrypoints/bmx160-calibration-entry.cpp

@@ -238,8 +238,8 @@ void calibrateAccelerometer()
             {
                 bmx160->sample();
 
-                uint8_t fifoSize = bmx160->getLastFifoSize();
-                auto& fifo       = bmx160->getLastFifo();
+                uint16_t fifoSize;
+                const auto fifo = bmx160->getLastFifo(fifoSize);
 
                 for (uint8_t ii = 0; ii < fifoSize; ii++)
                 {
@@ -333,9 +333,8 @@ void calibrateMagnetometer()
         [&]()
         {
             bmx160->sample();
-
-            uint8_t fifoSize = bmx160->getLastFifoSize();
-            auto& fifo       = bmx160->getLastFifo();
+            uint16_t fifoSize;
+            const auto fifo = bmx160->getLastFifo(fifoSize);
 
             for (uint8_t i = 0; i < fifoSize; i++)
             {
@@ -409,8 +408,8 @@ void calibrateGyroscope()
         {
             bmx160->sample();
 
-            uint8_t fifoSize = bmx160->getLastFifoSize();
-            auto& fifo       = bmx160->getLastFifo();
+            uint16_t fifoSize;
+            const auto fifo = bmx160->getLastFifo(fifoSize);
 
             for (uint8_t i = 0; i < fifoSize; i++)
             {

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')

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
-    }
 }

src/entrypoints/runcam-settings.cpp

@@ -47,19 +47,17 @@ int main()
     GpioPin tx(GPIOB_BASE, 6);
     GpioPin rx(GPIOB_BASE, 7);
 
-    tx.mode(Mode::ALTERNATE);
-    rx.mode(Mode::ALTERNATE);
-
     tx.alternateFunction(7);
     rx.alternateFunction(7);
 
+    tx.mode(Mode::ALTERNATE);
+    rx.mode(Mode::ALTERNATE);
+
     USART usart1(USART1, 115200);
 
     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();

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");

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;
     }

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;
     }

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)
 {
 }

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

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

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

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

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

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

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 &currentPosition,
+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++)
         {