`make format`

5 files changed, 31 insertions, 28 deletions

diff --git a/robot/errcatch.c b/robot/errcatch.c
index 77fcfd3..17c96fa 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -20,17 +20,20 @@ void w2_errcatch_handle_error(w2_s_error *error) {
 			g_w2_error_uncaught = true;
 #ifdef W2_SIM
 			simwarn("Uncaught/unhandled error found with code 0x%02x", error->code);
-			if (error->message_length > 0) fprintf(stderr, " and message \"%.*s\"", error->message_length, error->message);
+			if (error->message_length > 0)
+				fprintf(stderr, " and message \"%.*s\"", error->message_length, error->message);
 			fprintf(stderr, "\n");
 #endif
 		}
 	}
 
 	// forward error to sercomm
-	W2_CREATE_MSG_SIZE_BIN(w2_s_cmd_expt_tx, sizeof(w2_s_cmd_expt_tx) + sizeof(uint8_t) * error->message_length, msg, msg_bin);
-	msg->opcode			  = W2_CMD_EXPT | W2_CMDDIR_TX;
-	msg->error			  = error->code;
-	msg->length			  = error->message_length;
+	W2_CREATE_MSG_SIZE_BIN(w2_s_cmd_expt_tx,
+						   sizeof(w2_s_cmd_expt_tx) + sizeof(uint8_t) * error->message_length, msg,
+						   msg_bin);
+	msg->opcode = W2_CMD_EXPT | W2_CMDDIR_TX;
+	msg->error	= error->code;
+	msg->length = error->message_length;
 	memcpy(msg->message, error->message, error->message_length);
 
 	w2_sercomm_append_msg(msg_bin);
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index efdceec..2a6120b 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -15,10 +15,10 @@ unsigned long g_w2_hypervisor_ema_mode_ms				   = 0;
 uint64_t g_w2_hypervisor_timers[W2_HYPERVISOR_TIMER_COUNT] = {0};
 
 unsigned int g_w2_ping_ms = 0;
-uint8_t g_w2_ping_id = 0;
-bool g_w2_ping_received = true;
-bool g_w2_ping_timeout = false;
-bool g_w2_connected = false;
+uint8_t g_w2_ping_id	  = 0;
+bool g_w2_ping_received	  = true;
+bool g_w2_ping_timeout	  = false;
+bool g_w2_connected		  = false;
 
 void w2_hypervisor_main() {
 #ifdef W2_SIM
diff --git a/robot/hypervisor.h b/robot/hypervisor.h
index 59398c6..4b1ed9b 100644
--- a/robot/hypervisor.h
+++ b/robot/hypervisor.h
@@ -36,4 +36,3 @@ void w2_hypervisor_main();
 void w2_hypervisor_time_start(uint8_t label);
 /** stop timer with label `label` */
 uint64_t w2_hypervisor_time_end(uint8_t label);
-
diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c
index b7df974..7021721 100644
--- a/robot/mode_dirc.c
+++ b/robot/mode_dirc.c
@@ -1,22 +1,25 @@
 #include "mode_dirc.h"
-#include "io.h"
+#include "../shared/util.h"
 #include "hypervisor.h"
+#include "io.h"
 #include "modes.h"
-#include "../shared/util.h"
 #include "orangutan_shim.h"
 
-#include <string.h>
 #include "../shared/errcatch.h"
+#include <string.h>
 
 int16_t g_w2_mode_dirc_motor_l = 0;
 int16_t g_w2_mode_dirc_motor_r = 0;
-uint8_t g_w2_mode_dirc_power = 100;
+uint8_t g_w2_mode_dirc_power   = 100;
 
 void w2_mode_dirc() {
-	if (g_w2_connected == 1) g_w2_mode_dirc_power = 100;
-	else g_w2_mode_dirc_power = W2_MAX(0, g_w2_mode_dirc_power - 1);
+	if (g_w2_connected == 1)
+		g_w2_mode_dirc_power = 100;
+	else
+		g_w2_mode_dirc_power = W2_MAX(0, g_w2_mode_dirc_power - 1);
 
 	if (g_w2_mode_dirc_power == 0) w2_modes_call(W2_M_HALT);
 
-	set_motors(g_w2_mode_dirc_motor_l * g_w2_mode_dirc_power / 100, g_w2_mode_dirc_motor_r * g_w2_mode_dirc_power / 100);
+	set_motors(g_w2_mode_dirc_motor_l * g_w2_mode_dirc_power / 100,
+			   g_w2_mode_dirc_motor_r * g_w2_mode_dirc_power / 100);
 }
diff --git a/robot/sercomm.c b/robot/sercomm.c
index f14832a..c50dd15 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -34,14 +34,15 @@ void w2_sercomm_main() {
 	// check time-out
 	if (!g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_TIMEOUT) {
 		g_w2_ping_timeout = true;
-		g_w2_connected = false;
+		g_w2_connected	  = false;
 		w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT);
 	}
 	// send ping every W2_TIMER_PING ms
-	if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || g_w2_ping_timeout) {
-		g_w2_ping_timeout = false;
+	if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_FREQUENCY) ||
+		g_w2_ping_timeout) {
+		g_w2_ping_timeout  = false;
 		g_w2_ping_received = false;
-		g_w2_ping_id = (uint8_t) rand();
+		g_w2_ping_id	   = (uint8_t)rand();
 
 		W2_CREATE_MSG_BIN(w2_s_cmd_ping_tx, msg, bin);
 		msg->opcode = W2_CMD_PING | W2_CMDDIR_TX;
@@ -87,17 +88,14 @@ void w2_sercomm_append_msg(w2_s_bin *data) {
 #include <stdlib.h>
 #include <string.h>
 
-
 void w2_cmd_ping_tx(w2_s_bin *data) {
-	g_w2_ping_ms = w2_hypervisor_time_end(W2_TIMER_PING);
+	g_w2_ping_ms	   = w2_hypervisor_time_end(W2_TIMER_PING);
 	g_w2_ping_received = true;
-	g_w2_ping_timeout = false;
-	g_w2_connected = true;
+	g_w2_ping_timeout  = false;
+	g_w2_connected	   = true;
 }
 
-void w2_cmd_ping_rx(w2_s_bin *data) {
-	w2_sercomm_append_msg(data);
-}
+void w2_cmd_ping_rx(w2_s_bin *data) { w2_sercomm_append_msg(data); }
 
 void w2_cmd_mode_rx(w2_s_bin *data) {
 	W2_CAST_BIN(w2_s_cmd_mode_rx, data, req);