Add -Wconversion and -Wsign-conversion and fix resulting issues

Signed-off-by: Javier Balloffet <javier.balloffet@gmail.com>

Author: jballoffet

andino_firmware/include/andino/app/app.h

@@ -29,7 +29,14 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
+#if defined(__GNUC__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wconversion"
+#endif
 #include <Adafruit_BNO055.h>
+#if defined(__GNUC__)
+#pragma GCC diagnostic pop
+#endif
 
 #include "andino/app/constants.h"
 #include "andino/app/pid.h"

andino_firmware/include/andino/app/constants.h

@@ -49,7 +49,7 @@ struct Constants {
   /// @brief PID computation rate [Hz].
   static constexpr int kPidRate{30};
   /// @brief PID computation period [ms].
-  static constexpr double kPidPeriod{1000 / kPidRate};
+  static constexpr long kPidPeriod{1000 / kPidRate};
   /// @brief PID default tuning proportional gain.
   static constexpr int kPidKp{30};
   /// @brief PID default tuning derivative gain.

andino_firmware/include/andino/app/hw.h

@@ -29,42 +29,44 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
+#include <stdint.h>
+
 namespace andino {
 
 /// @brief Hardware configuration.
 struct Hw {
   /// @brief Left encoder channel A pin. Connected to PD2 (digital pin 2).
-  static constexpr int kLeftEncoderChannelAGpioPin{2};
+  static constexpr uint8_t kLeftEncoderChannelAGpioPin{2};
   /// @brief Left encoder channel B pin. Connected to PD3 (digital pin 3).
-  static constexpr int kLeftEncoderChannelBGpioPin{3};
+  static constexpr uint8_t kLeftEncoderChannelBGpioPin{3};
 
   /// @brief Right encoder channel A pin. Connected to PC2 (digital pin 16, analog pin A2).
-  static constexpr int kRightEncoderChannelAGpioPin{16};
+  static constexpr uint8_t kRightEncoderChannelAGpioPin{16};
   /// @brief Right encoder channel B pin. Connected to PC3 (digital pin 17, analog pin A3).
-  static constexpr int kRightEncoderChannelBGpioPin{17};
+  static constexpr uint8_t kRightEncoderChannelBGpioPin{17};
 
   /// @brief Left motor driver backward pin. Connected to PD6 (digital pin 6).
-  static constexpr int kLeftMotorBackwardGpioPin{6};
+  static constexpr uint8_t kLeftMotorBackwardGpioPin{6};
   /// @brief Left motor driver forward pin. Connected to PB2 (digital pin 10).
-  static constexpr int kLeftMotorForwardGpioPin{10};
+  static constexpr uint8_t kLeftMotorForwardGpioPin{10};
   /// @brief Left motor driver enable pin. Connected to PB5 (digital pin 13).
   /// @note The enable input of the L298N motor driver may be directly jumped to 5V if the board has
   /// a jumper to do so.
-  static constexpr int kLeftMotorEnableGpioPin{13};
+  static constexpr uint8_t kLeftMotorEnableGpioPin{13};
 
   /// @brief Right motor driver backward pin. Connected to PD5 (digital pin 5).
-  static constexpr int kRightMotorBackwardGpioPin{5};
+  static constexpr uint8_t kRightMotorBackwardGpioPin{5};
   /// @brief Right motor driver forward pin. Connected to PB1 (digital pin 9).
-  static constexpr int kRightMotorForwardGpioPin{9};
+  static constexpr uint8_t kRightMotorForwardGpioPin{9};
   /// @brief Right motor driver enable pin. Connected to PB4 (digital pin 12).
   /// @note The enable input of the L298N motor driver may be directly jumped to 5V if the board has
   /// a jumper to do so.
-  static constexpr int kRightMotorEnableGpioPin{12};
+  static constexpr uint8_t kRightMotorEnableGpioPin{12};
 
   /// @brief IMU sensor I2C SCL pin. Connected to PC5 (digital pin 19, analog pin A5).
-  static constexpr int kImuI2cSclPin{19};
+  static constexpr uint8_t kImuI2cSclPin{19};
   /// @brief IMU sensor I2C SDA pin. Connected to PC4 (digital pin 18, analog pin A4).
-  static constexpr int kImuI2cSdaPin{18};
+  static constexpr uint8_t kImuI2cSdaPin{18};
 };
 
 }  // namespace andino

andino_firmware/include/andino/app/pid.h

@@ -49,7 +49,7 @@ class Pid {
   /// @brief Resets the PID controller.
   ///
   /// @param encoder_count Current encoder value.
-  void reset(int encoder_count);
+  void reset(long encoder_count);
 
   /// @brief Returns if the PID controller is enabled or not.
   bool enabled();
@@ -64,7 +64,7 @@ class Pid {
   ///
   /// @param encoder_count Current encoder value.
   /// @param computed_output Computed output value.
-  void compute(int encoder_count, int& computed_output);
+  void compute(long encoder_count, int& computed_output);
 
   /// @brief Sets the setpoint.
   ///

andino_firmware/include/andino/bsp/digital_out_arduino.h

@@ -29,6 +29,8 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
+#include <stdint.h>
+
 #include "andino/hal/digital_out.h"
 
 namespace andino {
@@ -39,16 +41,16 @@ class DigitalOutArduino : public DigitalOut {
   /// @brief Constructs a DigitalOutArduino using the specified GPIO pin.
   ///
   /// @param gpio_pin GPIO pin.
-  explicit DigitalOutArduino(const int gpio_pin) : gpio_pin_(gpio_pin) {
+  explicit DigitalOutArduino(const uint8_t gpio_pin) : gpio_pin_(gpio_pin) {
   }
 
   void begin() const override;
 
-  void write(int value) const override;
+  void write(uint8_t value) const override;
 
  private:
   /// GPIO pin.
-  const int gpio_pin_;
+  const uint8_t gpio_pin_;
 };
 
 }  // namespace andino

andino_firmware/include/andino/bsp/interrupt_in_arduino.h

@@ -29,6 +29,8 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
+#include <stdint.h>
+
 #include "andino/hal/interrupt_in.h"
 
 namespace andino {
@@ -39,7 +41,7 @@ class InterruptInArduino : public InterruptIn {
   /// @brief Constructs a InterruptInArduino using the specified GPIO pin.
   ///
   /// @param gpio_pin GPIO pin.
-  explicit InterruptInArduino(const int gpio_pin) : gpio_pin_(gpio_pin) {
+  explicit InterruptInArduino(const uint8_t gpio_pin) : gpio_pin_(gpio_pin) {
   }
 
   void begin() const override;
@@ -50,7 +52,7 @@ class InterruptInArduino : public InterruptIn {
 
  private:
   /// GPIO pin.
-  const int gpio_pin_;
+  const uint8_t gpio_pin_;
 };
 
 }  // namespace andino

andino_firmware/include/andino/bsp/pwm_out_arduino.h

@@ -29,6 +29,8 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
+#include <stdint.h>
+
 #include "andino/hal/pwm_out.h"
 
 namespace andino {
@@ -39,7 +41,7 @@ class PwmOutArduino : public PwmOut {
   /// @brief Constructs a PwmOutArduino using the specified GPIO pin.
   ///
   /// @param gpio_pin GPIO pin.
-  explicit PwmOutArduino(const int gpio_pin) : gpio_pin_(gpio_pin) {
+  explicit PwmOutArduino(const uint8_t gpio_pin) : gpio_pin_(gpio_pin) {
   }
 
   void begin() const override;
@@ -48,7 +50,7 @@ class PwmOutArduino : public PwmOut {
 
  private:
   /// GPIO pin.
-  const int gpio_pin_;
+  const uint8_t gpio_pin_;
 };
 
 }  // namespace andino

andino_firmware/include/andino/hal/digital_out.h

@@ -29,6 +29,8 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
+#include <stdint.h>
+
 namespace andino {
 
 /// @brief This class defines an interface for digital outputs.
@@ -43,7 +45,7 @@ class DigitalOut {
   /// @brief Sets the digital output value (0 or 1).
   ///
   /// @param value Digital output value.
-  virtual void write(int value) const = 0;
+  virtual void write(uint8_t value) const = 0;
 };
 
 }  // namespace andino

andino_firmware/platformio.ini

@@ -23,6 +23,8 @@ build_src_flags =
   -Wcast-qual
   -Wuseless-cast
   -Wnull-dereference
+  -Wconversion
+  -Wsign-conversion
   -Werror
 check_tool = cppcheck
 check_skip_packages = yes

andino_firmware/src/app/app.cpp

@@ -145,7 +145,7 @@ void App::cmd_read_analog_gpio_cb(void*, int argc, char** argv) {
     return;
   }
 
-  const int pin = atoi(argv[1]);
+  const uint8_t pin = static_cast<uint8_t>(atoi(argv[1]));
   Serial.println(analogRead(pin));
 }
 
@@ -154,7 +154,7 @@ void App::cmd_read_digital_gpio_cb(void*, int argc, char** argv) {
     return;
   }
 
-  const int pin = atoi(argv[1]);
+  const uint8_t pin = static_cast<uint8_t>(atoi(argv[1]));
   Serial.println(digitalRead(pin));
 }