Fix code style issues with clang_format

Author: WATonomousAdmin

embedded/ESP32S3/gimbal_motor_testing/src/main.cpp

@@ -1,4 +1,5 @@
-//UNCOMMENTED CODE REQUIRES DEBUGGING AND IS CURRENTLY ON PAUSE DUE TO POWER DISTRIBUTION ISSUES ON MOTOR CONTROLLER HUB
+// UNCOMMENTED CODE REQUIRES DEBUGGING AND IS CURRENTLY ON PAUSE DUE TO POWER
+// DISTRIBUTION ISSUES ON MOTOR CONTROLLER HUB
 
 // #include <SimpleFOC.h>
 // #include <Wire.h>
@@ -15,30 +16,28 @@
 // BLDCMotor motor = BLDCMotor(7);
 // BLDCMotor motor2 = BLDCMotor(7);
 
-// // BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
+// // BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC,
+// Enable(optional));
 // // BLDCDriver3PWM driver = BLDCDriver3PWM(33,32,25,12);
 // BLDCDriver3PWM driver = BLDCDriver3PWM(7,8,9);
 // BLDCDriver3PWM driver2 = BLDCDriver3PWM(1,2,3);
 
-// //TO RE-FLASH ESP32-S3: esptool.py --chip esp32s3 --port /dev/ttyACM0 erase_flash
-
+// //TO RE-FLASH ESP32-S3: esptool.py --chip esp32s3 --port /dev/ttyACM0
+// erase_flash
 
 // MagneticSensorI2C magnetic_encoder = MagneticSensorI2C(AS5600_I2C);
 
-
 // // Stepper motor & driver instance
 
-
-
 // //target variable
 // float target_velocity = 0;
 // float target_angle = 0;
 
 // // instantiate the commander
 // Commander command = Commander(Serial);
-// void doTarget(char* cmd) { 
+// void doTarget(char* cmd) {
 //   // command.scalar(&target_velocity, cmd);
-//   // motor.controller = MotionControlType::velocity_openloop; 
+//   // motor.controller = MotionControlType::velocity_openloop;
 //   target_velocity = target_velocity;
 // }
 // void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
@@ -49,20 +48,15 @@
 //   // target_velocity = target_angle;
 // }
 
-
-
-
 // void setup() {
 
-//   // use monitoring with serial 
+//   // use monitoring with serial
 //   Serial.begin(115200);
 //   WiFi.mode(WIFI_STA);
 //   WiFi.setHostname("ESP32-BLDC");
 
 //   WiFi.begin(ssid, password);
 
-
-
 //   while (WiFi.status() != WL_CONNECTED) {
 //     delay(100);
 //     Serial.println("CONNECTING");
@@ -73,7 +67,7 @@
 //     String type;
 //     if (ArduinoOTA.getCommand() == U_FLASH) {
 //       type = "sketch";
-//     } else { 
+//     } else {
 
 //           type = "filesystem";
 //     }
@@ -85,13 +79,10 @@
 //   Serial.print("IP address: ");
 //   Serial.println(WiFi.localIP());
 
-
-
 //   motor.useMonitoring(Serial);
-  
+
 //   motor2.useMonitoring(Serial);
 
-  
 //   // Serial.println("CHECKING FOR ADDRESS");
 
 //   // for (byte i=0;i<127;i++) {
@@ -101,10 +92,9 @@
 //   //   }
 //   // }
 
-
 //   motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE;
-//   motor2.monitor_variables = _MON_TARGET | _MON_VEL | _MON_VOLT_D | _MON_VOLT_Q | _MON_CURR_D;
-
+//   motor2.monitor_variables = _MON_TARGET | _MON_VEL | _MON_VOLT_D |
+//   _MON_VOLT_Q | _MON_CURR_D;
 
 //   // enable more verbose output for debugging
 //   // comment out if not needed
@@ -130,7 +120,6 @@
 //   motor.linkDriver(&driver);
 //   motor.linkSensor(&magnetic_encoder);
 
-
 //   motor2.linkDriver(&driver2);
 
 //   //motor.linkSensor(&magnetic_encoder);
@@ -140,16 +129,14 @@
 //   // current = voltage / resistance, so try to be well under 1Amp
 //   motor.voltage_limit = 4;   // [V]
 //   motor.current_limit = 0.2;
- 
+
 //   // open loop control config
 //   motor.controller = MotionControlType::velocity_openloop;
 
 //   motor2.voltage_limit = 4;   // [V]
 //   motor2.current_limit = 0.2;
- 
 
 //   //motor.initFOC();
-  
 
 //   // open loop control config
 //   motor2.controller = MotionControlType::velocity_openloop;
@@ -159,35 +146,28 @@
 //     Serial.println("Motor init failed!");
 //     return;
 //   }
-  
 
 //   // add target command T
 //   command.add('T', doTarget, "target velocity");
 //   command.add('L', doLimit, "voltage limit");
 //   command.add('M',doMotor,"motor");
 //   command.add('A',doAngleTarget,"angle");
 
-
 //   Serial.println("Motor ready!");
 
-
 //   Serial.println("Set target velocity [rad/s]");
 
-
 //   // Serial.println(motor.enabled);
 // }
 
 // void loop() {
 
-
 //   // open loop velocity movement
 //   // using motor.voltage_limit and motor.velocity_limit
 //   // to turn the motor "backwards", just set a negative target_velocity
 
- 
- 
 //   // Serial.println("AAA");
- 
+
 //   //analogWrite(26, 128); // 50% duty cycle (speed control)
 //   // delay(5000); // Run for 5 seconds
 
@@ -205,7 +185,6 @@
 
 //   //Serial.println(magnetic_encoder.getVelocity());
 
-
 //   // analogWrite(26, 0); // Stop the motor
 //   // delay(5000); // Wait 5 seconds
 
@@ -217,29 +196,27 @@
 // Open loop motor control example
 #include <SimpleFOC.h>
 
-
 // BLDC motor & driver instance
 // BLDCMotor motor = BLDCMotor(pole pair number);
 BLDCMotor motor = BLDCMotor(7);
 // BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
-BLDCDriver3PWM driver = BLDCDriver3PWM(8,9,7);
+BLDCDriver3PWM driver = BLDCDriver3PWM(8, 9, 7);
 
 // Stepper motor & driver instance
-//StepperMotor motor = StepperMotor(50);
-//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
-
+// StepperMotor motor = StepperMotor(50);
+// StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
 
-//target variable
+// target variable
 float target_velocity = 1;
 
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
-void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
+void doTarget(char *cmd) { command.scalar(&target_velocity, cmd); }
+void doLimit(char *cmd) { command.scalar(&motor.voltage_limit, cmd); }
 
 void setup() {
 
-  // use monitoring with serial 
+  // use monitoring with serial
   Serial.begin(115200);
   // enable more verbose output for debugging
   // comment out if not needed
@@ -252,7 +229,7 @@ void setup() {
   // as a protection measure for the low-resistance motors
   // this value is fixed on startup
   driver.voltage_limit = 6;
-  if(!driver.init()){
+  if (!driver.init()) {
     Serial.println("Driver init failed!");
     return;
   }
@@ -263,13 +240,13 @@ void setup() {
   // limit the voltage to be set to the motor
   // start very low for high resistance motors
   // current = voltage / resistance, so try to be well under 1Amp
-  motor.voltage_limit = 3;   // [V]
- 
+  motor.voltage_limit = 3; // [V]
+
   // open loop control config
   motor.controller = MotionControlType::velocity_openloop;
 
   // init motor hardware
-  if(!motor.init()){
+  if (!motor.init()) {
     Serial.println("Motor init failed!");
     return;
   }
@@ -293,5 +270,3 @@ void loop() {
   // user communication
   command.run();
 }
-
-

embedded/STM32/app/inc/common_defines.h

@@ -1,7 +1,7 @@
 #ifndef COMMON_DEFINES_H
 #define COMMON_DEFINES_H
 
-#include <stdint.h>
 #include <stdbool.h>
+#include <stdint.h>
 
 #endif

embedded/STM32/app/inc/system.h

@@ -3,11 +3,10 @@
 
 #include "common_defines.h"
 
-#define CPU_FREQ        (8400000)
-#define SYSTICK_FREQ    (1000)
+#define CPU_FREQ (8400000)
+#define SYSTICK_FREQ (1000)
 
 void system_setup(void);
 uint64_t system_get_ticks(void);
 
-
 #endif

embedded/STM32/app/src/firmware.c

@@ -1,48 +1,45 @@
 
 #include "../inc/common_defines.h"
 #include "../inc/system.h"
-#include "stm32g4xx.h"
 #include "FreeRTOS.h"
+#include "stm32g4xx.h"
 #include "task.h"
 
-#define BOOTLOADER_SIZE     (0x08008000U)
+#define BOOTLOADER_SIZE (0x08008000U)
 
-//set the vector table offset of app firmware image
-static void vector_setup(void) {
-    SCB->VTOR = BOOTLOADER_SIZE;
-}
+// set the vector table offset of app firmware image
+static void vector_setup(void) { SCB->VTOR = BOOTLOADER_SIZE; }
 
-
-//thread for blinking led
+// thread for blinking led
 void blink_led(void *pvParams) {
-    while(1) {
-        HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
-        //vTaskDelay(pdMS_TO_TICKS(500));
-        HAL_Delay(500);
-    }
+  while (1) {
+    HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
+    // vTaskDelay(pdMS_TO_TICKS(500));
+    HAL_Delay(500);
+  }
 }
 
-
 int main() {
-    vector_setup();
-    HAL_Init();
-    system_setup();
-    
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-
-    //Configure GPIO PIN5;
-    GPIO_InitTypeDef GPIO_InitStruct;
-    GPIO_InitStruct.Pin = GPIO_PIN_5;
-    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-    //create blinking led task
-    xTaskCreate(blink_led, "BLINK_LED", 128, NULL, 1, NULL);
-
-    //start FreeRTOS Scheduler
-    vTaskStartScheduler();
-
-    while(1);
+  vector_setup();
+  HAL_Init();
+  system_setup();
+
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+
+  // Configure GPIO PIN5;
+  GPIO_InitTypeDef GPIO_InitStruct;
+  GPIO_InitStruct.Pin = GPIO_PIN_5;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  // create blinking led task
+  xTaskCreate(blink_led, "BLINK_LED", 128, NULL, 1, NULL);
+
+  // start FreeRTOS Scheduler
+  vTaskStartScheduler();
+
+  while (1)
+    ;
 }