format with clang

Author: Charles-Ellison

Adafruit_PWMServoDriverGroup.cpp

@@ -1,19 +1,22 @@
 #include "Adafruit_PWMServoDriverGroup.h"
 
 /*!
- *  @brief  Instantiates new PCA9685 PWM driver chips with user defined 
+ *  @brief  Instantiates new PCA9685 PWM driver chips with user defined
  *  I2C addresses on a TwoWire interface
  *  @param  nDrivers Number of PWM driver chips to instantiate
- *  @param  nServosEach Number of servos to allocate on each driver 
- *  @param  addr Array of 7-bit I2C addresses to locate the chips, default is 0x40 through 0x44
+ *  @param  nServosEach Number of servos to allocate on each driver
+ *  @param  addr Array of 7-bit I2C addresses to locate the chips, default is
+ *               0x40 through 0x44
  */
-Adafruit_PWMServoDriverGroup::Adafruit_PWMServoDriverGroup(const uint8_t nDrivers, const uint8_t nServosEach, const uint8_t *addr) {
+Adafruit_PWMServoDriverGroup::Adafruit_PWMServoDriverGroup(
+    const uint8_t nDrivers, const uint8_t nServosEach, const uint8_t *addr) {
   _nDrivers = nDrivers;
   _nServosEach = nServosEach;
 
-  _drivers = (Adafruit_PWMServoDriver **) malloc(nDrivers * sizeof(Adafruit_PWMServoDriver *));
+  _drivers = (Adafruit_PWMServoDriver **)malloc(
+      nDrivers * sizeof(Adafruit_PWMServoDriver *));
 
-  for(uint8_t i=0; i < _nDrivers; i++) {
+  for (uint8_t i = 0; i < _nDrivers; i++) {
     _drivers[i] = new Adafruit_PWMServoDriver(addr[i], Wire);
   }
 }
@@ -23,49 +26,54 @@ Adafruit_PWMServoDriverGroup::Adafruit_PWMServoDriverGroup(const uint8_t nDriver
  * TwoWire interface
  *  @param  nDrivers Number of PWM driver chips to instantiate
  *  @param  nServosEach Number of servos to allocate on each driver
- *  @param  addr Array of 7-bit I2C addresses to locate the chips, default is 0x40 thorugh 0x44 
- *  @param  i2c  A reference to a 'TwoWire' object that we'll use to communicate with
+ *  @param  addr Array of 7-bit I2C addresses to locate the chips, default is
+ *               0x40 thorugh 0x44
+ *  @param  i2c  A reference to a 'TwoWire' object that we'll use to communicate
  */
-Adafruit_PWMServoDriverGroup::Adafruit_PWMServoDriverGroup(const uint8_t nDrivers, const uint8_t nServosEach, const uint8_t *addr, TwoWire &i2c)
-{
+Adafruit_PWMServoDriverGroup::Adafruit_PWMServoDriverGroup(
+    const uint8_t nDrivers, const uint8_t nServosEach, const uint8_t *addr,
+    TwoWire &i2c) {
   _nDrivers = nDrivers;
   _nServosEach = nServosEach;
 
-  _drivers = (Adafruit_PWMServoDriver **) malloc(nDrivers * sizeof(Adafruit_PWMServoDriver *));
+  _drivers = (Adafruit_PWMServoDriver **)malloc(
+      nDrivers * sizeof(Adafruit_PWMServoDriver *));
 
-  for(uint8_t i=0; i < _nDrivers; i++) {
+  for (uint8_t i = 0; i < _nDrivers; i++) {
     _drivers[i] = new Adafruit_PWMServoDriver(addr[i], i2c);
   }
 }
 
 /*  @brief Gets the number of PCA9685 PWM driver chips connected to this class
-*/
-uint8_t Adafruit_PWMServoDriverGroup::getNumDrivers() {
-  return _nDrivers;
+ */
+uint8_t Adafruit_PWMServoDriverGroup::getNumDrivers() { 
+  return _nDrivers; 
 }
 
 /*  @brief Gets the number of servos associated with each PCA9685 PWM chip
-*/
+ */
 uint8_t Adafruit_PWMServoDriverGroup::getNumServosEach() {
   return _nServosEach;
 }
 
 /*  @brief Gets the total number of servos associated with this class
-*/
+ */
 uint8_t Adafruit_PWMServoDriverGroup::getNumServos() {
   return _nDrivers * _nServosEach;
 }
 
 /*!
- *  @brief  Gets the Adafruit_PWMServoDriver associated with a given servo and 
+ *  @brief  Gets the Adafruit_PWMServoDriver associated with a given servo and
  *  the local servo number on that device
  *  @param  num Number of servo in master list
  *  @param  localId returns the number of the servo as known to the PCA9685 chip
  *  @return The Adafruit_PWMServoDriver associated with the requested servo
  */
-Adafruit_PWMServoDriver* Adafruit_PWMServoDriverGroup::getDriver(uint8_t num, uint8_t& localId){
+Adafruit_PWMServoDriver *
+Adafruit_PWMServoDriverGroup::getDriver(uint8_t num, uint8_t &localId) {
   uint8_t driverId = 0;
-  if(num > _nServosEach - 1) driverId = num/_nServosEach;
+  if (num > _nServosEach - 1)
+    driverId = num / _nServosEach;
   localId = num - (driverId * _nServosEach);
 
   return _drivers[driverId];
@@ -79,7 +87,8 @@ Adafruit_PWMServoDriver* Adafruit_PWMServoDriverGroup::getDriver(uint8_t num, ui
  */
 bool Adafruit_PWMServoDriverGroup::begin(uint8_t prescale) {
   bool status = true;
-  for(int i = 0; i < _nDrivers; i++) status &= _drivers[i]->begin(prescale);
+  for (int i = 0; i < _nDrivers; i++)
+    status &= _drivers[i]->begin(prescale);
 
   return status;
 }
@@ -88,38 +97,43 @@ bool Adafruit_PWMServoDriverGroup::begin(uint8_t prescale) {
  *  @brief  Sends a reset command to the PCA9685 chips over I2C
  */
 void Adafruit_PWMServoDriverGroup::reset() {
-  for(int i = 0; i < _nDrivers; i++) _drivers[i]->reset();
+  for (int i = 0; i < _nDrivers; i++)
+    _drivers[i]->reset();
 }
 
 /*!
  *  @brief  Puts boards into sleep mode
  */
-void Adafruit_PWMServoDriverGroup::sleep(){
-  for(int i = 0; i < _nDrivers; i++) _drivers[i]->sleep();
+void Adafruit_PWMServoDriverGroup::sleep() {
+  for (int i = 0; i < _nDrivers; i++)
+    _drivers[i]->sleep();
 }
 
 /*!
  *  @brief  Wakes boards from sleep
  */
-void Adafruit_PWMServoDriverGroup::wakeup(){
-  for(int i = 0; i < _nDrivers; i++) _drivers[i]->wakeup();
+void Adafruit_PWMServoDriverGroup::wakeup() {
+  for (int i = 0; i < _nDrivers; i++)
+    _drivers[i]->wakeup();
 }
 
 /*!
  *  @brief  Sets EXTCLK pin to use the external clock
  *  @param  prescale
  *          Configures the prescale value to be used by the external clock
  */
-void Adafruit_PWMServoDriverGroup::setExtClk(uint8_t prescale){
-  for(int i = 0; i < _nDrivers; i++) _drivers[i]->setExtClk(prescale);
+void Adafruit_PWMServoDriverGroup::setExtClk(uint8_t prescale) {
+  for (int i = 0; i < _nDrivers; i++)
+    _drivers[i]->setExtClk(prescale);
 }
 
 /*!
  *  @brief  Sets the PWM frequency for all chips, up to ~1.6 KHz
  *  @param  freq Floating point frequency that we will attempt to match
  */
-void Adafruit_PWMServoDriverGroup::setPWMFreq(float freq){
-  for(int i = 0; i < _nDrivers; i++) _drivers[i]->setPWMFreq(freq);
+void Adafruit_PWMServoDriverGroup::setPWMFreq(float freq) {
+  for (int i = 0; i < _nDrivers; i++)
+    _drivers[i]->setPWMFreq(freq);
 }
 
 /*!
@@ -129,30 +143,34 @@ void Adafruit_PWMServoDriverGroup::setPWMFreq(float freq){
  *  only be driven in open drain mode.
  *  @param  totempole Totempole if true, open drain if false.
  */
-void Adafruit_PWMServoDriverGroup::setOutputMode(bool totempole){
-  for(int i = 0; i < _nDrivers; i++) _drivers[i]->setOutputMode(totempole);
+void Adafruit_PWMServoDriverGroup::setOutputMode(bool totempole) {
+  for (int i = 0; i < _nDrivers; i++)
+    _drivers[i]->setOutputMode(totempole);
 }
 
 /*!
  *  @brief  Gets the PWM output of one of the PCA9685 pins
- *  @param  num One of the PWM output pins, from 0 to (nDrivers * nServosEach - 1)
+ *  @param  num One of the PWM output pins, from 0 to (nDrivers * nServosEach -
+ * 1)
  *  @param  off If true, returns PWM OFF value, otherwise PWM ON
  *  @return requested PWM output value
  */
-uint16_t Adafruit_PWMServoDriverGroup::getPWM(uint8_t num, bool off){
+uint16_t Adafruit_PWMServoDriverGroup::getPWM(uint8_t num, bool off) {
   uint8_t localId = 0;
   auto driver = getDriver(num, localId);
   return driver->getPWM(localId, off);
 }
 
 /*!
  *  @brief  Sets the PWM output of one of the PCA9685 pins
- *  @param  num One of the PWM output pins, from 0 to (nDrivers * nServosEach - 1)
+ *  @param  num One of the PWM output pins, from 0 to (nDrivers * nServosEach -
+ * 1)
  *  @param  on At what point in the 4096-part cycle to turn the PWM output ON
  *  @param  off At what point in the 4096-part cycle to turn the PWM output OFF
  *  @return 0 if successful, otherwise 1
  */
-uint8_t Adafruit_PWMServoDriverGroup::setPWM(uint8_t num, uint16_t on, uint16_t off){
+uint8_t Adafruit_PWMServoDriverGroup::setPWM(uint8_t num, uint16_t on,
+                                             uint16_t off) {
   uint8_t localId = 0;
   auto driver = getDriver(num, localId);
   return driver->setPWM(localId, on, off);
@@ -163,12 +181,14 @@ uint8_t Adafruit_PWMServoDriverGroup::setPWM(uint8_t num, uint16_t on, uint16_t
  * on/off tick placement and properly handles a zero value as completely off and
  * 4095 as completely on.  Optional invert parameter supports inverting the
  * pulse for sinking to ground.
- *   @param  num One of the PWM output pins, from 0 to (nDrivers * nServosEach - 1)
+ *   @param  num One of the PWM output pins, from 0 to (nDrivers * nServosEach -
+ * 1)
  *   @param  val The number of ticks out of 4096 to be active, should be a value
  * from 0 to 4095 inclusive.
  *   @param  invert If true, inverts the output, defaults to 'false'
  */
-void Adafruit_PWMServoDriverGroup::setPin(uint8_t num, uint16_t val, bool invert){
+void Adafruit_PWMServoDriverGroup::setPin(uint8_t num, uint16_t val,
+                                          bool invert) {
   uint8_t localId = 0;
   auto driver = getDriver(num, localId);
   driver->setPin(localId, val, invert);
@@ -178,17 +198,19 @@ void Adafruit_PWMServoDriverGroup::setPin(uint8_t num, uint16_t val, bool invert
  *  @brief  Reads set Prescale from PCA9685
  *  @return prescale value
  */
-uint8_t Adafruit_PWMServoDriverGroup::readPrescale(){
+uint8_t Adafruit_PWMServoDriverGroup::readPrescale() {
   return _drivers[0]->readPrescale();
 }
 
 /*!
  *  @brief  Sets the PWM output of one of the PCA9685 pins based on the input
  * microseconds, output is not precise
- *  @param  num One of the PWM output pins, from 0 to (nDrivers * nServosEach - 1)
+ *  @param  num One of the PWM output pins, from 0 to (nDrivers * nServosEach -
+ * 1)
  *  @param  Microseconds The number of Microseconds to turn the PWM output ON
  */
-void Adafruit_PWMServoDriverGroup::writeMicroseconds(uint8_t num, uint16_t microseconds){
+void Adafruit_PWMServoDriverGroup::writeMicroseconds(uint8_t num,
+                                                     uint16_t microseconds) {
   uint8_t localId = 0;
   auto driver = getDriver(num, localId);
 
@@ -201,7 +223,7 @@ void Adafruit_PWMServoDriverGroup::writeMicroseconds(uint8_t num, uint16_t micro
  *  @returns The frequency the PCA9685 thinks it is running at (it cannot
  * introspect)
  */
-uint32_t Adafruit_PWMServoDriverGroup::getOscillatorFrequency(uint8_t id){
+uint32_t Adafruit_PWMServoDriverGroup::getOscillatorFrequency(uint8_t id) {
   return _drivers[id]->getOscillatorFrequency();
 }
 
@@ -210,11 +232,12 @@ uint32_t Adafruit_PWMServoDriverGroup::getOscillatorFrequency(uint8_t id){
  * calculations
  *  @param freq The frequency the PCA9685 should use for frequency calculations
  */
-void Adafruit_PWMServoDriverGroup::setOscillatorFrequency(uint32_t freq){
-  for(int i = 0; i < _nDrivers; i++) _drivers[i]->setOscillatorFrequency(freq);
+void Adafruit_PWMServoDriverGroup::setOscillatorFrequency(uint32_t freq) {
+  for (int i = 0; i < _nDrivers; i++)
+    _drivers[i]->setOscillatorFrequency(freq);
 }
 
-void Adafruit_PWMServoDriverGroup::setOscillatorFrequency(uint8_t id, uint32_t freq){
-   _drivers[id]->setOscillatorFrequency(freq);
+void Adafruit_PWMServoDriverGroup::setOscillatorFrequency(uint8_t id,
+                                                          uint32_t freq) {
+  _drivers[id]->setOscillatorFrequency(freq);
 }
-

Adafruit_PWMServoDriverGroup.h

@@ -3,7 +3,7 @@
  *
  *  This Library sets up a group of Adafruit_PWMServoDrivers
  *  to act like a single Adafruit_PWMServoDrivers object
- * 
+ *
  *
  *  Designed specifically to work with the Adafruit 16-channel PWM & Servo
  * driver.
@@ -22,40 +22,44 @@
 #define PCA9685_I2C_ADDRESS_5 0x44
 
 /*!
- *  @brief  Class that stores state and functions for interacting with multiple PCA9685
- * PWM chips as if they are a single instance
+ *  @brief  Class that stores state and functions for interacting with multiple
+ * PCA9685 PWM chips as if they are a single instance
  */
 class Adafruit_PWMServoDriverGroup {
-  public:
+public:
+  Adafruit_PWMServoDriverGroup(const uint8_t ndrivers,
+                               const uint8_t nServosEach, 
+                               const uint8_t *addr);
+  Adafruit_PWMServoDriverGroup(const uint8_t ndrivers,
+                               const uint8_t nServosEach, 
+                               const uint8_t *addr,
+                               TwoWire &i2c);
 
-    Adafruit_PWMServoDriverGroup(const uint8_t ndrivers, const uint8_t nServosEach, const uint8_t *addr);
-    Adafruit_PWMServoDriverGroup(const uint8_t ndrivers, const uint8_t nServosEach, const uint8_t *addr, TwoWire &i2c);
+  Adafruit_PWMServoDriver *getDriver(uint8_t num, uint8_t &localNum);
+  bool begin(uint8_t prescale = 0);
+  void reset();
+  void sleep();
+  void wakeup();
+  void setExtClk(uint8_t prescale);
+  void setPWMFreq(float freq);
+  void setOutputMode(bool totempole);
+  uint16_t getPWM(uint8_t num, bool off = false);
+  uint8_t setPWM(uint8_t num, uint16_t on, uint16_t off);
+  void setPin(uint8_t num, uint16_t val, bool invert = false);
+  uint8_t readPrescale(void);
+  void writeMicroseconds(uint8_t num, uint16_t microseconds);
+  void setOscillatorFrequency(uint32_t freq);
+  void setOscillatorFrequency(uint8_t id, uint32_t freq);
+  uint32_t getOscillatorFrequency(uint8_t id);
 
-    Adafruit_PWMServoDriver* getDriver(uint8_t num, uint8_t& localNum);
-    bool begin(uint8_t prescale = 0);
-    void reset();
-    void sleep();
-    void wakeup();
-    void setExtClk(uint8_t prescale);
-    void setPWMFreq(float freq);
-    void setOutputMode(bool totempole);
-    uint16_t getPWM(uint8_t num, bool off = false);
-    uint8_t setPWM(uint8_t num, uint16_t on, uint16_t off);
-    void setPin(uint8_t num, uint16_t val, bool invert = false);
-    uint8_t readPrescale(void);
-    void writeMicroseconds(uint8_t num, uint16_t microseconds);
-    void setOscillatorFrequency(uint32_t freq);
-    void setOscillatorFrequency(uint8_t id, uint32_t freq);
-    uint32_t getOscillatorFrequency(uint8_t id);
+  uint8_t getNumDrivers();
+  uint8_t getNumServos();
+  uint8_t getNumServosEach();
 
-    uint8_t getNumDrivers();
-    uint8_t getNumServos();
-    uint8_t getNumServosEach();
-  
-  private:
-    uint8_t _nDrivers;
-    uint8_t _nServosEach;
-    Adafruit_PWMServoDriver** _drivers;
+private:
+  uint8_t _nDrivers;
+  uint8_t _nServosEach;
+  Adafruit_PWMServoDriver **_drivers;
 };
 
 #endif