more formatting pass

Author: samuelsadok

src/ODriveCAN.h

@@ -12,19 +12,17 @@
     static inline ODriveCanIntfWrapper wrap_can_intf(TIntf& intf) { \
         return { \
             &intf, \
-            [](void* intf, uint32_t id, uint8_t length, const uint8_t* data) { return sendMsg(*(TIntf*)intf, id, length, data); }, \
-            [](void* intf) { pumpEvents(*(TIntf*)intf); } \
+            ([](void* intf, uint32_t id, uint8_t length, const uint8_t* data) { \
+                return sendMsg(*(TIntf*)intf, id, length, data); \
+            }), \
+            [](void* intf) { pumpEvents(*(TIntf*)intf); }, \
         }; \
     }
 
 
 struct ODriveCanIntfWrapper {
-    bool sendMsg(uint32_t id, uint8_t length, const uint8_t* data) {
-        return (*send_msg_)(can_intf_, id, length, data);
-    }
-    void pump_events() {
-        (*pump_events_)(can_intf_);
-    }
+    bool sendMsg(uint32_t id, uint8_t length, const uint8_t* data) { return (*send_msg_)(can_intf_, id, length, data); }
+    void pump_events() { (*pump_events_)(can_intf_); }
 
     void* can_intf_;
     bool (*send_msg_)(void* intf, uint32_t id, uint8_t length, const uint8_t* data);
@@ -33,8 +31,7 @@ struct ODriveCanIntfWrapper {
 
 class ODriveCAN {
 public:
-    ODriveCAN(const ODriveCanIntfWrapper& can_intf, uint32_t node_id)
-        : can_intf_(can_intf), node_id_(node_id) {};
+    ODriveCAN(const ODriveCanIntfWrapper& can_intf, uint32_t node_id) : can_intf_(can_intf), node_id_(node_id){};
 
     /**
      * @brief Clear all errors on the ODrive.
@@ -202,8 +199,11 @@ class ODriveCAN {
     /**
      * @brief Registers a callback for ODrive feedback processing.
      */
-    void onFeedback(void (*callback)(Get_Encoder_Estimates_msg_t& feedback, void* user_data), void* user_data = nullptr) {
-        feedback_callback_ = callback; 
+    void onFeedback(
+        void (*callback)(Get_Encoder_Estimates_msg_t& feedback, void* user_data),
+        void* user_data = nullptr
+    ) {
+        feedback_callback_ = callback;
         feedback_user_data_ = user_data;
     }
 
@@ -234,7 +234,10 @@ class ODriveCAN {
     /**
      * @brief Registers a callback for ODrive bus voltage/current feedback.
      */
-    void onBusVI(void (*callback)(Get_Bus_Voltage_Current_msg_t& feedback, void* user_data), void* user_data = nullptr) {
+    void onBusVI(
+        void (*callback)(Get_Bus_Voltage_Current_msg_t& feedback, void* user_data),
+        void* user_data = nullptr
+    ) {
         busVI_callback_ = callback;
         busVI_user_data_ = user_data;
     }
@@ -288,11 +291,7 @@ class ODriveCAN {
     bool send(const T& msg) {
         uint8_t data[8] = {};
         msg.encode_buf(data);
-        return can_intf_.sendMsg(
-            (node_id_ << ODriveCAN::kNodeIdShift) | msg.cmd_id,
-            msg.msg_length,
-            data
-        );
+        return can_intf_.sendMsg((node_id_ << ODriveCAN::kNodeIdShift) | msg.cmd_id, msg.msg_length, data);
     }
 
     /**

src/ODriveHardwareCAN.hpp

@@ -26,11 +26,11 @@ static bool sendMsg(HardwareCAN& can_intf, uint32_t id, uint8_t length, const ui
     // Note: Arduino_CAN does not support the RTR bit. The ODrive interprets
     // zero-length packets the same as RTR=1, but it creates the possibility of
     // collisions.
-    CanMsg msg(
+    CanMsg msg{
         (id & 0x80000000) ? CanExtendedId(id) : CanStandardId(id),
         length,
-        data
-    );
+        data,
+    };
     return can_intf.write(msg) >= 0;
 }
 

src/ODriveUART.cpp

@@ -9,8 +9,10 @@
 static const int kMotorNumber = 0;
 
 // Print with stream operator
+// clang-format off
 template<class T> inline Print& operator <<(Print &obj,     T arg) { obj.print(arg);    return obj; }
 template<>        inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; }
+// clang-format on
 
 ODriveUART::ODriveUART(Stream& serial) : serial_(serial) {}