From dd9c9e7a81f539c923045580c47f8833823cf204 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:12:11 -0700
Subject: [PATCH 01/16] printFloatArray

---
 .../controllers/algo/engine_configuration.h   |  1 -
 firmware/controllers/settings.cpp             | 32 -------------------
 2 files changed, 33 deletions(-)

diff --git a/firmware/controllers/algo/engine_configuration.h b/firmware/controllers/algo/engine_configuration.h
index 550948181d..5931a0d673 100644
--- a/firmware/controllers/algo/engine_configuration.h
+++ b/firmware/controllers/algo/engine_configuration.h
@@ -39,7 +39,6 @@ void setWholeIatCorrTimingTable(float value DECLARE_CONFIG_PARAMETER_SUFFIX);
 void setWholeTimingTable_d(angle_t value DECLARE_CONFIG_PARAMETER_SUFFIX);
 #define setWholeTimingTable(x) setWholeTimingTable_d(x PASS_CONFIG_PARAMETER_SUFFIX);
 void setConstantDwell(floatms_t dwellMs DECLARE_CONFIG_PARAMETER_SUFFIX);
-void printFloatArray(const char *prefix, float array[], int size);
 
 // needed by bootloader
 void setDefaultBasePins(DECLARE_CONFIG_PARAMETER_SIGNATURE);
diff --git a/firmware/controllers/settings.cpp b/firmware/controllers/settings.cpp
index e06e6f91d1..9cbe37b392 100644
--- a/firmware/controllers/settings.cpp
+++ b/firmware/controllers/settings.cpp
@@ -60,25 +60,6 @@ static Logging logger("settings control", LOGGING_BUFFER, sizeof(LOGGING_BUFFER)
 
 EXTERN_ENGINE;
 
-/*
- static void printIntArray(int array[], int size) {
- for (int j = 0; j < size; j++) {
- print("%d ", array[j]);
- }
- print("\r\n");
- }
- */
-
-void printFloatArray(const char *prefix, float array[], int size) {
-	appendMsgPrefix(&logger);
-	appendPrintf(&logger, prefix);
-	for (int j = 0; j < size; j++) {
-		appendPrintf(&logger, "%.2f ", array[j]);
-	}
-	appendMsgPostfix(&logger);
-	scheduleLogging(&logger);
-}
-
 void printSpiState(Logging *logger, const engine_configuration_s *engineConfiguration) {
 	scheduleMsg(logger, "spi 1=%s/2=%s/3=%s/4=%s",
 		boolToString(engineConfiguration->is_enabled_spi_1),
@@ -211,19 +192,6 @@ void printConfiguration(const engine_configuration_s *engineConfiguration) {
 //		print("\r\n");
 	}
 
-//	printFloatArray("RPM bin: ", config->fuelRpmBins, FUEL_RPM_COUNT);
-//
-//	printFloatArray("Y bin: ", config->fuelLoadBins, FUEL_LOAD_COUNT);
-//
-//	printFloatArray("CLT: ", config->cltFuelCorr, CLT_CURVE_SIZE);
-//	printFloatArray("CLT bins: ", config->cltFuelCorrBins, CLT_CURVE_SIZE);
-//
-//	printFloatArray("IAT: ", config->iatFuelCorr, IAT_CURVE_SIZE);
-//	printFloatArray("IAT bins: ", config->iatFuelCorrBins, IAT_CURVE_SIZE);
-//
-//	printFloatArray("vBatt: ", engineConfiguration->injector.battLagCorr, VBAT_INJECTOR_CURVE_SIZE);
-//	printFloatArray("vBatt bins: ", engineConfiguration->injector.battLagCorrBins, VBAT_INJECTOR_CURVE_SIZE);
-
 	scheduleMsg(&logger, "rpmHardLimit: %d/operationMode=%d", engineConfiguration->rpmHardLimit,
 			engine->getOperationMode(PASS_ENGINE_PARAMETER_SIGNATURE));
 

From 225e403973e0bfa687af97f7268ee42cca50795b Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:22:31 -0700
Subject: [PATCH 02/16] parameter names

---
 firmware/controllers/actuators/electronic_throttle.cpp | 8 ++++----
 firmware/controllers/actuators/electronic_throttle.h   | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 599a2e42b4..1a93b3402f 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -323,7 +323,7 @@ expected<percent_t> EtbController::getClosedLoopAutotune(percent_t actualThrottl
 	return autotuneAmplitude * (isPositive ? -1 : 1);
 }
 
-expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t actualThrottlePosition) {
+expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t observation) {
 	if (m_shouldResetPid) {
 		m_pid.reset();
 		m_shouldResetPid = false;
@@ -333,16 +333,16 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t act
 	if (m_myIndex == 0) {
 #if EFI_TUNER_STUDIO
 		// Error is positive if the throttle needs to open further
-		tsOutputChannels.etb1Error = target - actualThrottlePosition;
+		tsOutputChannels.etb1Error = target - observation;
 #endif /* EFI_TUNER_STUDIO */
 	}
 
 	// Only allow autotune with stopped engine
 	if (GET_RPM() == 0 && engine->etbAutoTune) {
-		return getClosedLoopAutotune(actualThrottlePosition);
+		return getClosedLoopAutotune(observation);
 	} else {
 		// Normal case - use PID to compute closed loop part
-		return m_pid.getOutput(target, actualThrottlePosition, 1.0f / ETB_LOOP_FREQUENCY);
+		return m_pid.getOutput(target, observation, 1.0f / ETB_LOOP_FREQUENCY);
 	}
 }
 
diff --git a/firmware/controllers/actuators/electronic_throttle.h b/firmware/controllers/actuators/electronic_throttle.h
index e4b1ca666e..9530e914f5 100644
--- a/firmware/controllers/actuators/electronic_throttle.h
+++ b/firmware/controllers/actuators/electronic_throttle.h
@@ -55,7 +55,7 @@ public:
 	expected<percent_t> getSetpoint() const override;
 
 	expected<percent_t> getOpenLoop(percent_t target) const override;
-	expected<percent_t> getClosedLoop(percent_t setpoint, percent_t target) override;
+	expected<percent_t> getClosedLoop(percent_t setpoint, percent_t observation) override;
 	expected<percent_t> getClosedLoopAutotune(percent_t actualThrottlePosition);
 
 	void setOutput(expected<percent_t> outputValue) override;

From 7a85161a4a498ca2259526b9663e6409d06f7bcd Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:22:54 -0700
Subject: [PATCH 03/16] initialization

---
 firmware/controllers/algo/accel_enrichment.h | 10 +++++-----
 firmware/controllers/algo/engine_parts.h     |  8 ++++----
 firmware/controllers/algo/event_registry.h   |  6 +++---
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/firmware/controllers/algo/accel_enrichment.h b/firmware/controllers/algo/accel_enrichment.h
index 5eb953f33a..b7f9c508bb 100644
--- a/firmware/controllers/algo/accel_enrichment.h
+++ b/firmware/controllers/algo/accel_enrichment.h
@@ -54,11 +54,11 @@ private:
 	/**
 	 * Used for Fractional TPS enrichment. 
 	 */
-	floatms_t accumulatedValue;
-	floatms_t maxExtraPerCycle;
-	floatms_t maxExtraPerPeriod;
-	floatms_t maxInjectedPerPeriod;
-	int cycleCnt;
+	floatms_t accumulatedValue = 0;
+	floatms_t maxExtraPerCycle = 0;
+	floatms_t maxExtraPerPeriod = 0;
+	floatms_t maxInjectedPerPeriod = 0;
+	int cycleCnt = 0;
 };
 
 /**
diff --git a/firmware/controllers/algo/engine_parts.h b/firmware/controllers/algo/engine_parts.h
index 703bee557b..a702db499f 100644
--- a/firmware/controllers/algo/engine_parts.h
+++ b/firmware/controllers/algo/engine_parts.h
@@ -37,7 +37,7 @@ public:
 	Accelerometer accelerometer;
 
 	float vBatt = 0;
-	float currentAfr;
+	float currentAfr = 0;
 	/**
 	 * that's fuel in tank - just a gauge
 	 */
@@ -131,7 +131,7 @@ private:
 
 struct multispark_state
 {
-	efitick_t delay;
-	efitick_t dwell;
-	uint8_t count;
+	efitick_t delay = 0;
+	efitick_t dwell = 0;
+	uint8_t count = 0;
 };
diff --git a/firmware/controllers/algo/event_registry.h b/firmware/controllers/algo/event_registry.h
index b483208fc1..b80ff2f8c5 100644
--- a/firmware/controllers/algo/event_registry.h
+++ b/firmware/controllers/algo/event_registry.h
@@ -107,12 +107,12 @@ public:
 	 * Desired timing advance
 	 */
 	angle_t sparkAngle = NAN;
-	floatms_t sparkDwell;
+	floatms_t sparkDwell = 0;
 	/**
 	 * this timestamp allows us to measure actual dwell time
 	 */
-	uint32_t actualStartOfDwellNt;
-	event_trigger_position_s dwellPosition;
+	uint32_t actualStartOfDwellNt = 0;
+	event_trigger_position_s dwellPosition{};
 	/**
 	 * Sequential number of currently processed spark event
 	 * @see globalSparkIdCounter

From ecbec68a52f931483513e8915459cac64680f834 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:23:03 -0700
Subject: [PATCH 04/16] explicit

---
 firmware/controllers/algo/airmass/airmass.h               | 2 +-
 firmware/controllers/algo/airmass/alphan_airmass.h        | 2 +-
 firmware/controllers/algo/airmass/maf_airmass.h           | 2 +-
 firmware/controllers/algo/airmass/speed_density_airmass.h | 2 +-
 firmware/controllers/algo/airmass/speed_density_base.h    | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/firmware/controllers/algo/airmass/airmass.h b/firmware/controllers/algo/airmass/airmass.h
index b9c157a18a..a7b1491d45 100644
--- a/firmware/controllers/algo/airmass/airmass.h
+++ b/firmware/controllers/algo/airmass/airmass.h
@@ -12,7 +12,7 @@ struct AirmassResult {
 struct AirmassModelBase {
 	DECLARE_ENGINE_PTR;
 
-	AirmassModelBase(const ValueProvider3D& veTable);
+	explicit AirmassModelBase(const ValueProvider3D& veTable);
 	virtual AirmassResult getAirmass(int rpm) = 0;
 
 protected:
diff --git a/firmware/controllers/algo/airmass/alphan_airmass.h b/firmware/controllers/algo/airmass/alphan_airmass.h
index aeb0201a83..416b5eaa5f 100644
--- a/firmware/controllers/algo/airmass/alphan_airmass.h
+++ b/firmware/controllers/algo/airmass/alphan_airmass.h
@@ -4,7 +4,7 @@
 
 class AlphaNAirmass : public SpeedDensityBase {
 public:
-	AlphaNAirmass(const ValueProvider3D& veTable) : SpeedDensityBase(veTable) {}
+	explicit AlphaNAirmass(const ValueProvider3D& veTable) : SpeedDensityBase(veTable) {}
 
 	AirmassResult getAirmass(int rpm) override;
 };
diff --git a/firmware/controllers/algo/airmass/maf_airmass.h b/firmware/controllers/algo/airmass/maf_airmass.h
index ac557bd084..6d270beac2 100644
--- a/firmware/controllers/algo/airmass/maf_airmass.h
+++ b/firmware/controllers/algo/airmass/maf_airmass.h
@@ -4,7 +4,7 @@
 
 class MafAirmass final : public AirmassModelBase {
 public:
-	MafAirmass(const ValueProvider3D& veTable) : AirmassModelBase(veTable) {}
+	explicit MafAirmass(const ValueProvider3D& veTable) : AirmassModelBase(veTable) {}
 
 	AirmassResult getAirmass(int rpm) override;
 
diff --git a/firmware/controllers/algo/airmass/speed_density_airmass.h b/firmware/controllers/algo/airmass/speed_density_airmass.h
index ab8ccad157..d59fb9804d 100644
--- a/firmware/controllers/algo/airmass/speed_density_airmass.h
+++ b/firmware/controllers/algo/airmass/speed_density_airmass.h
@@ -4,6 +4,6 @@
 
 class SpeedDensityAirmass : public SpeedDensityBase {
 public:
-	SpeedDensityAirmass(const ValueProvider3D& veTable) : SpeedDensityBase(veTable) {}
+	explicit SpeedDensityAirmass(const ValueProvider3D& veTable) : SpeedDensityBase(veTable) {}
 	AirmassResult getAirmass(int rpm) override;
 };
diff --git a/firmware/controllers/algo/airmass/speed_density_base.h b/firmware/controllers/algo/airmass/speed_density_base.h
index 19f5136578..457953b316 100644
--- a/firmware/controllers/algo/airmass/speed_density_base.h
+++ b/firmware/controllers/algo/airmass/speed_density_base.h
@@ -15,7 +15,7 @@ float idealGasLaw(float volume, float pressure, float temperature);
 
 class SpeedDensityBase : public AirmassModelBase {
 protected:
-	SpeedDensityBase(const ValueProvider3D& veTable) : AirmassModelBase(veTable) {}
+	explicit SpeedDensityBase(const ValueProvider3D& veTable) : AirmassModelBase(veTable) {}
 
 public:
 	static float getAirmassImpl(float ve, float manifoldPressure, float temperature DECLARE_ENGINE_PARAMETER_SUFFIX);

From e3472b42274bab5faa2186e76a4ac35fa70aa91b Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:23:11 -0700
Subject: [PATCH 05/16] scope

---
 firmware/controllers/can/can_dash.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/firmware/controllers/can/can_dash.cpp b/firmware/controllers/can/can_dash.cpp
index fdb0b78d2c..6ac82efea8 100644
--- a/firmware/controllers/can/can_dash.cpp
+++ b/firmware/controllers/can/can_dash.cpp
@@ -182,11 +182,9 @@ void canDashboardVAG(void) {
 }
 
 void canDashboardW202(void) {
-	
-	uint16_t tmp;
 	{
 		CanTxMessage msg(W202_STAT_1);
-		tmp = GET_RPM();
+		uint16_t tmp = GET_RPM();
 		msg[0] = 0x08; // Unknown
 		msg[1] = (tmp >> 8); //RPM
 		msg[2] = (tmp & 0xff); //RPM

From bbe7ac43dba27d4783842e2ff62a18b04195e3b2 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:29:55 -0700
Subject: [PATCH 06/16] misc

---
 firmware/controllers/engine_cycle/spark_logic.cpp         | 2 --
 firmware/controllers/sensors/converters/thermistor_func.h | 6 +++---
 firmware/controllers/sensors/proxy_sensor.h               | 2 +-
 firmware/controllers/sensors/sensor.cpp                   | 2 +-
 4 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/firmware/controllers/engine_cycle/spark_logic.cpp b/firmware/controllers/engine_cycle/spark_logic.cpp
index 5827e45ee8..adbc811848 100644
--- a/firmware/controllers/engine_cycle/spark_logic.cpp
+++ b/firmware/controllers/engine_cycle/spark_logic.cpp
@@ -191,8 +191,6 @@ if (engineConfiguration->debugMode == DBG_DWELL_METRIC) {
 	{
 		event->sparksRemaining--;
 
-		efitick_t nowNt = getTimeNowNt();
-
 		efitick_t nextDwellStart = nowNt + engine->engineState.multispark.delay;
 		efitick_t nextFiring = nextDwellStart + engine->engineState.multispark.dwell;
 
diff --git a/firmware/controllers/sensors/converters/thermistor_func.h b/firmware/controllers/sensors/converters/thermistor_func.h
index 98627b4e32..416ae9c751 100644
--- a/firmware/controllers/sensors/converters/thermistor_func.h
+++ b/firmware/controllers/sensors/converters/thermistor_func.h
@@ -20,7 +20,7 @@ public:
 
 private:
 	// Steinhart-Hart coefficients
-	float m_a;
-	float m_b;
-	float m_c;
+	float m_a = 0;
+	float m_b = 0;
+	float m_c = 0;
 };
diff --git a/firmware/controllers/sensors/proxy_sensor.h b/firmware/controllers/sensors/proxy_sensor.h
index 5518d4e108..257b4068b1 100644
--- a/firmware/controllers/sensors/proxy_sensor.h
+++ b/firmware/controllers/sensors/proxy_sensor.h
@@ -24,7 +24,7 @@ public:
 	void showInfo(Logging* logger, const char* sensorName) const override;
 
 private:
-	SensorResult get() const {
+	SensorResult get() const override {
 		return Sensor::get(m_proxiedSensor);
 	}
 
diff --git a/firmware/controllers/sensors/sensor.cpp b/firmware/controllers/sensors/sensor.cpp
index c0127c5305..b328fe7bfb 100644
--- a/firmware/controllers/sensors/sensor.cpp
+++ b/firmware/controllers/sensors/sensor.cpp
@@ -51,7 +51,7 @@ bool Sensor::Register() {
 		return false;
 	} else {
 		// put ourselves in the registry
-		s_sensorRegistry[getIndex()].sensor = this;
+		entry.sensor = this;
 		return true;
 	}
 }

From fc112d2526d456db23d4837b8903ca44d8d3e056 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:32:48 -0700
Subject: [PATCH 07/16] dead code

---
 .../controllers/trigger/trigger_central.cpp   |  1 -
 firmware/development/logic_analyzer.cpp       |  1 -
 firmware/util/containers/data_buffer.c        | 66 -------------------
 firmware/util/containers/data_buffer.h        | 24 -------
 firmware/util/util.mk                         |  1 -
 5 files changed, 93 deletions(-)
 delete mode 100644 firmware/util/containers/data_buffer.c
 delete mode 100644 firmware/util/containers/data_buffer.h

diff --git a/firmware/controllers/trigger/trigger_central.cpp b/firmware/controllers/trigger/trigger_central.cpp
index aa6d9d1404..7885379d87 100644
--- a/firmware/controllers/trigger/trigger_central.cpp
+++ b/firmware/controllers/trigger/trigger_central.cpp
@@ -14,7 +14,6 @@
 #include "main_trigger_callback.h"
 #include "engine_configuration.h"
 #include "listener_array.h"
-#include "data_buffer.h"
 #include "pwm_generator_logic.h"
 #include "tooth_logger.h"
 
diff --git a/firmware/development/logic_analyzer.cpp b/firmware/development/logic_analyzer.cpp
index 3cf7259b3a..322b6c5851 100644
--- a/firmware/development/logic_analyzer.cpp
+++ b/firmware/development/logic_analyzer.cpp
@@ -16,7 +16,6 @@
 #include "global.h"
 #include "os_access.h"
 #include "eficonsole.h"
-#include "data_buffer.h"
 #include "pin_repository.h"
 #include "allsensors.h"
 #include "engine_configuration.h"
diff --git a/firmware/util/containers/data_buffer.c b/firmware/util/containers/data_buffer.c
deleted file mode 100644
index 52f31bffe5..0000000000
--- a/firmware/util/containers/data_buffer.c
+++ /dev/null
@@ -1,66 +0,0 @@
-/*@
- * @file	data_buffer.c
- *
- * @date Dec 8, 2012
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#include "data_buffer.h"
-
-int dbIsFull(data_buffer_s *db) {
-	return db->size == DB_MAX_SIZE;
-}
-
-void dbClear(data_buffer_s *db) {
-	db->size = 0;
-}
-
-void dbCopy(data_buffer_s *source, data_buffer_s *target) {
-	int s = source->size;
-	target->size = s;
-	for (int i = 0; i < s; i++)
-		target->elements[i] = source->elements[i];
-}
-
-void dbAdd(data_buffer_s *db, int value) {
-	if (db->size == DB_MAX_SIZE)
-		return;
-	int s = db->size;
-	db->elements[s] = value;
-	db->size = s + 1;
-}
-
-int modp(int param) {
-	return param > EF_PERIOD ? param - EF_PERIOD : param;
-}
-
-//void dbPrint(data_buffer_s *db, char *message, int withDiff) {
-//	int s = db->size;
-//	print("buffer [%s] size=%d\r\n", message, s);
-//	int range = db->elements[s - 1] - db->elements[0];
-//	print("range %d\r\n", range);
-//
-//	for (int i = 0; i < s; i++) {
-//		print("%d: %d", i, db->elements[i]);
-//		if (withDiff && i > 0) {
-//			int diff = modp(db->elements[i]) - modp(db->elements[i - 1]);
-//			print(" t=%d", diff);
-//		}
-//		print("\r\n");
-//	}
-//}
-
-//void dbPrintTable(data_buffer_s *table[], char *caption[], int columns) {
-//	for (int c = 0; c < columns; c++)
-//		print("%7s", caption[c]);
-//	print("\r\n");
-//
-//	for (int r = 0; r < DB_MAX_SIZE; r++) {
-//		for (int c = 0; c < columns; c++) {
-//			data_buffer_s *buf = table[c];
-//			print("%7d", buf->elements[r]);
-//		}
-//		print("\r\n");
-//	}
-//}
-
diff --git a/firmware/util/containers/data_buffer.h b/firmware/util/containers/data_buffer.h
deleted file mode 100644
index 6aedb0977a..0000000000
--- a/firmware/util/containers/data_buffer.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
- * data_buffer.h
- *
- * @date Dec 8, 2012
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#pragma once
-
-#define DB_MAX_SIZE 1024
-
-#define EF_PERIOD 100000000
-
-typedef struct {
-	int elements[DB_MAX_SIZE];
-	int size;
-} data_buffer_s;
-
-int dbIsFull(data_buffer_s *db);
-void dbClear(data_buffer_s *db);
-void dbAdd(data_buffer_s *db, int value);
-void dbCopy(data_buffer_s *source, data_buffer_s *target);
-void dbPrint(data_buffer_s *db, char *message, int withDiff);
-void dbPrintTable(data_buffer_s *table[], char *caption[], int columns);
diff --git a/firmware/util/util.mk b/firmware/util/util.mk
index 9e75e589d7..4eb73569b0 100644
--- a/firmware/util/util.mk
+++ b/firmware/util/util.mk
@@ -1,7 +1,6 @@
 UTIL_DIR=$(PROJECT_DIR)/util
 
 UTILSRC = \
-	$(UTIL_DIR)/containers/data_buffer.c \
 	$(UTIL_DIR)/math/crc.c \
 	$(UTIL_DIR)/os_util.c \
 	$(UTIL_DIR)/histogram.c \

From 6d102fcdcadb86db7d9235829e9fe2420f96d6e3 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:34:30 -0700
Subject: [PATCH 08/16] more dead

---
 firmware/util/math/avg_values.cpp     | 60 -------------------------
 firmware/util/math/avg_values.h       | 27 ------------
 firmware/util/math/signal_filtering.c | 63 ---------------------------
 firmware/util/math/signal_filtering.h | 22 ----------
 firmware/util/util.mk                 |  1 -
 5 files changed, 173 deletions(-)
 delete mode 100644 firmware/util/math/avg_values.cpp
 delete mode 100644 firmware/util/math/avg_values.h
 delete mode 100644 firmware/util/math/signal_filtering.c
 delete mode 100644 firmware/util/math/signal_filtering.h

diff --git a/firmware/util/math/avg_values.cpp b/firmware/util/math/avg_values.cpp
deleted file mode 100644
index 17d78c3e8d..0000000000
--- a/firmware/util/math/avg_values.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
- * avg_values.c
- *
- * @date Jul 23, 2013
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#include "avg_values.h"
-#include <math.h>
-
-void avgFill(AvgTable *table, int count, float value) {
-	for (int i = 0; i < AVG_TAB_SIZE; i++) {
-		for (int j = 0; j < AVG_TAB_SIZE; j++) {
-			table->counts[i][j] = count;
-			table->values[i][j] = value;
-		}
-	}
-}
-
-void avgReset(AvgTable *table) {
-	avgFill(table, 0, 0);
-}
-
-void avgAddValue(AvgTable *table, int rpm, float key, float value) {
-  if (rpm >= MAX_RPM || key >= MAX_KEY) {
-		return;
-        }
-	int i = (int)(AVG_TAB_SIZE * rpm / MAX_RPM);
-	int j = (int)(AVG_TAB_SIZE * key / MAX_KEY);
-
-	table->values[i][j] += value;
-	table->counts[i][j]++;
-}
-
-float avgGetValueByIndexes(AvgTable *table, int i, int j) {
-	int count = table->counts[i][j];
-	if (count == 0) {
-		return NAN;
-        }
-	return table->values[i][j] / count;
-}
-
-float avgGetValue(AvgTable *table, int rpm, float key) {
-  if (rpm >= MAX_RPM || key >= MAX_KEY) {
-		return NAN;
-  }
-	int i = (int)(AVG_TAB_SIZE * rpm / MAX_RPM);
-	int j = (int)(AVG_TAB_SIZE * key / MAX_KEY);
-	return avgGetValueByIndexes(table, i, j);
-}
-
-int avgGetValuesCount(AvgTable *table, int rpm, float key) {
-  if (rpm >= MAX_RPM || key >= MAX_KEY) {
-		return 0;
-  }
-	int i = (int)(AVG_TAB_SIZE * rpm / MAX_RPM);
-	int j = (int)(AVG_TAB_SIZE * key / MAX_KEY);
-
-	return table->counts[i][j];
-}
diff --git a/firmware/util/math/avg_values.h b/firmware/util/math/avg_values.h
deleted file mode 100644
index c7e4133662..0000000000
--- a/firmware/util/math/avg_values.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/*
- * avg_values.h
- *
- * @date Jul 23, 2013
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#pragma once
-
-#define AVG_TAB_SIZE 48
-
-#define MAX_RPM 8000
-#define MAX_KEY 5
-
-typedef struct {
-	float values[AVG_TAB_SIZE][AVG_TAB_SIZE];
-	int counts[AVG_TAB_SIZE][AVG_TAB_SIZE];
-} AvgTable;
-
-
-void avgReset(AvgTable *table);
-void avgFill(AvgTable *table, int count, float value);
-
-void avgAddValue(AvgTable *table, int rpm, float key, float value);
-float avgGetValueByIndexes(AvgTable *table, int i, int j);
-float avgGetValue(AvgTable *table, int rpm, float key);
-int avgGetValuesCount(AvgTable *table, int rpm, float key);
diff --git a/firmware/util/math/signal_filtering.c b/firmware/util/math/signal_filtering.c
deleted file mode 100644
index 3b8454954b..0000000000
--- a/firmware/util/math/signal_filtering.c
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
- * @file signal_filtering.c
- *
- * @date Aug 5, 2013
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#ifndef SIGNAL_FILTERING_C_
-#define SIGNAL_FILTERING_C_
-
-#include "signal_filtering.h"
-
-void sfInit(SignalFiltering *fs, float K, float initialValue) {
-	fs->pointer = 0;
-	fs->K = K;
-	fs->Vout = initialValue;
-	fs->Vacc = initialValue * K;
-}
-
-static void addCopyAndSort(SignalFiltering *fs, float value) {
-	fs->values[fs->pointer] = value;
-	fs->pointer = ++fs->pointer == FILTER_SIZE ? 0 : fs->pointer;
-
-	copyArray(fs->sorted, fs->values);
-
-	for (int i = 0; i < FILTER_SIZE; i++)
-		for (int j = i + 1; j < FILTER_SIZE; j++)
-			if (fs->sorted[i] < fs->sorted[j]) {
-				float temp = fs->sorted[i];
-				fs->sorted[i] = fs->sorted[j];
-				fs->sorted[j] = temp;
-			}
-}
-
-void sfAddValue(SignalFiltering *fs, float value) {
-	addCopyAndSort(fs, value);
-	float Vin = fs->sorted[FILTER_SIZE / 2];
-
-	fs->Vacc += Vin - fs->Vout;
-	fs->Vout = fs->Vacc / fs->K;
-}
-
-void sfAddValue2(SignalFiltering *fs, float value) {
-	addCopyAndSort(fs, value);
-
-	int fromIndex = FILTER_SIZE / 4;
-	int toIndex = FILTER_SIZE / 4 + FILTER_SIZE / 2;
-
-	/**
-	 * this implementation takes the average of the middle hald of the sorted values
-	 */
-	float result = 0;
-	for (int i = fromIndex; i < toIndex; i++)
-		result += fs->sorted[i];
-
-	fs->Vout = result / (FILTER_SIZE / 2);
-}
-
-float sfGetValue(SignalFiltering *fs) {
-	return fs->Vout;
-}
-
-#endif /* SIGNAL_FILTERING_C_ */
diff --git a/firmware/util/math/signal_filtering.h b/firmware/util/math/signal_filtering.h
deleted file mode 100644
index 01df176e19..0000000000
--- a/firmware/util/math/signal_filtering.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/*
- * @file signal_filtering.h
- *
- * @date Aug 5, 2013
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#pragma once
-
-#define FILTER_SIZE 5
-
-typedef struct {
-	float values[FILTER_SIZE];
-	float sorted[FILTER_SIZE];
-	int pointer;
-	float K, Vacc, Vout;
-} SignalFiltering;
-
-void sfInit(SignalFiltering *fs, float K, float initialValue);
-void sfAddValue(SignalFiltering *fs, float value);
-void sfAddValue2(SignalFiltering *fs, float value);
-float sfGetValue(SignalFiltering *fs);
diff --git a/firmware/util/util.mk b/firmware/util/util.mk
index 4eb73569b0..699aff16de 100644
--- a/firmware/util/util.mk
+++ b/firmware/util/util.mk
@@ -13,7 +13,6 @@ UTILSRC_CPP = \
 	$(UTIL_DIR)/containers/local_version_holder.cpp \
 	$(UTIL_DIR)/containers/table_helper.cpp \
 	$(UTIL_DIR)/math/pid.cpp \
-	$(UTIL_DIR)/math/avg_values.cpp \
 	$(UTIL_DIR)/math/interpolation.cpp \
 	$(PROJECT_DIR)/util/datalogging.cpp \
 	$(PROJECT_DIR)/util/loggingcentral.cpp \

From 5e7585501cf9909a819a40edeb1e974eb821a729 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:36:47 -0700
Subject: [PATCH 09/16] even more dead

---
 firmware/util/unaligned.c | 113 --------------------------------------
 firmware/util/unaligned.h | 105 -----------------------------------
 firmware/util/util.mk     |   3 +-
 3 files changed, 1 insertion(+), 220 deletions(-)
 delete mode 100644 firmware/util/unaligned.c
 delete mode 100644 firmware/util/unaligned.h

diff --git a/firmware/util/unaligned.c b/firmware/util/unaligned.c
deleted file mode 100644
index 977abdcaf1..0000000000
--- a/firmware/util/unaligned.c
+++ /dev/null
@@ -1,113 +0,0 @@
-/**
- * @file    unaligned.c
- * @brief   unaligned data access helpers
- *
- * @date May, 2019
- * @author Andrey Gusakov, (c) 2019
- *
- * This file is part of rusEfi - see http://rusefi.com
- *
- * rusEfi is free software; you can redistribute it and/or modify it under the terms of
- * the GNU General Public License as published by the Free Software Foundation; either
- * version 3 of the License, or (at your option) any later version.
- *
- * rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
- * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along with this program.
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "unaligned.h"
-#include "common.h"
-
-/* generate mask */
-static inline uint32_t bit_mask(unsigned int from, unsigned int to)
-{
-	uint32_t mask = 0;
-	uint32_t shift;
-
-	if (to < from)
-		return 0;
-
-	shift = to - from + 1U;
-
-	if ((shift > 0U) && (shift <= 32U) && (from <= 31U)) {
-		if (shift < 32U) {
-			mask = (uint32_t)((1UL << shift) - 1UL);
-			mask = mask << from;
-		} else {
-			mask = 0xFFFFFFFFUL;
-		}
-	}
-
-	return mask;
-}
-
-/* get upto 32 bits from char array p, from bit position pos, lenght len */
-uint32_t bits_get(uint8_t *p, unsigned int pos, int len)
-{
-	int i;
-	unsigned int offset = 0;
-	uint32_t res = 0;
-
-	i = (int)pos / 8;
-
-	while (len > 0) {
-		uint32_t tmp;
-		uint32_t mask;
-		int nbits = 8 - ((int)pos % 8);
-
-		/* get */
-		tmp = (uint32_t)p[i];
-		/* shift */
-		tmp = tmp >> (8U - (uint32_t)nbits);
-		/* mask */
-		mask = bit_mask(0, MIN((uint32_t)len - 1U, (uint32_t)nbits - 1U));
-		tmp = tmp & mask;
-		res = res | ((tmp) << offset);
-
-		/* adjust for the next iteration */
-		offset += (unsigned int)nbits;
-		len -= nbits;
-		pos += (unsigned int)nbits;
-		i++;
-	}
-	return res;
-}
-
-/* set upto 32 bits in char array p, from bit position pos, lenght len */
-void bits_set(uint8_t *p, unsigned int pos, int len, uint32_t val)
-{
-	int i;
-	unsigned int offset = 0;
-
-	i = (int)pos / 8;
-
-	while (len > 0) {
-		uint32_t tmp;
-		uint32_t mask;
-
-		/* get number of bits to shift to get to the target range */
-		int shift = (int)pos % 8;
-		/* get next byte */
-		tmp = (val >> offset) & 0xffU;
-		/* shift temporary value to the start of the target range */
-		tmp = tmp << (uint8_t)shift;
-		/* calculate mask */
-		mask = bit_mask((uint32_t)shift, MIN(8U - 1U, (unsigned int)shift + (unsigned int)len - 1U));
-		/* clean all bits outside of the target range */
-		tmp &= mask;
-		/* pre-clean all target bits */
-		p[i] = p[i] & ~((uint8_t)mask);
-		/* finally set active bits */
-		p[i] |= (uint8_t)tmp;
-
-		/* adjust for the next iteration */
-		offset += ((uint32_t)8U - (uint32_t)shift);
-		len -= (8 - shift);
-		pos += ((unsigned int)8U - (unsigned int)shift);
-		i++;
-	}
-}
diff --git a/firmware/util/unaligned.h b/firmware/util/unaligned.h
deleted file mode 100644
index 2b1a11217f..0000000000
--- a/firmware/util/unaligned.h
+++ /dev/null
@@ -1,105 +0,0 @@
-/**
- * @file    unaligned.h
- * @brief   unaligned data access helpers header file
- *
- * @date May, 2019
- * @author Andrey Gusakov, (c) 2019
- *
- * This file is part of rusEfi - see http://rusefi.com
- *
- * rusEfi is free software; you can redistribute it and/or modify it under the terms of
- * the GNU General Public License as published by the Free Software Foundation; either
- * version 3 of the License, or (at your option) any later version.
- *
- * rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
- * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along with this program.
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
-#ifndef UNALIGNED_H_INCLUDED
-#define UNALIGNED_H_INCLUDED
-
-#include <stdint.h>
-
-/* bit operations */
-uint32_t bits_get(uint8_t *p, unsigned int pos, int len);
-void bits_set(uint8_t *p, unsigned int pos, int len, uint32_t val);
-#define bit_set(p, pos)		do {(p)[(pos) / 8] |= (1 << ((pos) % 8));} while(0)
-#define bit_clr(p, pos)		do {(p)[(pos) / 8] &= ~(1 << ((pos) % 8));} while(0)
-#define bit_get(p, pos)		(!!((p)[(pos) / 8] & (1 << ((pos) % 8))))
-
-/* unaligned access */
-static inline void put_be8(uint8_t *p, uint8_t v)
-{
-	p[0] = v;
-}
-
-static inline void put_le8(uint8_t *p, uint8_t v)
-{
-	p[0] = v;
-}
-
-static inline void put_be16(uint8_t *p, uint16_t v)
-{
-	p[0] = (uint8_t)(v >> 8);
-	p[1] = (uint8_t)(v >> 0);
-}
-
-static inline void put_le16(uint8_t *p, uint16_t v)
-{
-	p[0] = (uint8_t)(v >> 0);
-	p[1] = (uint8_t)(v >> 8);
-}
-
-static inline void put_be32(uint8_t *p, uint32_t v)
-{
-	p[0] = (uint8_t)(v >> 24);
-	p[1] = (uint8_t)(v >> 16);
-	p[2] = (uint8_t)(v >> 8);
-	p[3] = (uint8_t)(v >> 0);
-}
-
-static inline void put_le32(uint8_t *p, uint32_t v)
-{
-	p[0] = (uint8_t)(v >> 0);
-	p[1] = (uint8_t)(v >> 8);
-	p[2] = (uint8_t)(v >> 16);
-	p[3] = (uint8_t)(v >> 24);
-}
-
-static inline uint8_t get_be8(uint8_t *p)
-{
-	return p[0];
-}
-
-static inline uint8_t get_le8(uint8_t *p)
-{
-	return p[0];
-}
-
-static inline uint16_t get_be16(uint8_t *p)
-{
-	return ((uint16_t)p[0] << 8) | p[1];
-}
-
-static inline uint16_t get_le16(uint8_t *p)
-{
-	return ((uint16_t)p[1] << 8) | p[0];
-}
-
-static inline uint32_t get_be32(uint8_t *p)
-{
-	return ((uint32_t)p[0] << 24) | ((uint32_t)p[1] << 16) |
-		   ((uint32_t)p[2] << 8) | p[3];
-}
-
-static inline uint32_t get_le32(uint8_t *p)
-{
-	return ((uint32_t)p[3] << 24) | ((uint32_t)p[2] << 16) |
-		   ((uint32_t)p[1] << 8) | p[0];
-}
-
-#endif /* UNALIGNED_H_INCLUDED */
diff --git a/firmware/util/util.mk b/firmware/util/util.mk
index 699aff16de..c227e632d9 100644
--- a/firmware/util/util.mk
+++ b/firmware/util/util.mk
@@ -3,8 +3,7 @@ UTIL_DIR=$(PROJECT_DIR)/util
 UTILSRC = \
 	$(UTIL_DIR)/math/crc.c \
 	$(UTIL_DIR)/os_util.c \
-	$(UTIL_DIR)/histogram.c \
-	$(UTIL_DIR)/unaligned.c
+	$(UTIL_DIR)/histogram.c
 
 UTILSRC_CPP = \
     $(UTIL_DIR)/containers/cyclic_buffer.cpp \

From aac641b1f45acd5eca2eecbe49ebe40f9e1b8656 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:40:10 -0700
Subject: [PATCH 10/16] don't use register keyword

---
 firmware/util/datalogging.cpp | 2 +-
 firmware/util/efilib.cpp      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/firmware/util/datalogging.cpp b/firmware/util/datalogging.cpp
index d91f78a50a..1ea4f121cb 100644
--- a/firmware/util/datalogging.cpp
+++ b/firmware/util/datalogging.cpp
@@ -112,7 +112,7 @@ void append(Logging *logging, const char *text) {
  * @note This method if fast because it does not validate much, be sure what you are doing
  */
 void appendFast(Logging *logging, const char *text) {
-	register char *s;
+	char *s;
 	s = logging->linePointer;
 	while ((*s++ = *text++) != 0)
 		;
diff --git a/firmware/util/efilib.cpp b/firmware/util/efilib.cpp
index b35322bab8..f50ae7cb5a 100644
--- a/firmware/util/efilib.cpp
+++ b/firmware/util/efilib.cpp
@@ -64,7 +64,7 @@ float clampF(float min, float clamp, float max) {
 }
 
 uint32_t efiStrlen(const char *param) {
-	register const char *s;
+	const char *s;
 	for (s = param; *s; ++s)
 		;
 	return (s - param);

From cd62774be19b42c6a11ae5630e79aec90f262e5c Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:45:30 -0700
Subject: [PATCH 11/16] dead

---
 firmware/controllers/system/timer/event_queue.cpp | 3 ---
 firmware/controllers/system/timer/event_queue.h   | 1 -
 2 files changed, 4 deletions(-)

diff --git a/firmware/controllers/system/timer/event_queue.cpp b/firmware/controllers/system/timer/event_queue.cpp
index 7efc24c3e6..c69397c532 100644
--- a/firmware/controllers/system/timer/event_queue.cpp
+++ b/firmware/controllers/system/timer/event_queue.cpp
@@ -25,9 +25,6 @@ extern bool verboseMode;
 
 uint32_t maxSchedulingPrecisionLoss = 0;
 
-bool EventQueue::checkIfPending(scheduling_s *scheduling) {
-	assertNotInListMethodBody(scheduling_s, head, scheduling, nextScheduling_s);
-}
 
 /**
  * @return true if inserted into the head of the list
diff --git a/firmware/controllers/system/timer/event_queue.h b/firmware/controllers/system/timer/event_queue.h
index ffda221811..f16939e7e9 100644
--- a/firmware/controllers/system/timer/event_queue.h
+++ b/firmware/controllers/system/timer/event_queue.h
@@ -64,7 +64,6 @@ public:
 	scheduling_s * getHead();
 	void assertListIsSorted() const;
 private:
-	bool checkIfPending(scheduling_s *scheduling);
 	/**
 	 * this list is sorted
 	 */

From 93d631b9115f86000ff3e55e1337f07ce020c113 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:45:39 -0700
Subject: [PATCH 12/16] init & override

---
 firmware/controllers/system/dc_motor.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/firmware/controllers/system/dc_motor.h b/firmware/controllers/system/dc_motor.h
index 51e64e9c28..fdf6272d28 100644
--- a/firmware/controllers/system/dc_motor.h
+++ b/firmware/controllers/system/dc_motor.h
@@ -77,7 +77,7 @@ private:
 	OutputPin* const m_disable;
     float m_value = 0;
 
-    ControlType m_type;
+    ControlType m_type = ControlType::PwmDirectionPins;
 public:
     /**
      * @param enable SimplePwm driver for enable pin, for PWM speed control.
@@ -90,8 +90,8 @@ public:
     float get() const override;
     bool isOpenDirection() const override;
 
-	void enable();
-	void disable();
+	void enable() override;
+	void disable() override;
 
     void setType(ControlType type) { m_type = type; }
 };

From 1f221043ed2b6d07d9650a51fe03297a6fac9cd3 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:49:23 -0700
Subject: [PATCH 13/16] shadowed

---
 firmware/hw_layer/serial_over_usb/usbcfg.c | 2 --
 1 file changed, 2 deletions(-)

diff --git a/firmware/hw_layer/serial_over_usb/usbcfg.c b/firmware/hw_layer/serial_over_usb/usbcfg.c
index ae34ee5092..f74fad8d5d 100644
--- a/firmware/hw_layer/serial_over_usb/usbcfg.c
+++ b/firmware/hw_layer/serial_over_usb/usbcfg.c
@@ -268,8 +268,6 @@ static const USBEndpointConfig ep2config = {
  * Handles the USB driver global events.
  */
 static void usb_event(USBDriver *usbp, usbevent_t event) {
-  extern SerialUSBDriver SDU1;
-
   switch (event) {
   case USB_EVENT_ADDRESS:
     return;

From 727f6e78baabe685ececc14e689c87f134ddd583 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:49:31 -0700
Subject: [PATCH 14/16] explicit

---
 firmware/hw_layer/drivers/can/can_msg_tx.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/firmware/hw_layer/drivers/can/can_msg_tx.h b/firmware/hw_layer/drivers/can/can_msg_tx.h
index 00ed7da8a5..2ac51fe22c 100644
--- a/firmware/hw_layer/drivers/can/can_msg_tx.h
+++ b/firmware/hw_layer/drivers/can/can_msg_tx.h
@@ -28,7 +28,7 @@ public:
 	/**
 	 * Create a new CAN message, with the specified extended ID.
 	 */
-	CanTxMessage(uint32_t eid, uint8_t dlc = 8);
+	explicit CanTxMessage(uint32_t eid, uint8_t dlc = 8);
 
 	/**
 	 * Destruction of an instance of CanTxMessage will transmit the message over the wire.
@@ -71,7 +71,7 @@ class CanTxTyped final : public CanTxMessage
 	static_assert(sizeof(TData) == sizeof(CANTxFrame::data8));
 
 public:
-	CanTxTyped(uint32_t eid) : CanTxMessage(eid) { }
+	explicit CanTxTyped(uint32_t eid) : CanTxMessage(eid) { }
 
 	/**
 	 * Access members of the templated type.  

From 8508be5ebdc46b764d50903fef9b6333d3ab9e1a Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:49:37 -0700
Subject: [PATCH 15/16] dead

---
 firmware/hw_layer/hardware.cpp | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/firmware/hw_layer/hardware.cpp b/firmware/hw_layer/hardware.cpp
index 8b6138f705..2ebcd3c299 100644
--- a/firmware/hw_layer/hardware.cpp
+++ b/firmware/hw_layer/hardware.cpp
@@ -149,15 +149,6 @@ static I2CConfig i2cfg = { HAL_I2C_F7_100_TIMINGR, 0, 0 };	// todo: does it work
 static I2CConfig i2cfg = { OPMODE_I2C, 100000, STD_DUTY_CYCLE, };
 #endif /* defined(STM32F4XX) */
 
-void initI2Cmodule(void) {
-	print("Starting I2C module\r\n");
-	i2cInit();
-	i2cStart(&I2CD1, &i2cfg);
-
-	efiSetPadMode("I2C clock", EFI_I2C_SCL_BRAIN_PIN, PAL_MODE_ALTERNATE(EFI_I2C_AF) | PAL_STM32_OTYPE_OPENDRAIN);
-	efiSetPadMode("I2C data", EFI_I2C_SDA_BRAIN_PIN, PAL_MODE_ALTERNATE(EFI_I2C_AF) | PAL_STM32_OTYPE_OPENDRAIN);
-}
-
 //static char txbuf[1];
 
 static void sendI2Cbyte(int addr, int data) {
@@ -474,7 +465,6 @@ void initHardware(Logging *l) {
 	initSingleTimerExecutorHardware();
 
 #if EFI_HD44780_LCD
-//	initI2Cmodule();
 	lcd_HD44780_init(sharedLogger);
 	if (hasFirmwareError())
 		return;

From cd696acbe2d99720ca97f720154fce7d9427ae2b Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 29 Jul 2020 02:50:23 -0700
Subject: [PATCH 16/16] init

---
 firmware/hw_layer/stepper.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/firmware/hw_layer/stepper.h b/firmware/hw_layer/stepper.h
index 128afc6dc6..b79aa431ce 100644
--- a/firmware/hw_layer/stepper.h
+++ b/firmware/hw_layer/stepper.h
@@ -49,8 +49,8 @@ public:
     void step(bool positive) override;
 
 private:
-    DcMotor* m_motorPhaseA;
-    DcMotor* m_motorPhaseB;
+    DcMotor* m_motorPhaseA = nullptr;
+    DcMotor* m_motorPhaseB = nullptr;
 
     uint8_t m_phase = 0;
 };