format CAN

firmware/can.cpp

@@ -27,7 +27,7 @@ void CanTxThread(void*)
     // Current system time.
     systime_t prev = chVTGetSystemTime();
 
-    while(1)
+    while (1)
     {
         for (int ch = 0; ch < AFR_CHANNELS; ch++)
         {
@@ -65,7 +65,7 @@ void CanRxThread(void*)
 {
     chRegSetThreadName("CAN Rx");
 
-    while(1)
+    while (1)
     {
         CANRxFrame frame;
         msg_t msg = canReceiveTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_INFINITE);
@@ -118,7 +118,8 @@ void CanRxThread(void*)
                 }
             }
 
-            if (frame.DLC >= 3) {
+            if (frame.DLC >= 3)
+            {
                 // data2 contains pump controller gain in percent (0-200)
                 float pumpGain = frame.data8[2] * 0.01f;
                 SetPumpGainAdjust(clampF(0, pumpGain, 1));
@@ -184,9 +185,7 @@ void SendRusefiFormat(uint8_t ch)
     // Lambda is valid if:
     // 1. Nernst voltage is near target
     // 2. Lambda is >0.6 (sensor isn't specified below that)
-    bool lambdaValid =
-            nernstDc > (NERNST_TARGET - 0.1f) && nernstDc < (NERNST_TARGET + 0.1f) &&
-            lambda > 0.6f;
+    bool lambdaValid = nernstDc > (NERNST_TARGET - 0.1f) && nernstDc < (NERNST_TARGET + 0.1f) && lambda > 0.6f;
 
     {
         CanTxTyped<wbo::StandardData> frame(baseAddress + 0);

firmware/can.h

@@ -6,7 +6,8 @@ void InitCan();
 void SendCanData(float lambda, uint16_t measuredResistance);
 void SendRusefiFormat(uint8_t ch);
 
-enum class HeaterAllow {
+enum class HeaterAllow
+{
     // no CAN message telling us what to do has been rx'd
     Unknown,
 

firmware/can_helper.cpp

@@ -4,18 +4,22 @@
 
 #include "can.h"
 
-CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
+CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended)
+{
     CAN_EXT(m_frame) = isExtended ? CAN_IDE_EXT : CAN_IDE_STD;
 
-    #ifdef STM32G4XX
+#ifdef STM32G4XX
     m_frame.common.RTR = 0;
-    #else // Not CAN FD
+#else // Not CAN FD
     m_frame.RTR = CAN_RTR_DATA;
-    #endif
+#endif
 
-    if (isExtended) {
+    if (isExtended)
+    {
         CAN_EID(m_frame) = eid;
-    } else {
+    }
+    else
+    {
         CAN_SID(m_frame) = eid;
     }
 
@@ -23,11 +27,13 @@ CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
     memset(m_frame.data8, 0, sizeof(m_frame.data8));
 }
 
-CanTxMessage::~CanTxMessage() {
+CanTxMessage::~CanTxMessage()
+{
     // 100 ms timeout
     canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &m_frame, TIME_MS2I(100));
 }
 
-uint8_t& CanTxMessage::operator[](size_t index) {
+uint8_t& CanTxMessage::operator[](size_t index)
+{
     return m_frame.data8[index];
 }

firmware/can_helper.h

@@ -6,10 +6,11 @@
 
 /**
  * Represent a message to be transmitted over CAN.
- * 
+ *
  * Usage:
  *   * Create an instance of CanTxMessage
- *   * Set any data you'd like to transmit either using the subscript operator to directly access bytes, or any of the helper functions.
+ *   * Set any data you'd like to transmit either using the subscript operator to directly access bytes, or any of the
+ * helper functions.
  *   * Upon destruction, the message is transmitted.
  */
 class CanTxMessage
@@ -40,34 +41,29 @@ private:
 /**
  * A CAN message based on a type, removing the need for manually flipping bits/bytes.
  */
-template <typename TData>
-class CanTxTyped final : public CanTxMessage
+template <typename TData> class CanTxTyped final : public CanTxMessage
 {
     static_assert(sizeof(TData) <= sizeof(CANTxFrame::data8));
 
 public:
-    explicit CanTxTyped(uint32_t eid) : CanTxMessage(eid) { }
+    explicit CanTxTyped(uint32_t eid)
+        : CanTxMessage(eid)
+    {
+    }
 
     /**
-     * Access members of the templated type.  
-     * 
+     * Access members of the templated type.
+     *
      * So you can do:
      * CanTxTyped<MyType> d;
      * d->memberOfMyType = 23;
      */
-    TData* operator->()
-    {
-        return reinterpret_cast<TData*>(&m_frame.data8);
-    }
+    TData* operator->() { return reinterpret_cast<TData*>(&m_frame.data8); }
 
-    TData& get()
-    {
-        return *reinterpret_cast<TData*>(&m_frame.data8);
-    }
+    TData& get() { return *reinterpret_cast<TData*>(&m_frame.data8); }
 };
 
-template <typename TData>
-void transmitStruct(uint32_t eid)
+template <typename TData> void transmitStruct(uint32_t eid)
 {
     CanTxTyped<TData> frame(eid);
     // Destruction of an instance of CanTxMessage will transmit the message over the wire.