treewide: lots of SonarQube fixes

drivers/gnss/gnss_nrf9x_emul.c

@@ -16,45 +16,48 @@
 #include <nrf_modem_gnss.h>
 #include <modem/lte_lc.h>
 
+#include <infuse/drivers/gnss/gnss_emul.h>
+
 #define DT_DRV_COMPAT nordic_nrf9x_gnss_emul
 
 #define SUPPORTED_SYSTEMS (GNSS_SYSTEM_GPS | GNSS_SYSTEM_QZSS)
 
-static struct nrf9x_data {
+struct nrf9x_data {
 	nrf_modem_gnss_event_handler_type_t handler;
 	struct nrf_modem_gnss_pvt_data_frame pvt_frame;
 	struct k_work_delayable worker;
 	gnss_systems_t systems;
 	k_ticks_t latest_timepulse;
 	uint64_t next_interrupt;
 	uint16_t interval;
-} nrf9x_inst_data;
+};
 
-void emul_gnss_pvt_configure(const struct device *dev, int32_t latitude, int32_t longitude,
-			     int32_t height, uint32_t h_acc, uint32_t v_acc, uint32_t t_acc,
-			     uint16_t p_dop, uint8_t num_sv)
+static struct nrf9x_data nrf9x_inst_data;
+
+void emul_gnss_pvt_configure(const struct device *dev, struct gnss_pvt_emul_location *emul_location)
 {
 	struct nrf_modem_gnss_pvt_data_frame *f = &nrf9x_inst_data.pvt_frame;
 
-	f->latitude = (double)latitude / 1e7;
-	f->longitude = (double)longitude / 1e7;
-	f->altitude = (float)height / 1e3f;
-	f->accuracy = (float)h_acc / 1e3f;
-	f->altitude_accuracy = (float)v_acc / 1e3f;
-	f->pdop = (float)p_dop / 10.0f;
-	f->hdop = (float)p_dop / 10.0f;
+	f->latitude = (double)emul_location->latitude / 1e7;
+	f->longitude = (double)emul_location->longitude / 1e7;
+	f->altitude = (float)emul_location->height / 1e3f;
+	f->accuracy = (float)emul_location->h_acc / 1e3f;
+	f->altitude_accuracy = (float)emul_location->v_acc / 1e3f;
+	f->pdop = (float)emul_location->p_dop / 10.0f;
+	f->hdop = (float)emul_location->p_dop / 10.0f;
 	/* Not a real conversion, but should work for our purposes */
-	f->tdop = (float)t_acc / 1000.0f;
+	f->tdop = (float)emul_location->t_acc / 1000.0f;
 
-	if (t_acc) {
+	if (emul_location->t_acc) {
 		f->datetime.year = 2025;
 		f->datetime.month = 2;
 		f->datetime.day = 1;
 		f->datetime.hour = 5;
 	}
 
 	for (int i = 0; i < ARRAY_SIZE(f->sv); i++) {
-		f->sv[i].flags = (i < num_sv) ? NRF_MODEM_GNSS_SV_FLAG_USED_IN_FIX : 0;
+		f->sv[i].flags =
+			(i < emul_location->num_sv) ? NRF_MODEM_GNSS_SV_FLAG_USED_IN_FIX : 0;
 	}
 }
 
@@ -90,6 +93,8 @@ int32_t nrf_modem_gnss_event_handler_set(nrf_modem_gnss_event_handler_type_t han
 
 int32_t nrf_modem_gnss_use_case_set(uint8_t use_case)
 {
+	ARG_UNUSED(use_case);
+
 	return 0;
 }
 

drivers/gnss/gnss_u_blox_m10_i2c.c

@@ -53,8 +53,9 @@ static int get_fix_rate_handler(uint8_t message_class, uint8_t message_id, const
 	uint32_t *fix_interval_ms = user_data;
 	const uint8_t *val_ptr = valget->cfg_data;
 	size_t val_len = payload_len - sizeof(*valget);
-	uint16_t meas = 0, nav = 0;
 	struct ubx_cfg_val cfg_val;
+	uint16_t meas = 0;
+	uint16_t nav = 0;
 
 	__ASSERT_NO_MSG(valget->version == 0x01);
 
@@ -400,7 +401,8 @@ static int ubx_m10_i2c_software_standby(const struct device *dev)
 					 &data->common.mon_rxr_signal),
 	};
 	unsigned int signaled;
-	int result, rc;
+	int result;
+	int rc;
 
 	/* Reset previous events */
 	k_poll_signal_reset(&data->common.mon_rxr_signal);

drivers/gnss/gnss_u_blox_m8_emul.c

@@ -19,6 +19,7 @@
 
 #include <infuse/gnss/ubx/modem.h>
 #include <infuse/gnss/ubx/protocol.h>
+#include <infuse/drivers/gnss/gnss_emul.h>
 
 struct emul_config {
 };
@@ -44,7 +45,9 @@ LOG_MODULE_REGISTER(ubx_m8_emul, LOG_LEVEL_INF);
 static void message_dispatch(struct emul_data *data, uint8_t msg_class, uint8_t msg_id, void *msg,
 			     size_t msg_len)
 {
-	struct ubx_message_handler_ctx *curr, *tmp, *prev = NULL;
+	struct ubx_message_handler_ctx *curr;
+	struct ubx_message_handler_ctx *tmp;
+	struct ubx_message_handler_ctx *prev = NULL;
 	bool notify;
 	int rc;
 
@@ -123,22 +126,20 @@ struct ubx_modem_data *ubx_modem_data_get(const struct device *dev)
 	return dev->data;
 }
 
-void emul_gnss_pvt_configure(const struct device *dev, int32_t latitude, int32_t longitude,
-			     int32_t height, uint32_t h_acc, uint32_t v_acc, uint32_t t_acc,
-			     uint16_t p_dop, uint8_t num_sv)
+void emul_gnss_pvt_configure(const struct device *dev, struct gnss_pvt_emul_location *emul_location)
 {
 	struct emul_data *data = dev->data;
 
-	data->current_pvt.lat = latitude;
-	data->current_pvt.lon = longitude;
-	data->current_pvt.height = height;
-	data->current_pvt.h_acc = h_acc;
-	data->current_pvt.v_acc = v_acc;
-	data->current_pvt.t_acc = t_acc;
-	data->current_pvt.p_dop = p_dop;
-	data->current_pvt.num_sv = num_sv;
+	data->current_pvt.lat = emul_location->latitude;
+	data->current_pvt.lon = emul_location->longitude;
+	data->current_pvt.height = emul_location->height;
+	data->current_pvt.h_acc = emul_location->h_acc;
+	data->current_pvt.v_acc = emul_location->v_acc;
+	data->current_pvt.t_acc = emul_location->t_acc;
+	data->current_pvt.p_dop = emul_location->p_dop;
+	data->current_pvt.num_sv = emul_location->num_sv;
 
-	data->current_pvt.valid = t_acc < (2 * NSEC_PER_MSEC)
+	data->current_pvt.valid = emul_location->t_acc < (2 * NSEC_PER_MSEC)
 					  ? UBX_MSG_NAV_PVT_VALID_DATE | UBX_MSG_NAV_PVT_VALID_TIME
 					  : 0;
 }
@@ -291,12 +292,14 @@ static int emul_pm_control(const struct device *dev, enum pm_device_action actio
 {
 	struct emul_data *data = dev->data;
 	int rc = data->pm_rc;
+	struct gnss_pvt_emul_location emul_loc = {
+		0, 0, 0, UINT32_MAX, UINT32_MAX, UINT32_MAX, UINT16_MAX, 0,
+	};
 
 	switch (action) {
 	case PM_DEVICE_ACTION_RESUME:
 		/* Reset state on resume */
-		emul_gnss_pvt_configure(dev, 0, 0, 0, UINT32_MAX, UINT32_MAX, UINT32_MAX,
-					UINT16_MAX, 0);
+		emul_gnss_pvt_configure(dev, &emul_loc);
 		navigation_reschedule(data);
 		break;
 	case PM_DEVICE_ACTION_SUSPEND:

drivers/gnss/gnss_u_blox_m8_spi.c

@@ -209,7 +209,8 @@ static int get_gnss_handler(uint8_t message_class, uint8_t message_id, const voi
 			    size_t payload_len, void *user_data)
 {
 	const struct ubx_msg_cfg_gnss *gnss = payload;
-	gnss_systems_t out = 0, *systems = user_data;
+	gnss_systems_t *systems = user_data;
+	gnss_systems_t out = 0;
 
 	for (int i = 0; i < gnss->num_cfg_blocks; i++) {
 		uint8_t gnss_id = gnss->configs[i].gnss_id;
@@ -367,7 +368,8 @@ static int ubx_m8_spi_software_standby(const struct device *dev)
 					 &data->common.mon_rxr_signal),
 	};
 	unsigned int signaled;
-	int result, rc;
+	int result;
+	int rc;
 
 	/* Reset previous events */
 	k_poll_signal_reset(&data->common.mon_rxr_signal);
@@ -406,7 +408,8 @@ static int ubx_m8_spi_software_resume(const struct device *dev)
 					 &data->common.mon_rxr_signal),
 	};
 	unsigned int signaled;
-	int result, rc;
+	int result;
+	int rc;
 
 	/* Reset previous events */
 	k_poll_signal_reset(&data->common.mon_rxr_signal);

drivers/gnss/gnss_ubx_modem.c

@@ -31,68 +31,66 @@ static void ubx_modem_pipe_callback(struct modem_pipe *pipe, enum modem_pipe_eve
 	}
 }
 
-static void ubx_msg_handle(struct ubx_modem_data *modem, struct ubx_frame *frame,
-			   uint16_t payload_len)
+static void ubx_msg_handle_ack(struct ubx_modem_data *modem, struct ubx_frame *frame,
+			       uint16_t payload_len)
 {
-	struct ubx_message_handler_ctx *curr, *tmp;
 	struct ubx_message_handler_ctx *to_run[CONFIG_GNSS_UBX_MODEM_MAX_CALLBACKS] = {0};
-	int num_to_run, rc;
-	bool notify;
+	struct ubx_message_handler_ctx *curr;
+	struct ubx_message_handler_ctx *tmp;
+	int rc;
 
-#ifdef CONFIG_GNSS_UBX_RAW_FRAME_HANDLER
-	{
-		uint16_t total_len = sizeof(*frame) + payload_len + sizeof(uint16_t);
+	/* ACK-ACK and ACK-NAK have the same payload structures */
+	const struct ubx_msg_id_ack_ack *ack = (const void *)frame->payload_and_checksum;
 
-		ubx_modem_raw_frame_handler(frame, total_len);
+	/* Iterate over all one shot handlers */
+	k_sem_take(&modem->handlers_sem, K_FOREVER);
+	SYS_SLIST_FOR_EACH_CONTAINER_SAFE(&modem->handlers, curr, tmp, _node) {
+		/* Only consider handlers expecting an ACK */
+		if (!(curr->flags & (UBX_HANDLING_ACK | UBX_HANDLING_RSP_ACK))) {
+			continue;
+		}
+		/* Check message that was acked against handler */
+		if ((ack->message_class == curr->message_class) &&
+		    (ack->message_id == curr->message_id)) {
+			/* Remove from handler list */
+			sys_slist_find_and_remove(&modem->handlers, &curr->_node);
+			/* Store the one-shot handler that should be run */
+			to_run[0] = curr;
+			break;
+		}
 	}
-#endif /* CONFIG_GNSS_UBX_RAW_FRAME_HANDLER*/
-
-	if (frame->message_class == UBX_MSG_CLASS_ACK) {
-		/* ACK-ACK and ACK-NAK have the same payload structures */
-		const struct ubx_msg_id_ack_ack *ack = (const void *)frame->payload_and_checksum;
+	k_sem_give(&modem->handlers_sem);
 
-		/* Iterate over all one shot handlers */
-		k_sem_take(&modem->handlers_sem, K_FOREVER);
-		SYS_SLIST_FOR_EACH_CONTAINER_SAFE(&modem->handlers, curr, tmp, _node) {
-			/* Only consider handlers expecting an ACK */
-			if (!(curr->flags & (UBX_HANDLING_ACK | UBX_HANDLING_RSP_ACK))) {
-				continue;
-			}
-			/* Check message that was acked against handler */
-			if ((ack->message_class == curr->message_class) &&
-			    (ack->message_id == curr->message_id)) {
-				/* Remove from handler list */
-				sys_slist_find_and_remove(&modem->handlers, &curr->_node);
-				/* Store the one-shot handler that should be run */
-				to_run[0] = curr;
-				break;
-			}
+	if (to_run[0]) {
+		/* If UBX_HANDLING_RSP_ACK, handler was for the main response */
+		ubx_message_handler_t cb = curr->flags & UBX_HANDLING_RSP_ACK
+						   ? ubx_modem_ack_handler
+						   : curr->message_cb;
+		/* Run callback */
+		rc = cb(frame->message_class, frame->message_id, frame->payload_and_checksum,
+			payload_len, curr->user_data);
+		/* Raise signal if provided */
+		if (curr->signal) {
+			k_poll_signal_raise(curr->signal, rc);
 		}
-		k_sem_give(&modem->handlers_sem);
-
-		if (to_run[0]) {
-			/* If UBX_HANDLING_RSP_ACK, handler was for the main response */
-			ubx_message_handler_t cb = curr->flags & UBX_HANDLING_RSP_ACK
-							   ? ubx_modem_ack_handler
-							   : curr->message_cb;
-			/* Run callback */
-			rc = cb(frame->message_class, frame->message_id,
-				frame->payload_and_checksum, payload_len, curr->user_data);
-			/* Raise signal if provided */
-			if (curr->signal) {
-				k_poll_signal_raise(curr->signal, rc);
-			}
-		} else {
-			if (!IS_ENABLED(CONFIG_GNSS_UBX_RAW_FRAME_HANDLER)) {
-				LOG_WRN("Unhandled ACK for %02x:%02x", ack->message_class,
-					ack->message_id);
-			}
+	} else {
+		if (!IS_ENABLED(CONFIG_GNSS_UBX_RAW_FRAME_HANDLER)) {
+			LOG_WRN("Unhandled ACK for %02x:%02x", ack->message_class, ack->message_id);
 		}
-		return;
 	}
+}
+
+static void ubx_msg_handle_non_ack(struct ubx_modem_data *modem, struct ubx_frame *frame,
+				   uint16_t payload_len)
+{
+	struct ubx_message_handler_ctx *to_run[CONFIG_GNSS_UBX_MODEM_MAX_CALLBACKS] = {0};
+	struct ubx_message_handler_ctx *curr;
+	struct ubx_message_handler_ctx *tmp;
+	int num_to_run = 0;
+	bool notify;
+	int rc;
 
 	/* Iterate over all pending message callbacks */
-	num_to_run = 0;
 	k_sem_take(&modem->handlers_sem, K_FOREVER);
 	SYS_SLIST_FOR_EACH_CONTAINER_SAFE(&modem->handlers, curr, tmp, _node) {
 		/* Notify if:
@@ -137,6 +135,47 @@ static void ubx_msg_handle(struct ubx_modem_data *modem, struct ubx_frame *frame
 	}
 }
 
+static void ubx_msg_handle(struct ubx_modem_data *modem, struct ubx_frame *frame,
+			   uint16_t payload_len)
+{
+#ifdef CONFIG_GNSS_UBX_RAW_FRAME_HANDLER
+	{
+		uint16_t total_len = sizeof(*frame) + payload_len + sizeof(uint16_t);
+
+		ubx_modem_raw_frame_handler(frame, total_len);
+	}
+#endif /* CONFIG_GNSS_UBX_RAW_FRAME_HANDLER*/
+
+	if (frame->message_class == UBX_MSG_CLASS_ACK) {
+		ubx_msg_handle_ack(modem, frame, payload_len);
+	} else {
+		ubx_msg_handle_non_ack(modem, frame, payload_len);
+	}
+}
+
+static bool fifo_read_to_sync(struct ubx_modem_data *modem, struct ubx_frame *frame)
+{
+	/* Pull single bytes until sync bytes found */
+	while (modem->rx_buffer_pending < 2) {
+		if (modem_pipe_receive(modem->pipe, modem->rx_buffer + modem->rx_buffer_pending,
+				       1) <= 0) {
+			return true;
+		}
+
+		if ((modem->rx_buffer_pending) == 0 &&
+		    (frame->preamble_sync_char_1 != UBX_PREAMBLE_SYNC_CHAR_1)) {
+			continue;
+		}
+		if ((modem->rx_buffer_pending) == 1 &&
+		    (frame->preamble_sync_char_2 != UBX_PREAMBLE_SYNC_CHAR_2)) {
+			modem->rx_buffer_pending = 0;
+			continue;
+		}
+		modem->rx_buffer_pending++;
+	}
+	return false;
+}
+
 static void fifo_read_runner(struct k_work *work)
 {
 	struct ubx_modem_data *modem = CONTAINER_OF(work, struct ubx_modem_data, fifo_read_worker);
@@ -147,24 +186,9 @@ static void fifo_read_runner(struct k_work *work)
 	int received;
 
 	while (true) {
-		/* Pull single bytes until sync bytes found */
-		while (modem->rx_buffer_pending < 2) {
-			if (modem_pipe_receive(modem->pipe,
-					       modem->rx_buffer + modem->rx_buffer_pending,
-					       1) <= 0) {
-				return;
-			}
-
-			if ((modem->rx_buffer_pending) == 0 &&
-			    (frame->preamble_sync_char_1 != UBX_PREAMBLE_SYNC_CHAR_1)) {
-				continue;
-			}
-			if ((modem->rx_buffer_pending) == 1 &&
-			    (frame->preamble_sync_char_2 != UBX_PREAMBLE_SYNC_CHAR_2)) {
-				modem->rx_buffer_pending = 0;
-				continue;
-			}
-			modem->rx_buffer_pending++;
+		/* Read until we see SYNC bytes */
+		if (fifo_read_to_sync(modem, frame)) {
+			return;
 		}
 
 		/* Pull remainder of frame header */

drivers/imu/lis2dw12/lis2dw12.c

@@ -425,9 +425,9 @@ static int run_test_sequence(const struct device *dev, struct lis2dw12_fifo_fram
 
 	/* Output in milli-gs */
 	one_g = imu_accelerometer_1g(4);
-	average->x = (1000 * (int32_t)sum_x / 5) / one_g;
-	average->y = (1000 * (int32_t)sum_y / 5) / one_g;
-	average->z = (1000 * (int32_t)sum_z / 5) / one_g;
+	average->x = (1000 * sum_x / 5) / one_g;
+	average->y = (1000 * sum_y / 5) / one_g;
+	average->z = (1000 * sum_z / 5) / one_g;
 	return 0;
 }