From 2167016c169925023510ef98a7c5abf38c2408f5 Mon Sep 17 00:00:00 2001 From: Matthew Kennedy Date: Sat, 7 May 2022 11:15:11 -0700 Subject: [PATCH] format --- firmware/can_helper.cpp | 16 +++---- firmware/interpolation.cpp | 38 +++++++-------- firmware/interpolation.h | 7 +-- firmware/pwm.cpp | 6 +-- firmware/shared/crc.cpp | 98 +++++++++++++++++++------------------- firmware/shared/flash.cpp | 16 +++---- 6 files changed, 91 insertions(+), 90 deletions(-) diff --git a/firmware/can_helper.cpp b/firmware/can_helper.cpp index a3720ac..eeaabba 100644 --- a/firmware/can_helper.cpp +++ b/firmware/can_helper.cpp @@ -3,18 +3,18 @@ #include CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) { - m_frame.IDE = isExtended ? CAN_IDE_EXT : CAN_IDE_STD; - m_frame.EID = eid; - m_frame.RTR = CAN_RTR_DATA; - m_frame.DLC = dlc; - memset(m_frame.data8, 0, sizeof(m_frame.data8)); + m_frame.IDE = isExtended ? CAN_IDE_EXT : CAN_IDE_STD; + m_frame.EID = eid; + m_frame.RTR = CAN_RTR_DATA; + m_frame.DLC = dlc; + memset(m_frame.data8, 0, sizeof(m_frame.data8)); } CanTxMessage::~CanTxMessage() { - // 100 ms timeout - canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &m_frame, TIME_IMMEDIATE); + // 100 ms timeout + canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &m_frame, TIME_IMMEDIATE); } uint8_t& CanTxMessage::operator[](size_t index) { - return m_frame.data8[index]; + return m_frame.data8[index]; } diff --git a/firmware/interpolation.cpp b/firmware/interpolation.cpp index 2f99e12..643803c 100644 --- a/firmware/interpolation.cpp +++ b/firmware/interpolation.cpp @@ -2,36 +2,36 @@ int interpolateInt(int x1, int y1, int x2, int y2, int x) { - if (x1 == x2) - return y1; + if (x1 == x2) + return y1; - return (y1 + (y2 - y1) * (x - x1) / (x2 - x1)); + return (y1 + (y2 - y1) * (x - x1) / (x2 - x1)); } int interpolateIntClamped(int x1, int y1, int x2, int y2, int x) { - if (x <= x1) - return y1; - if (x >= x2) - return y2; + if (x <= x1) + return y1; + if (x >= x2) + return y2; - return interpolateInt(x1, y1, x2, y2, x); + return interpolateInt(x1, y1, x2, y2, x); } int interpolate_1d_int(const struct inter_point *p, int size, int x) { - int i; + int i; - /* no exterpolation */ - if (x < p[0].x) - return p[0].y; + /* no exterpolation */ + if (x < p[0].x) + return p[0].y; - for (i = 0; i < size - 1; i++) { - if ((x >= p[i].x) && (x < p[i + 1].x)) { - return interpolateInt(p[i].x, p[i].y, p[i + 1].x, p[i + 1].y, x); - } - } + for (i = 0; i < size - 1; i++) { + if ((x >= p[i].x) && (x < p[i + 1].x)) { + return interpolateInt(p[i].x, p[i].y, p[i + 1].x, p[i + 1].y, x); + } + } - /* no exterpolation */ - return p[size - 1].y; + /* no exterpolation */ + return p[size - 1].y; } diff --git a/firmware/interpolation.h b/firmware/interpolation.h index aa79d25..eac1769 100644 --- a/firmware/interpolation.h +++ b/firmware/interpolation.h @@ -1,8 +1,9 @@ #pragma once -struct inter_point { - int x; - int y; +struct inter_point +{ + int x; + int y; }; int interpolateInt(int x1, int y1, int x2, int y2, int x); diff --git a/firmware/pwm.cpp b/firmware/pwm.cpp index 662b815..93ea467 100644 --- a/firmware/pwm.cpp +++ b/firmware/pwm.cpp @@ -33,15 +33,15 @@ void Pwm::Start() } float maxF(float i1, float i2) { - return i1 > i2 ? i1 : i2; + return i1 > i2 ? i1 : i2; } float minF(float i1, float i2) { - return i1 < i2 ? i1 : i2; + return i1 < i2 ? i1 : i2; } float clampF(float min, float clamp, float max) { - return maxF(min, minF(clamp, max)); + return maxF(min, minF(clamp, max)); } void Pwm::SetDuty(float duty) { diff --git a/firmware/shared/crc.cpp b/firmware/shared/crc.cpp index bfc7b24..d2adef1 100644 --- a/firmware/shared/crc.cpp +++ b/firmware/shared/crc.cpp @@ -1,59 +1,59 @@ #include static const uint32_t crc32_tab[] = { 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, - 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, - 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, - 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, - 0xf4d4b551, 0x83d385c7, 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, - 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, - 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, - 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, - 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, - 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, - 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, - 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, - 0x9fbfe4a5, 0xe8b8d433, 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, - 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, - 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, - 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, - 0x8cd37cf3, 0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, - 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, - 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, - 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, - 0xb966d409, 0xce61e49f, 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, - 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, - 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, - 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, - 0x0a00ae27, 0x7d079eb1, 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, - 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, - 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, - 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, - 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, - 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, - 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, - 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, - 0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, - 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, - 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, - 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, - 0x6fb077e1, 0x18b74777, 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, - 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, - 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, - 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, - 0x47b2cf7f, 0x30b5ffe9, 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, - 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, - 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d }; + 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, + 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, + 0xf4d4b551, 0x83d385c7, 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, + 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, + 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, + 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, + 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, + 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, + 0x9fbfe4a5, 0xe8b8d433, 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, + 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, + 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, + 0x8cd37cf3, 0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, + 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, + 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, + 0xb966d409, 0xce61e49f, 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, + 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, + 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, + 0x0a00ae27, 0x7d079eb1, 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, + 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, + 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, + 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, + 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, + 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, + 0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, + 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, + 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, + 0x6fb077e1, 0x18b74777, 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, + 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, + 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, + 0x47b2cf7f, 0x30b5ffe9, 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, + 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, + 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d }; uint32_t crc32(const uint8_t *buf, uint32_t size) { - const uint8_t *p; + const uint8_t *p; - p = buf; - uint32_t crc = 0xFFFFFFFF; + p = buf; + uint32_t crc = 0xFFFFFFFF; - while (size--) { - crc = crc32_tab[(crc ^ *p++) & 0xFF] ^ (crc >> 8); - } + while (size--) { + crc = crc32_tab[(crc ^ *p++) & 0xFF] ^ (crc >> 8); + } - return crc ^ 0xFFFFFFFF; + return crc ^ 0xFFFFFFFF; } diff --git a/firmware/shared/flash.cpp b/firmware/shared/flash.cpp index a34a658..6f13d73 100644 --- a/firmware/shared/flash.cpp +++ b/firmware/shared/flash.cpp @@ -53,17 +53,17 @@ void Flash::ErasePage(uint8_t pageIdx) { } static void flashWriteData(flashaddr_t address, const flashdata_t data) { - /* Enter flash programming mode */ - FLASH->CR |= FLASH_CR_PG; + /* Enter flash programming mode */ + FLASH->CR |= FLASH_CR_PG; - /* Write the data */ - *(flashdata_t*) address = data; + /* Write the data */ + *(flashdata_t*) address = data; - /* Wait for completion */ - flashWaitWhileBusy(); + /* Wait for completion */ + flashWaitWhileBusy(); - /* Exit flash programming mode */ - FLASH->CR &= ~FLASH_CR_PG; + /* Exit flash programming mode */ + FLASH->CR &= ~FLASH_CR_PG; } void Flash::Write(flashaddr_t address, const uint8_t* buffer, size_t size) {