Merge branch 'develop' into master

Author: tsandmann

.gitignore

@@ -19,3 +19,4 @@
 *.i
 *.ii
 *.s
+/.pio

lib/cpputils_avr/src/serial_port.cpp

@@ -70,17 +70,14 @@ void SerialPort::end() {
 }
 
 void SerialPort::flush() const {
-    while (bit_is_clear(UCSR0A, TXC0)) {}
+    while (bit_is_clear(UCSR0A, TXC0)) {
+    }
     // if we get here the hardware finished tranmission (TXC is set)
 }
 
 int16_t SerialPort::read() {
     ExecuteAtomic<std::is_same<uint8_t, rx_buf_idx_t>::value> x;
-    const rx_buf_idx_t head {
-        x([this]() {
-            return rx_buf_head_;
-        })
-    };
+    const rx_buf_idx_t head { x([this]() { return rx_buf_head_; }) };
 
     if (head == rx_buf_tail_) {
         // if the head isn't ahead of the tail, we don't have any characters
@@ -90,17 +87,15 @@ int16_t SerialPort::read() {
         const rx_buf_idx_t new_tail { static_cast<rx_buf_idx_t>(static_cast<rx_buf_idx_t>(rx_buf_tail_ + 1U) % sizeof(rx_buffer_)) };
 
         ExecuteAtomic<std::is_same<uint8_t, rx_buf_idx_t>::value> x;
-        x([this, new_tail]() {
-            rx_buf_tail_ = new_tail;
-        });
+        x([this, new_tail]() { rx_buf_tail_ = new_tail; });
 
         return static_cast<int16_t>(c);
     }
 }
 
 int16_t SerialPort::read(void* buffer, const size_t length) {
     uint8_t* ptr { reinterpret_cast<uint8_t*>(buffer) };
-    size_t n { 0 };
+    size_t n {};
     while (n < length) {
         const int16_t c { read() };
         if (c < 0) {
@@ -114,7 +109,8 @@ int16_t SerialPort::read(void* buffer, const size_t length) {
 
 int16_t SerialPort::write(uint8_t data) const {
     /* wait for empty transmit buffer */
-    while (! (UCSR0A & (1 << UDRE0))) {}
+    while (!(UCSR0A & (1 << UDRE0))) {
+    }
 
     /* put data into buffer, sends the data */
     UDR0 = data;
@@ -127,11 +123,11 @@ int16_t SerialPort::write(uint8_t data) const {
 
 int16_t SerialPort::write(const void* buffer, const size_t length) const {
     const uint8_t* ptr { reinterpret_cast<const uint8_t*>(buffer) };
-    for (size_t i(0U); i < length; ++i) {
+    for (size_t i {}; i < length; ++i) {
         write(*ptr++);
     }
     return length;
-}
+} // namespace avr
 
 inline __attribute__((always_inline)) void SerialPort::isr() {
     if (bit_is_clear(UCSR0A, UPE0)) {

lib/cpputils_avr/src/serial_port.h

@@ -24,8 +24,7 @@
  * @note    Based on Arduino implementation <https://github.com/arduino/ArduinoCore-avr>
  */
 
-#ifndef SRC_SERIAL_PORT_H_
-#define SRC_SERIAL_PORT_H_
+#pragma once
 
 #include <cstdint>
 #include <cstddef>
@@ -53,7 +52,7 @@ class SerialPortBase {
     /**
      * @brief Construct a new SerialPortBase object
      */
-    SerialPortBase() : rx_buf_head_ { 0 }, rx_buf_tail_ { 0 } {}
+    SerialPortBase() : rx_buf_head_ {}, rx_buf_tail_ {} {}
 };
 
 
@@ -158,5 +157,3 @@ class Uart0 {
 };
 
 } /* namespace avr */
-
-#endif /* SRC_SERIAL_PORT_H_ */

lib/cpputils_avr/src/utils_avr.h

@@ -23,8 +23,7 @@
  * @date    15.04.2018
  */
 
-#ifndef SRC_UTILS_AVR_H_
-#define SRC_UTILS_AVR_H_
+#pragma once
 
 #include <cstdint>
 #include <ostream>
@@ -42,7 +41,7 @@ namespace avr {
 class FlashStringHelper;
 #define F(string_literal) (reinterpret_cast<const avr::FlashStringHelper*>(PSTR(string_literal)))
 
-inline std::ostream& operator <<(std::ostream& os, const avr::FlashStringHelper* v) {
+inline std::ostream& operator<<(std::ostream& os, const avr::FlashStringHelper* v) {
     auto ptr(reinterpret_cast<PGM_P>(v));
     while (true) {
         const uint8_t c { pgm_read_byte(ptr++) };
@@ -193,21 +192,21 @@ class IntLock {
     /**
      * @brief Deleted copy assignment operator to prohibit copies
      */
-    void operator =(const IntLock&) = delete;
+    void operator=(const IntLock&) = delete;
 };
 
 /**
  * @brief Specialization of constructor for ACTIVE == false
  * @note Does nothing
  */
-template<>
+template <>
 inline IntLock<false>::IntLock() {}
 
 /**
  * @brief Specialization of constructor for ACTIVE == true
  * @note Clears global interrupt flag
  */
-template<>
+template <>
 inline IntLock<true>::IntLock() : sreg_ { SREG } {
     __builtin_avr_cli();
 }
@@ -228,11 +227,9 @@ struct ExecuteAtomic {
      */
     template <typename F>
     auto operator()(F func) const -> decltype(func()) {
-        IntLock<! FROM_ISR> lock;
+        IntLock<!FROM_ISR> lock;
         return func();
     }
 };
 
 } /* namespace avr */
-
-#endif /* SRC_UTILS_AVR_H_ */

platformio.ini

@@ -8,13 +8,21 @@
 ; Please visit documentation for the other options and examples
 ; http://docs.platformio.org/page/projectconf.html
 
-[env:1284p16m]
-platform = https://github.com/tsandmann/platform-atmelavr.git
+[platformio]
+default_envs = 1284p
+src_dir = src
+include_dir = src
+
+[env:1284p]
+platform = atmelavr
 board = 1284p16m
 board_build.f_cpu = 16000000UL
 ;board_build.f_cpu = 20000000UL
 ;build_unflags = -std=gnu++11 -flto
 build_unflags = -std=gnu++11
-build_flags = -std=gnu++14 -Wextra
-;build_flags = -std=gnu++14
+build_flags = -std=gnu++17 -Wextra -Wmissing-declarations -Wshadow -Wformat=2 -Wconversion
 ;build_flags = -std=gnu++14 -save-temps -fverbose-asm -dA
+
+;upload_protocol = avr109
+;upload_flags = -u
+;upload_port = net:ctbot:10002

src/servo.h

@@ -53,8 +53,10 @@ class Servo {
      * @brief Create a servo instance for given servo ID
      * @param[in] num: ID of servo (ID::SERVO_1 or ID::SERVO_2)
      */
-    Servo(ID num) : Servo(num, num == ID::SERVO_1 ? PTR_8(CtBotConfig::SERVO_1_REG::DDR) : PTR_8(CtBotConfig::SERVO_2_REG::DDR),
-        num == ID::SERVO_1 ? CtBotConfig::SERVO_1_PIN : CtBotConfig::SERVO_2_PIN, num == ID::SERVO_1 ? PTR_16(CtBotConfig::SERVO_1_OCR) : PTR_16(CtBotConfig::SERVO_2_OCR)) {}
+    Servo(ID num)
+        : Servo(num, num == ID::SERVO_1 ? PTR_8(CtBotConfig::SERVO_1_REG::DDR) : PTR_8(CtBotConfig::SERVO_2_REG::DDR),
+            num == ID::SERVO_1 ? CtBotConfig::SERVO_1_PIN : CtBotConfig::SERVO_2_PIN,
+            num == ID::SERVO_1 ? PTR_16(CtBotConfig::SERVO_1_OCR) : PTR_16(CtBotConfig::SERVO_2_OCR)) {}
 
     /**
      * @brief Set the servo to a position
@@ -66,7 +68,9 @@ class Servo {
      * @brief Gets the last set servo position
      * @return Position of servo or POS_OFF, if servo turned off
      */
-    auto get() const { return position_; }
+    auto get() const {
+        return position_;
+    }
 
 protected:
     const ID id_; /**< Servo ID: ID::SERVO_1 or ID::SERVO_2 */
@@ -102,8 +106,8 @@ class Servo {
     }
 
 private:
-    static constexpr float TIMER_PRESCALER { 8.f }; /**< Prescaler for Timer2 (divider for CPU clock) to create servo PWM frequency */
-    static constexpr float TIMER_MAX { 65535.f }; /**< Maximum value of Timer2 */
+    static constexpr float TIMER_PRESCALER { 8.f }; /**< Prescaler for Timer3 (divider for CPU clock) to create servo PWM frequency */
+    static constexpr float TIMER_MAX { 65535.f }; /**< Maximum value of Timer3 */
     static constexpr float TIMER_FACTOR { 1.f }; /**< Correction factor for timer output compare match value calculation */
 };