Auto formatting

.github/workflows/build-check.yml

@@ -4,11 +4,11 @@ jobs:
   run-build:
     runs-on: ubuntu-latest
     container:
-        image: nwdepatie/ner-gcc-arm:latest
+        image: ghcr.io/northeastern-electric-racing/embedded-base:main
     timeout-minutes: 10
     steps:
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
             submodules: recursive
 

.github/workflows/format-check.yml

@@ -0,0 +1,20 @@
+name: Code Style Check
+
+on: [push]
+
+jobs:
+  formatting-check:
+    name: Check format of C
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+    - name: Run clang-format style check for C/C++ sources
+      uses: Northeastern-Electric-Racing/clang-format-action@main
+      with:
+        clang-format-version: '18'
+        # only check core, embedded base covered internally
+        check-path: "Core/"
+        # use the clang-format from embedded base
+        format-filepath: "./Drivers/Embedded-Base/clang-format"

Core/.clang-format-ignore

@@ -0,0 +1,5 @@
+./*/stm32*
+./*/sys*
+./*/FreeRTOS*
+./*/freertos*
+./*/main*

Core/Inc/msb.h

@@ -2,39 +2,38 @@
 #ifndef MSB_CENTRAL_H
 #define MSB_CENTRAL_H
 
+#include "cmsis_os.h"
 #include "lsm6dso.h"
 #include "sht30.h"
 #include "stm32f405xx.h"
-#include "cmsis_os.h"
 #include "vl6180x_api.h"
 
-typedef enum
-{
-    DEVICE_FRONT_LEFT,
-    DEVICE_FRONT_RIGHT,
-    DEVICE_BACK_RIGHT,
-    DEVICE_BACK_LEFT,
+typedef enum {
+	DEVICE_FRONT_LEFT,
+	DEVICE_FRONT_RIGHT,
+	DEVICE_BACK_RIGHT,
+	DEVICE_BACK_LEFT,
 } device_loc_t;
 
-typedef struct
-{
-    I2C_HandleTypeDef *hi2c;
-    sht30_t *temp_sensor;
-    lsm6dso_t *imu;
-    VL6180xDev_t tof;
-    ADC_HandleTypeDef *adc1;
-    uint32_t adc1_buf[3];
-    GPIO_TypeDef *debug_led1_gpio;
-    uint16_t *debug_led1_pin;
-    GPIO_TypeDef *debug_led2_gpio;
-    uint16_t *debug_led2_pin;
-    device_loc_t *device_loc;
-    osMutexId_t *i2c_mutex;
+typedef struct {
+	I2C_HandleTypeDef *hi2c;
+	sht30_t *temp_sensor;
+	lsm6dso_t *imu;
+	VL6180xDev_t tof;
+	ADC_HandleTypeDef *adc1;
+	uint32_t adc1_buf[3];
+	GPIO_TypeDef *debug_led1_gpio;
+	uint16_t *debug_led1_pin;
+	GPIO_TypeDef *debug_led2_gpio;
+	uint16_t *debug_led2_pin;
+	device_loc_t *device_loc;
+	osMutexId_t *i2c_mutex;
 } msb_t;
 
-msb_t *init_msb(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *adc1, GPIO_TypeDef *debug_led1_gpio,
-                uint16_t *debug_led1_pin, GPIO_TypeDef *debug_led2_gpio, uint16_t *debug_led2_pin,
-                device_loc_t *device_loc);
+msb_t *init_msb(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *adc1,
+		GPIO_TypeDef *debug_led1_gpio, uint16_t *debug_led1_pin,
+		GPIO_TypeDef *debug_led2_gpio, uint16_t *debug_led2_pin,
+		device_loc_t *device_loc);
 
 int8_t measure_central_temp(msb_t *msb, uint16_t *temp, uint16_t *humidity);
 

Core/Inc/msb_conf.h

@@ -1,21 +1,21 @@
 /// All commonly changed settings and constants that could effect multiple factors, esp. in telemetry
 
 // DELAYS
-#define DELAY_CAN_DISPATCH 5
+#define DELAY_CAN_DISPATCH	  5
 #define DELAY_TEMP_SENSOR_REFRESH 500
-#define DELAY_IMU_REFRESH 500
-#define DELAY_SHOCKPOT_REFRESH 500
-#define DELAY_STRAIN_REFRESH 500
-#define DELAY_TOF_REFRESH 500
-#define DELAY_WHEEL_TEMP_REFRESH 500
+#define DELAY_IMU_REFRESH	  500
+#define DELAY_SHOCKPOT_REFRESH	  500
+#define DELAY_STRAIN_REFRESH	  500
+#define DELAY_TOF_REFRESH	  500
+#define DELAY_WHEEL_TEMP_REFRESH  500
 
 #define DELAY_DEBUG_LED_REFRESH 250
 
 // CAN IDS
-#define CANID_TEMP_SENSOR 0x602
-#define CANID_IMU_ACCEL 0x603
-#define CANID_IMU_GYRO 0x604
+#define CANID_TEMP_SENSOR  0x602
+#define CANID_IMU_ACCEL	   0x603
+#define CANID_IMU_GYRO	   0x604
 #define CANID_STRAIN_SENSE 0x605
-#define CANID_SHOCK_SENSE 0x606
-#define CANID_TOF 0x607
-#define CANID_WHEEL_TEMP 0x608
+#define CANID_SHOCK_SENSE  0x606
+#define CANID_TOF	   0x607
+#define CANID_WHEEL_TEMP   0x608

Core/Src/can_handler.c

@@ -14,9 +14,9 @@
 #include "msb_conf.h"
 #include "serial_monitor.h"
 
+#include "stdio.h"
 #include <assert.h>
 #include <stdlib.h>
-#include "stdio.h"
 #include <string.h>
 
 #define CAN_MSG_QUEUE_SIZE 25 /* messages */
@@ -35,7 +35,8 @@ void init_can1(CAN_HandleTypeDef *hcan)
 
 	assert(!can_init(can1));
 
-	can_outbound_queue = osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+	can_outbound_queue =
+		osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
 }
 
 osThreadId_t can_dispatch_handle;
@@ -50,24 +51,21 @@ void vCanDispatch(void *pv_params)
 	can_msg_t msg_from_queue;
 	HAL_StatusTypeDef msg_status;
 
-	for (;;)
-	{
+	for (;;) {
 		/* Send CAN message */
-		if (osOK == osMessageQueueGet(can_outbound_queue, &msg_from_queue, NULL, osWaitForever))
-		{
+		if (osOK == osMessageQueueGet(can_outbound_queue,
+					      &msg_from_queue, NULL,
+					      osWaitForever)) {
 			msg_status = can_send_msg(can1, &msg_from_queue);
-			if (msg_status == HAL_ERROR)
-			{
+			if (msg_status == HAL_ERROR) {
 				serial_print("Failed to send CAN message");
-			}
-			else if (msg_status == HAL_BUSY)
-			{
+			} else if (msg_status == HAL_BUSY) {
 				serial_print("Outbound mailbox full!");
 			}
 #ifdef LOG_VERBOSE
-			else
-			{
-				printf("Message sent: %lX\r\n", msg_from_queue.id);
+			else {
+				printf("Message sent: %lX\r\n",
+				       msg_from_queue.id);
 			}
 #endif
 		}

Core/Src/controller.c

@@ -1,42 +1,38 @@
 #include "controller.h"
-#include "msb_conf.h"
 #include "msb.h"
+#include "msb_conf.h"
 
 osThreadId_t led_controller_handle;
 const osThreadAttr_t led_controller_attributes = {
-    .name = "LedController",
-    .stack_size = 32 * 8,
-    .priority = (osPriority_t)osPriorityBelowNormal1,
+	.name = "LedController",
+	.stack_size = 32 * 8,
+	.priority = (osPriority_t)osPriorityBelowNormal1,
 };
 
 void vLedController(void *pv_params)
 {
+	msb_t *msb = (msb_t *)pv_params;
 
-    msb_t *msb = (msb_t *)pv_params;
-
-    switch (*msb->device_loc)
-    {
-    case DEVICE_FRONT_LEFT:
-        write_debug1(msb, true);
-        write_debug2(msb, true);
-        break;
-    case DEVICE_FRONT_RIGHT:
-        write_debug1(msb, true);
-        write_debug2(msb, false);
-        break;
-    case DEVICE_BACK_LEFT:
-        write_debug1(msb, false);
-        write_debug2(msb, true);
-        break;
-    case DEVICE_BACK_RIGHT:
-        write_debug1(msb, false);
-        write_debug2(msb, false);
-        break;
-    }
-
-    for (;;)
-    {
+	switch (*msb->device_loc) {
+	case DEVICE_FRONT_LEFT:
+		write_debug1(msb, true);
+		write_debug2(msb, true);
+		break;
+	case DEVICE_FRONT_RIGHT:
+		write_debug1(msb, true);
+		write_debug2(msb, false);
+		break;
+	case DEVICE_BACK_LEFT:
+		write_debug1(msb, false);
+		write_debug2(msb, true);
+		break;
+	case DEVICE_BACK_RIGHT:
+		write_debug1(msb, false);
+		write_debug2(msb, false);
+		break;
+	}
 
-        osDelay(DELAY_DEBUG_LED_REFRESH);
-    }
+	for (;;) {
+		osDelay(DELAY_DEBUG_LED_REFRESH);
+	}
 }