Added files I forgot

common/Varmint.cpp

@@ -131,7 +131,7 @@ uint16_t Varmint::sensors_init_message_count() { return varmint.status_len(); }
 bool Varmint::sensors_init_message_good(uint16_t i) { return varmint.status(i)->initGood(); }
 
 uint16_t Varmint::sensors_init_message(char * message, uint16_t size, uint16_t i)
-  {
+{
   if (i > varmint.status_len()) return 0;
 
   uint32_t status = varmint.status(i)->status();
@@ -145,7 +145,7 @@ uint16_t Varmint::sensors_init_message(char * message, uint16_t size, uint16_t i
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 // IMU
-bool Varmint::imu_read(rosflight_firmware::ImuStruct *imu)
+bool Varmint::imu_read(rosflight_firmware::ImuStruct * imu)
 {
   ImuPacket p;
   if (imu0_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
@@ -166,7 +166,7 @@ void Varmint::imu_not_responding_error(){};
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 // MAG
-bool Varmint::mag_read(rosflight_firmware::MagStruct *mag)
+bool Varmint::mag_read(rosflight_firmware::MagStruct * mag)
 {
   MagPacket p;
   if (mag_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
@@ -182,7 +182,7 @@ bool Varmint::mag_read(rosflight_firmware::MagStruct *mag)
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 // Baro
-bool Varmint::baro_read(rosflight_firmware::PressureStruct *baro)
+bool Varmint::baro_read(rosflight_firmware::PressureStruct * baro)
 {
   PressurePacket p;
   if (baro_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
@@ -196,7 +196,7 @@ bool Varmint::baro_read(rosflight_firmware::PressureStruct *baro)
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 // Pitot
-bool Varmint::diff_pressure_read(rosflight_firmware::PressureStruct *diff_pressure)
+bool Varmint::diff_pressure_read(rosflight_firmware::PressureStruct * diff_pressure)
 {
   PressurePacket p;
   if (pitot_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
@@ -210,15 +210,15 @@ bool Varmint::diff_pressure_read(rosflight_firmware::PressureStruct *diff_pressu
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 // Sonar
-bool Varmint::sonar_read(rosflight_firmware::RangeStruct *sonar)
+bool Varmint::sonar_read(rosflight_firmware::RangeStruct * sonar)
 {
-  (void)sonar; // unused
+  (void) sonar; // unused
   return false;
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 // Battery
-bool Varmint::battery_read(rosflight_firmware::BatteryStruct *batt)
+bool Varmint::battery_read(rosflight_firmware::BatteryStruct * batt)
 {
   AdcPacket p;
   if (adc_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
@@ -286,7 +286,7 @@ bool Varmint::gnss_read(rosflight_firmware::GnssStruct * gnss)
     gnss->vel_d = p.pvt.velD;
     gnss->speed_accy = p.pvt.sAcc;
     gnss->mag_var = p.pvt.magDec;
-    gnss->valid = ( (p.pvt.flags & 0x01)!=0 ) ;
+    gnss->valid = ((p.pvt.flags & 0x01) != 0);
     gnss->num_sat = p.pvt.numSV;
     gnss->dop = p.pvt.pDOP;
     gnss->fix_type = p.pvt.fixType;
@@ -311,23 +311,16 @@ bool Varmint::gnss_read(rosflight_firmware::GnssStruct * gnss)
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 // RC
-void Varmint::rc_init(rc_type_t rc_type)
-{
-  rcPacketEverRead_ = false;
-};
+void Varmint::rc_init(rc_type_t rc_type) { rcPacketEverRead_ = false; };
 bool Varmint::rc_lost() { return rc_.lol(); }
-bool Varmint::rc_read(rosflight_firmware::RcStruct *rc_struct)
+bool Varmint::rc_read(rosflight_firmware::RcStruct * rc_struct)
 {
   RcPacket p;
 
-  if (rc_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p)))
-  {
+  if (rc_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
     rc_struct->timestamp = p.timestamp;
-    uint16_t len = RC_STRUCT_CHANNELS<RC_PACKET_CHANNELS?RC_STRUCT_CHANNELS:RC_PACKET_CHANNELS;
-    for(uint16_t i=0;i<len;i++)
-{
-      rc_struct->chan[i]=p.chan[i];
-    }
+    uint16_t len = RC_STRUCT_CHANNELS < RC_PACKET_CHANNELS ? RC_STRUCT_CHANNELS : RC_PACKET_CHANNELS;
+    for (uint16_t i = 0; i < len; i++) { rc_struct->chan[i] = p.chan[i]; }
     rc_struct->frameLost = p.frameLost;
     rc_struct->failsafeActivated = p.failsafeActivated;
     return true;

common/Varmint.h

@@ -54,8 +54,8 @@
 #include <Telem.h>
 #include <Ubx.h>
 #include <Vcp.h>
-#include <sensors.h>
 #include <board.h>
+#include <sensors.h>
 
 #include <BoardConfig.h>
 
@@ -114,20 +114,20 @@ class Varmint : public rosflight_firmware::Board
   uint16_t sensors_init_message(char * message, uint16_t size, uint16_t i) override;
   bool sensors_init_message_good(uint16_t i) override;
 
-  bool imu_read(rosflight_firmware::ImuStruct *imu) override;
+  bool imu_read(rosflight_firmware::ImuStruct * imu) override;
 
   void imu_not_responding_error() override;
 
-  bool mag_read(rosflight_firmware::MagStruct *mag) override;
+  bool mag_read(rosflight_firmware::MagStruct * mag) override;
 
-  bool baro_read(rosflight_firmware::PressureStruct *baro) override;
+  bool baro_read(rosflight_firmware::PressureStruct * baro) override;
 
-  bool diff_pressure_read(rosflight_firmware::PressureStruct *diff_pressure) override;
+  bool diff_pressure_read(rosflight_firmware::PressureStruct * diff_pressure) override;
 
-  bool sonar_read(rosflight_firmware::RangeStruct *sonar) override;
+  bool sonar_read(rosflight_firmware::RangeStruct * sonar) override;
 
   // Battery
-  bool battery_read(rosflight_firmware::BatteryStruct *bat) override;
+  bool battery_read(rosflight_firmware::BatteryStruct * bat) override;
   //bool battery_present() override;
   void battery_voltage_set_multiplier(double multiplier) override;
   void battery_current_set_multiplier(double multiplier) override;
@@ -138,7 +138,7 @@ class Varmint : public rosflight_firmware::Board
   // RC
   void rc_init(rc_type_t rc_type) override;
   bool rc_lost() override;
-   bool rc_read(rosflight_firmware::RcStruct * rc) override;
+  bool rc_read(rosflight_firmware::RcStruct * rc) override;
 
   // PWM
   void pwm_init(const float * rate, uint32_t channels) override;

common/drivers/Auav.cpp

@@ -205,7 +205,7 @@ PollingState Auav::state(uint64_t poll_counter)
       // Pitot
       {1, AUAV_PITOT_CMD},
       {74, AUAV_PITOT_RX}, // 7.2ms
-                              // Baro
+                           // Baro
       {0, AUAV_BARO_CMD},
       {73, AUAV_BARO_RX}, // 9.4ms
     };

common/drivers/Sd.cpp

@@ -86,7 +86,6 @@ uint32_t Sd::init(SD_HandleTypeDef * hsd, SD_TypeDef * hsd_instance)
   return initializationStatus_;
 }
 
-
 #define SD_CRC_BYTES sizeof(uint32_t)
 
 bool Sd::read(uint8_t * dest, size_t len)
@@ -109,10 +108,11 @@ bool Sd::read(uint8_t * dest, size_t len)
     // CRC must be set-up for byte sized data, i.e., hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES
     // I'm not bothering to code for the case of data in any other format
     if (hcrc.InputDataFormat != CRC_INPUTDATA_FORMAT_BYTES) { return false; }
-    uint32_t crc = HAL_CRC_Calculate(&hcrc,(uint32_t *) sd_rx_buf, len); // len Assumes hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES
-    uint8_t *crc2 = (uint8_t*)(&crc);
-    uint8_t *crc1 = (uint8_t*)(&(sd_rx_buf[len]));
-    if((crc1[0] != crc2[0])||(crc1[1] != crc2[1])||(crc1[2] != crc2[2])||(crc1[3] != crc2[3])) { return false; }
+    uint32_t crc = HAL_CRC_Calculate(&hcrc, (uint32_t *) sd_rx_buf,
+                                     len); // len Assumes hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES
+    uint8_t * crc2 = (uint8_t *) (&crc);
+    uint8_t * crc1 = (uint8_t *) (&(sd_rx_buf[len]));
+    if ((crc1[0] != crc2[0]) || (crc1[1] != crc2[1]) || (crc1[2] != crc2[2]) || (crc1[3] != crc2[3])) { return false; }
     memcpy(dest, sd_rx_buf, len);
   }
 
@@ -130,12 +130,12 @@ bool Sd::write(uint8_t * src, size_t len)
   // CRC must be set-up for byte sized data hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES
   // I'm not bothering to code for the case of data in any other format
   if (hcrc.InputDataFormat != CRC_INPUTDATA_FORMAT_BYTES) { return false; }
-  uint32_t crc = HAL_CRC_Calculate(&hcrc,(uint32_t *) sd_tx_buf, len);
-  uint8_t *crc2 = (uint8_t*)(&crc);
-  sd_tx_buf[len]   = crc2[0];
-  sd_tx_buf[len+1] = crc2[1];
-  sd_tx_buf[len+2] = crc2[2];
-  sd_tx_buf[len+3] = crc2[3];
+  uint32_t crc = HAL_CRC_Calculate(&hcrc, (uint32_t *) sd_tx_buf, len);
+  uint8_t * crc2 = (uint8_t *) (&crc);
+  sd_tx_buf[len] = crc2[0];
+  sd_tx_buf[len + 1] = crc2[1];
+  sd_tx_buf[len + 2] = crc2[2];
+  sd_tx_buf[len + 3] = crc2[3];
 
   hal_status = HAL_SD_WriteBlocks_DMA(hsd_, sd_tx_buf, 0, Nblocks);
   if (hal_status != HAL_OK) return false;

common/drivers/Spi.h

@@ -66,6 +66,7 @@ class Spi : public Status
   SPI_HandleTypeDef * hspi_;
   uint8_t * txBuffer_;
   uint8_t * rxBuffer_;
+
 public:
   // uint16_t size_;
   GPIO_TypeDef * port_;

common/drivers/Status.h

@@ -44,10 +44,10 @@
 class Status
 {
 public:
-  Status() { initializationStatus_ = DRIVER_NOT_INITIALIZED;}
+  Status() { initializationStatus_ = DRIVER_NOT_INITIALIZED; }
   bool initGood(void) { return initializationStatus_ == DRIVER_OK; }
-  uint32_t status() { return initializationStatus_;}
-  char *name() { return name_;}
+  uint32_t status() { return initializationStatus_; }
+  char * name() { return name_; }
 
 protected:
   uint32_t initializationStatus_ = DRIVER_NOT_INITIALIZED;

pixracer_pro/specific/BoardConfig.h

@@ -42,7 +42,7 @@
 
 #define SANDBOX false
 #define BOARD_STATUS_PRINT false
-#define USE_TELEM 0   // 1 = use UART, 0 = use VCP for link to companion computer.
+#define USE_TELEM 0 // 1 = use UART, 0 = use VCP for link to companion computer.
 
 // UART used for printf's
 #define MISC_HUART (&huart2)

pixracer_pro/specific/Varmint_Init.cpp

@@ -135,8 +135,8 @@ void Varmint::init_board(void)
   // misc_printf uses the timer, so can't be used before it's initialized.
 
 #define ASCII_ESC 27
-  misc_printf("\n\n%c[H", ASCII_ESC);  // home
-  misc_printf("%c[2J", ASCII_ESC); // clear screen
+  misc_printf("\n\n%c[H", ASCII_ESC); // home
+  misc_printf("%c[2J", ASCII_ESC);    // clear screen
 
   misc_printf("\nTime64 Startup\n");
   misc_exit_status(init_status);
@@ -238,12 +238,14 @@ void Varmint::init_board(void)
   // Review Status List
 
   misc_printf("\n\nStatus List:\n");
-  for(uint32_t i = 0; i<status_len_ ; i++)
-  {
+  for (uint32_t i = 0; i < status_len_; i++) {
     //status_list_[i]->print();
-    if(status_list_[i]->initGood()) { misc_printf("\033[0;42m");  }
-    else { misc_printf("\033[0;41m");}
-    misc_printf("%-16s Status: 0x%08X",status_list_[i]->name(),status_list_[i]->status());
+    if (status_list_[i]->initGood()) {
+      misc_printf("\033[0;42m");
+    } else {
+      misc_printf("\033[0;41m");
+    }
+    misc_printf("%-16s Status: 0x%08X", status_list_[i]->name(), status_list_[i]->status());
     misc_printf("\033[0m\n");
   }
 

test/board.h

@@ -154,7 +154,7 @@ class Board
   virtual uint16_t sensors_init_message(char * message, uint16_t size, uint16_t i) = 0;
 
   // IMU
-  virtual bool imu_present() =0;
+  virtual bool imu_present() = 0;
   virtual bool imu_has_new_data() = 0;
   virtual bool imu_read(float accel[3], float * temperature, float gyro[3], uint64_t * time) = 0;
   virtual void imu_not_responding_error() = 0;

varmint_10X/specific/BoardConfig.h

@@ -42,7 +42,7 @@
 
 #define SANDBOX false
 #define BOARD_STATUS_PRINT false
-#define USE_TELEM 0   // 1 = use UART, 0 = use VCP for link to companion computer.
+#define USE_TELEM 0 // 1 = use UART, 0 = use VCP for link to companion computer.
 
 // UART used for printf's
 #define MISC_HUART (&huart2)

varmint_10X/specific/Varmint_Init.cpp

@@ -104,11 +104,11 @@ void Varmint::init_board(void)
                          //  MX_ADC1_Init();					// initialized elsewhere
                          //  MX_ADC3_Init();					// initialized elsewhere
   // MX_USB_DEVICE_Init(); // initialized elsewhere
-  MX_FDCAN1_Init();      // not used
-                         //  MX_SDMMC1_SD_Init();		// initialized elsewhere
-  MX_RTC_Init();         // not used
-  MX_CRC_Init();         // Used for SD Card data checksum
-  MX_RNG_Init();         // not used
+  MX_FDCAN1_Init(); // not used
+                    //  MX_SDMMC1_SD_Init();		// initialized elsewhere
+  MX_RTC_Init();    // not used
+  MX_CRC_Init();    // Used for SD Card data checksum
+  MX_RNG_Init();    // not used
 
 #if _USBD_USE_HS // USB HS (480MB/s
   MX_USB_OTG_HS_PCD_Init();
@@ -125,8 +125,8 @@ void Varmint::init_board(void)
   init_status = time64.init(HTIM_LOW, HTIM_LOW_INSTANCE, HTIM_HIGH, HTIM_HIGH_INSTANCE);
 
 #define ASCII_ESC 27
-  misc_printf("\n\n%c[H", ASCII_ESC);  // home
-  misc_printf("%c[2J", ASCII_ESC); // clear screen
+  misc_printf("\n\n%c[H", ASCII_ESC); // home
+  misc_printf("%c[2J", ASCII_ESC);    // clear screen
 
   misc_printf("\nTime64 Startup\n");
   misc_exit_status(init_status);
@@ -240,12 +240,14 @@ void Varmint::init_board(void)
   // Review Status List
 
   misc_printf("\n\nStatus List:\n");
-  for(uint32_t i = 0; i<status_len_ ; i++)
-  {
+  for (uint32_t i = 0; i < status_len_; i++) {
     //status_list_[i]->print();
-    if(status_list_[i]->initGood()) { misc_printf("\033[0;42m");  }
-    else { misc_printf("\033[0;41m");}
-    misc_printf("%-16s Status: 0x%08X",status_list_[i]->name(),status_list_[i]->status());
+    if (status_list_[i]->initGood()) {
+      misc_printf("\033[0;42m");
+    } else {
+      misc_printf("\033[0;41m");
+    }
+    misc_printf("%-16s Status: 0x%08X", status_list_[i]->name(), status_list_[i]->status());
     misc_printf("\033[0m\n");
   }