Merge branch 'develop'

.clang-format

@@ -0,0 +1,11 @@
+---
+BasedOnStyle: Chromium
+AllowShortBlocksOnASingleLine: 'false'
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: 'false'
+CompactNamespaces: 'false'
+Language: Cpp
+NamespaceIndentation: All
+PointerAlignment: Left
+ReflowComments: 'true'
+UseTab: Never

.editorconfig

@@ -8,6 +8,20 @@ trim_trailing_whitespace = true
 end_of_line = lf
 insert_final_newline = true
 
+# Tab indentation (no size specified)
+[Makefile]
+indent_style = tab
+
+[CMakeLists.txt]
+indent_style = space
+indent_size = 4
+max_line_length = 80
+
+[*.{c++,cc,cpp,cxx,h,h++,hh,hpp,hxx,inl,ipp,tlh,tli}]
+indent_size = 2
+cpp_indent_case_contents_when_block = true
+cpp_new_line_before_open_brace_namespace = same_line
+
 [*.md]
 trim_trailing_whitespace = false
 

.github/workflows/codeql-analysis.yml

@@ -43,7 +43,7 @@ jobs:
         # We must fetch at least the immediate parents so that if this is
         # a pull request then we can checkout the head.
         fetch-depth: 2
-    
+
     # If this run was triggered by a pull request event, then checkout
     # the head of the pull request instead of the merge commit.
     # - run: git checkout HEAD^2
@@ -57,11 +57,11 @@ jobs:
         # If you wish to specify custom queries, you can do so here or in a config file.
         # By default, queries listed here will override any specified in a config file.
         # Prefix the list here with "+" to use these queries and those in the config file.
-        
+
         # Details on CodeQL's query packs refer to : https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
         # queries: security-extended,security-and-quality
 
-        
+
     # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
     # If this step fails, then you should remove it and run the build manually (see below)
     # - name: Autobuild
@@ -70,13 +70,13 @@ jobs:
     # ℹ️ Command-line programs to run using the OS shell.
     # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
 
-    #   If the Autobuild fails above, remove it and uncomment the following three lines. 
+    #   If the Autobuild fails above, remove it and uncomment the following three lines.
     #   modify them (or add more) to build your code if your project, please refer to the EXAMPLE below for guidance.
 
     # - run: |
     #   echo "Run, Build Application using script"
     #   ./location_of_script_within_repo/buildscript.sh
-    
+
     - name: Cache pip
       uses: actions/cache@v3
       with:
@@ -102,7 +102,7 @@ jobs:
         pip install --upgrade platformio
         pio upgrade --dev
         pio pkg update --global
-        
+
     - name: Build
       run: |
         pio run --environment bhaptics_tactsuit_x40

.github/workflows/release.yml

@@ -90,4 +90,4 @@ jobs:
         with:
           asset_name: ${{matrix.target}}.zip
           file: ./build/firmware.zip
-          tag: ${{github.ref}}
+          tag: ${{github.ref}}

firmware/auto_output.cpp

@@ -1,32 +1,30 @@
 #include "auto_output.h"
 
-Point2D* getPoint(uint16_t x, uint16_t y, uint16_t x_max, uint16_t y_max)
-{
-    const uint16_t x_coord = 1 == x_max ? 1 : UINT16_MAX * (1 / ((float)x_max - 1)) * ((float)x);
-    const uint16_t y_coord = 1 == y_max ? 1 : UINT16_MAX * (1 / ((float)y_max - 1)) * ((float)y);
+Point2D* getPoint(uint16_t x, uint16_t y, uint16_t x_max, uint16_t y_max) {
+  const uint16_t x_coord =
+      1 == x_max ? 1 : UINT16_MAX * (1 / ((float)x_max - 1)) * ((float)x);
+  const uint16_t y_coord =
+      1 == y_max ? 1 : UINT16_MAX * (1 / ((float)y_max - 1)) * ((float)y);
 
-    return new Point2D(x_coord, y_coord);
+  return new Point2D(x_coord, y_coord);
 }
 
-outputMap_t transformAutoOutput(std::vector<std::vector<OutputWriter*>> map2d)
-{
-    outputMap_t points{};
+outputMap_t transformAutoOutput(std::vector<std::vector<OutputWriter*>> map2d) {
+  outputMap_t points{};
 
-    size_t y_max = map2d.size();
+  size_t y_max = map2d.size();
 
-    for (size_t y = 0; y < y_max; ++y)
-    {
-        auto row = map2d.at(y);
-        size_t x_max = row.size();
+  for (size_t y = 0; y < y_max; ++y) {
+    auto row = map2d.at(y);
+    size_t x_max = row.size();
 
-        for (size_t x = 0; x < x_max; ++x)
-        {
-            OutputWriter* wr = row.at(x);
-            Point2D* coord = getPoint(x, y, x_max, y_max);
+    for (size_t x = 0; x < x_max; ++x) {
+      OutputWriter* wr = row.at(x);
+      Point2D* coord = getPoint(x, y, x_max, y_max);
 
-            points[*coord] = wr;
-        }
+      points[*coord] = wr;
     }
+  }
 
-    return points;
-}
+  return points;
+}

firmware/battery/abstract_battery.cpp

@@ -1,15 +1,15 @@
 #include "battery/abstract_battery.h"
 #include <Arduino.h>
 
-void AbstractBattery::loop()
-{
-    auto now_ms = millis();
+void AbstractBattery::loop() {
+  auto now_ms = millis();
 
-    if (now_ms - this->last_battery_sample >= BATTERY_SAMPLE_RATE) {
-        this->last_battery_sample = now_ms;
+  if (now_ms - this->last_battery_sample >= BATTERY_SAMPLE_RATE) {
+    this->last_battery_sample = now_ms;
 
-        this->level = this->updateLevel();
+    this->level = this->updateLevel();
 
-        Serial.printf(">>\t%s: %3u (took %lu ms)\n", __PRETTY_FUNCTION__, this->level, now_ms - millis());
-    }
+    Serial.printf(">>\t%s: %3u (took %lu ms)\n", __PRETTY_FUNCTION__,
+                  this->level, now_ms - millis());
+  }
 };

firmware/battery/adc_battery.cpp

@@ -2,7 +2,6 @@
 
 #include <Arduino.h>
 
-uint8_t ADCBattery::updateLevel()
-{
-    return map(analogRead(this->pin), 0.0f, 4095.0f, 0, 255);
+uint8_t ADCBattery::updateLevel() {
+  return map(analogRead(this->pin), 0.0f, 4095.0f, 0, 255);
 }

firmware/battery/ina219.cpp

@@ -0,0 +1,21 @@
+#include "openhaptics.h"
+#include "battery/ina219.h"
+#include "config/battery.h"
+
+void INA219_BatteryLevel::setup()
+{
+  this->active = this->sensor->begin();
+}
+
+uint8_t INA219_BatteryLevel::updateLevel()
+{
+  if (!this->active) {
+    return 0;
+  }
+
+  auto batteryVoltage = this->sensor->getBusVoltage_V();
+  // TODO: change this linear transformation to smth more useful
+  auto batteryPercentage = (batteryVoltage - 3.0) / 0.96;
+
+  return map(batteryPercentage, 0.0f, 1.0f, 0, 255);
+}

firmware/battery/max17048.cpp

@@ -21,5 +21,9 @@ void MAX1704_BatteryLevel::setup()
 
 uint8_t MAX1704_BatteryLevel::updateLevel()
 {
-    return this->gauge->getSOC();
+  if (!this->active) {
+    return 0;
+  }
+
+  return this->gauge->getSOC();
 }

firmware/component.cpp

@@ -1,7 +1,5 @@
-#include "component.h"
-
-void Component::setup()
-{}
-
-void Component::loop()
-{}
+#include "component.h"
+
+void Component::setup() {}
+
+void Component::loop() {}

firmware/components/serial_plotter.cpp

@@ -1,19 +1,15 @@
-#include "openhaptics.h"
-#include "components/serial_plotter.h"
-
-void SerialPlotter_OutputStates::setup()
-{
-    this->serial->begin(115200);
-}
-
-void SerialPlotter_OutputStates::loop()
-{
-    for (auto &_c : *App.getOutput()->getComponents())
-    {
-        for (auto &_s : *_c.second->getOutputStates())
-        {
-            this->serial->printf("%5u \t", _s.second.intensity);
-        }
-    }
-    this->serial->println();
-}
+#include "components/serial_plotter.h"
+#include "openhaptics.h"
+
+void SerialPlotter_OutputStates::setup() {
+  this->serial->begin(115200);
+}
+
+void SerialPlotter_OutputStates::loop() {
+  for (auto& _c : *App.getOutput()->getComponents()) {
+    for (auto& _s : *_c.second->getOutputStates()) {
+      this->serial->printf("%5u \t", _s.second.intensity);
+    }
+  }
+  this->serial->println();
+}