From aa1a78117b682c1630bedec1330dd1a224853900 Mon Sep 17 00:00:00 2001
From: lulko <keklolov7@gmail.com>
Date: Mon, 3 Mar 2025 11:43:03 +0300
Subject: [PATCH] Fixed cpplint

---
 controller/fw/embed/include/reg_cah.h | 12 +++++
 controller/fw/embed/src/main.cpp      | 69 +++++++++++----------------
 2 files changed, 41 insertions(+), 40 deletions(-)

diff --git a/controller/fw/embed/include/reg_cah.h b/controller/fw/embed/include/reg_cah.h
index 52a9102..a8f0cf4 100644
--- a/controller/fw/embed/include/reg_cah.h
+++ b/controller/fw/embed/include/reg_cah.h
@@ -1,3 +1,5 @@
+#ifndef REG_CAH_H_
+#define REG_CAH_H_
 #define ADDR_VAR        0x8040000
 #define ADDR_VAR_ID     ADDR_VAR
 #define ADDR_VAR_P      (ADDR_VAR + 1)
@@ -8,6 +10,9 @@
 #define REG_WRITE               0xA0
 
 
+/*               Startup    ID device          */
+#define START_ID               0x00
+
 /*              CAN REGISTER     ID       */
 #define REG_ID                  0x01
 #define REG_BAUDRATE            0x02
@@ -25,3 +30,10 @@
 
 #define REG_RESET               0x88
 #define REG_LED_BLINK           0x8B
+
+#define FOC_STATE               0x60
+
+#define MOTOR_VELOCITY          0x70
+#define MOTOR_ENABLED           0x71
+#define MOTOR_ANGLE             0x72
+#endif  // REG_CAH_H_
diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index c7902d7..87957b9 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -125,7 +125,7 @@ void send_motor_enabled() {
   Can.write(CAN_TX_msg);
 }
 
-void send_foc_state(){
+void send_foc_state() {
   CAN_TX_msg.id = 1;
   CAN_TX_msg.buf[0] = 'F';
   memcpy(&CAN_TX_msg.buf[1], &motor_control_inputs.foc_state,
@@ -133,35 +133,34 @@ void send_foc_state(){
 Can.write(CAN_TX_msg);
 }
 
-void send_id(){
+void send_id() {
   /*          data for reading of firmware      */
-  FLASH->KEYR = 0x45670123; // Первый ключ
-  FLASH->KEYR = 0xCDEF89AB; // Второй ключ
+  FLASH->KEYR = 0x45670123;  // Первый ключ
+  FLASH->KEYR = 0xCDEF89AB;  // Второй ключ
   uint8_t id = *(volatile uint32_t*)ADDR_VAR_ID;
   FLASH->CR |=  FLASH_CR_LOCK;
   CAN_TX_msg.id = id;
   CAN_TX_msg.buf[0] = 0x22;
-  memcpy(&CAN_TX_msg.buf[1], &id,sizeof(id));
+  memcpy(&CAN_TX_msg.buf[1], &id, sizeof(id));
 Can.write(CAN_TX_msg);
 }
 
-void setup_id(uint8_t my_id){
+void setup_id(uint8_t my_id) {
   /*      Чтобы разблокировать флэш память для записи*/
-  FLASH->KEYR = 0x45670123; // Первый ключ
-  FLASH->KEYR = 0xCDEF89AB; // Второй ключ
-  while (FLASH->SR & FLASH_SR_BSY);
-  FLASH->CR &= ~FLASH_CR_PSIZE_0 & ~FLASH_CR_PSIZE_1; //Data write = 8bit
-  FLASH->CR |= FLASH_CR_SNB_1 | FLASH_CR_SNB_2;       //6 SECTOR FOR ERASE
-  FLASH->CR |= FLASH_CR_SER; 
-  FLASH->CR |= FLASH_CR_STRT; 
-  while((FLASH->SR & FLASH_SR_BSY) != 0) 
+  FLASH->KEYR = 0x45670123;  // Первый ключ
+  FLASH->KEYR = 0xCDEF89AB;  // Второй ключ
+  while (FLASH->SR & FLASH_SR_BSY) { }
+  FLASH->CR &= ~FLASH_CR_PSIZE_0 & ~FLASH_CR_PSIZE_1;  // Data write = 8bit
+  FLASH->CR |= FLASH_CR_SNB_1 | FLASH_CR_SNB_2;        // 6 SECTOR FOR ERASE
+  FLASH->CR |= FLASH_CR_SER;
+  FLASH->CR |= FLASH_CR_STRT;
+  while ((FLASH->SR & FLASH_SR_BSY) != 0)
       __NOP();
   FLASH->SR |= (FLASH_SR_EOP | FLASH_SR_WRPERR | FLASH_SR_PGAERR);
   FLASH->CR |= FLASH_CR_PG;
   *(volatile uint8_t*)ADDR_VAR_ID = my_id;
 
   FLASH->CR |= FLASH_CR_LOCK;
-
 }
 
 
@@ -170,7 +169,6 @@ void send_data() {
   send_velocity();
   send_angle();
   send_motor_enabled();
-  
   // read_temperature();
   digitalWrite(PC11, !digitalRead(PC11));
 }
@@ -205,30 +203,27 @@ void send_data() {
 
 
 
-void listen_can(){
-
+void listen_can() {
   uint8_t reg_id = CAN_inMsg.id;
-  if(CAN_inMsg.buf[0] == REG_WRITE){
-    switch (reg_id)
-    {
+  if (CAN_inMsg.buf[0] == REG_WRITE) {
+    switch (reg_id) {
     case REG_ID:
   /*      setup new id            */
       setup_id(CAN_inMsg.buf[1]);
       break;
-  
-   case REG_LED_BLINK:
-      for(int i = 0;i < 10;i++){
+
+    case REG_LED_BLINK:
+      for (int i = 0; i < 10; i++) {
         GPIOC->ODR ^= GPIO_ODR_OD10;
         HAL_Delay(100);
       }
     break;
 
     case MOTOR_ENABLED:
-      if(CAN_inMsg.buf[1] == 1){
+      if (CAN_inMsg.buf[1] == 1) {
         motor.enable();
         motor_control_inputs.motor_enabled = 1;
-      }
-      else{
+    } else {
         motor.disable();
         motor_control_inputs.motor_enabled = 0;
       }
@@ -237,21 +232,16 @@ void listen_can(){
     default:
       break;
     }
-  }
-
-  else if(CAN_inMsg.buf[0] == REG_READ){
-    switch (reg_id)
-    {
+} else if (CAN_inMsg.buf[0] == REG_READ) {
+    switch (reg_id) {
     case REG_ID:
-      send_id();  
-
+      send_id();
       break;
-    
+
     default:
       break;
     }
   }
-  
 }
 
 
@@ -284,7 +274,7 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
 
 
 
-void setup(){
+void setup() {
   Serial.setRx(HARDWARE_SERIAL_RX_PIN);
   Serial.setTx(HARDWARE_SERIAL_TX_PIN);
   Serial.begin(115200);
@@ -308,14 +298,13 @@ void setup(){
   pEraseInit.NbSectors = 1;     
   pEraseInit.VoltageRange = VOLTAGE_RANGE_3;*/
 }
-  void loop(){
+  void loop() {
   foc_step(&motor, &command);
   GPIOC->ODR ^= GPIO_ODR_OD10;
   HAL_Delay(1000);
   while (Can.read(CAN_inMsg)) {
   listen_can();
-  
- }
+  }
 }