Squashed Commit: Clang Workflow

clang format workflow

clang-format

rm invalid option

fix format options

run format with new settings

manual fix for macro

disable sort includes

Add OpenRocket flight data standardization for integration testing (#11)

* Standardized data format to OpenRocket output CSV

* Ignore data files and OpenRocket

* Standardized data format to OpenRocket output CSV

* Ignore data files and OpenRocket

Add support for pyro board SPI through native_sim (#12)

* Standardized data format to OpenRocket output CSV

* Ignore data files and OpenRocket

* Add integration test steps to README

* Add integration test steps to README

* Added pyro board SPI support for native_sim

fix new sim baro

Author: Alexjhz07

.clang-format

@@ -0,0 +1,17 @@
+---
+BasedOnStyle: LLVM
+ColumnLimit: 100
+IndentWidth: 4
+InsertNewlineAtEOF: true
+AlignEscapedNewlines: Left
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortEnumsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+BreakBeforeBraces: Linux
+InsertBraces: true
+IndentGotoLabels: false
+SortIncludes: false
+ReflowComments: true

.github/workflows/style-check.yml

@@ -0,0 +1,36 @@
+name: Linter
+
+on: [push, pull_request]
+
+jobs:
+  clang-format:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Which Clang-Format
+        run: |
+          which clang-format
+          clang-format --version
+
+      - name: Run clang-format check
+        run: |
+          echo "Checking C code style..."
+          failed=0
+          files=$(find . -name '*.c' -o -name '*.h')
+          for f in $files; do
+            diff_output=$(diff -u "$f" <(clang-format -style=file "$f") || true)
+            if [ -n "$diff_output" ]; then
+              echo "Style issues in $f:"
+              echo "$diff_output"
+              failed=1
+            fi
+          done
+          if [ $failed -eq 1 ]; then
+            echo "Some files do not match the style. Fix with clang-format."
+            exit 1
+          else
+            echo "Style check passed"
+          fi

.gitignore

@@ -1,4 +1,8 @@
 **/build/
 .DS_Store
 twister-out*
-.cache
+.cache
+
+data/
+*.jar
+*.ork

README.md

@@ -34,6 +34,29 @@ TODO
 - Zephyr Documentation: https://docs.zephyrproject.org/latest/index.html
 - Highly recommend watching this tutorial series (Videos 9, 10, and 11 shouldnt be necessary for this project): https://www.youtube.com/playlist?list=PLEBQazB0HUyTmK2zdwhaf8bLwuEaDH-52
 
+## Integration Testing
+### Zephyr's Native Sim
+#### Getting the data
+1. Follow the installation instruction for OpenRocket: https://openrocket.readthedocs.io/en/latest/setup/installation.html 
+2. Boot up OpenRocket and load the .ork file
+3. Under Flight Simulations, open a previous simulation by double clicking on the row
+4. Under Export Data, click "select all" and ensure that only the "Include field descriptions" option is checked.
+5. Click Export and save your csv file
+
+#### Running the integration test
+1. Ensure you're in the virtual environment using inside `FALCON/`:
+   - `source .venv/bin/activate` (MacOS/Linux) or `.venv\Scripts\activate.bat` (Windows)
+2. Build FALCON using Zephyr's built in native_sim board:
+   - `west build -b native_sim/native/64 app/apps/rockets/cloudburst -- -DDTC_OVERLAY_FILE="$(pwd)/boards/native_sim.overlay" -DDATA_FILE="$(pwd)/<PATH>/<DATA_FILE>.csv"`
+   - Replace `PATH` and `DATA_FILE` with the location and name of your OpenRocket csv file
+3. Run the integration test:
+   - For a realtime test, use `west build -t run`
+   - To run at the maximum speed, use `./app/build/zephyr/zephyr.exe --no-rt`
+   - To run at a custom speed, use `./app/build/zephyr/zephyr.exe --rt-ratio=2`
+
+### QEMU (WIP)
+
+
 ## Debugging
 ### Terminal debugging:
 *Should work out of the box provided your zephyr environment is set up correctly*

apps/peripheral_tests/blinky_test/src/main.c

@@ -5,11 +5,11 @@
  */
 
 #include <stdio.h>
-#include <zephyr/kernel.h>
 #include <zephyr/drivers/gpio.h>
+#include <zephyr/kernel.h>
 
 /* 1000 msec = 1 sec */
-#define SLEEP_TIME_MS   500
+#define SLEEP_TIME_MS 500
 
 /* The devicetree node identifier for the "led0" alias. */
 #define LED0_NODE DT_ALIAS(led0)
@@ -22,28 +22,28 @@ static const struct gpio_dt_spec led = GPIO_DT_SPEC_GET(LED0_NODE, gpios);
 
 int main(void)
 {
-	int ret;
-	bool led_state = true;
-
-	if (!gpio_is_ready_dt(&led)) {
-		return 0;
-	}
-
-	ret = gpio_pin_configure_dt(&led, GPIO_OUTPUT_ACTIVE);
-	if (ret < 0) {
-		return 0;
-	}
-
-	while (1) {
-		ret = gpio_pin_toggle_dt(&led);
-		if (ret < 0) {
-			return 0;
-		}
+    int ret;
+    bool led_state = true;
+
+    if (!gpio_is_ready_dt(&led)) {
+        return 0;
+    }
+
+    ret = gpio_pin_configure_dt(&led, GPIO_OUTPUT_ACTIVE);
+    if (ret < 0) {
+        return 0;
+    }
+
+    while (1) {
+        ret = gpio_pin_toggle_dt(&led);
+        if (ret < 0) {
+            return 0;
+        }
         printf("Toggling LED\n");
 
-		led_state = !led_state;
-		printf("LED state: %s\n", led_state ? "ON" : "OFF");
-		k_msleep(SLEEP_TIME_MS);
-	}
-	return 0;
+        led_state = !led_state;
+        printf("LED state: %s\n", led_state ? "ON" : "OFF");
+        k_msleep(SLEEP_TIME_MS);
+    }
+    return 0;
 }

apps/peripheral_tests/sd_test/src/main.c

@@ -1,9 +1,9 @@
-#include <zephyr/kernel.h>
+#include <ff.h>
 #include <zephyr/device.h>
-#include <zephyr/storage/disk_access.h>
 #include <zephyr/fs/fs.h>
+#include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>
-#include <ff.h>
+#include <zephyr/storage/disk_access.h>
 
 LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
 
@@ -14,18 +14,16 @@ LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
 static FATFS fat_fs;
 
 static struct fs_mount_t fatfs_mnt = {
-    .type = FS_FATFS,
-    .mnt_point = MOUNT_POINT,
-    .fs_data = &fat_fs
-};
+    .type = FS_FATFS, .mnt_point = MOUNT_POINT, .fs_data = &fat_fs};
 
-void write_test_log(void) {
+void write_test_log(void)
+{
     struct fs_file_t file;
     int ret;
     fs_file_t_init(&file);
 
     // Open or create a file for writing
-    ret = fs_open(&file, MOUNT_POINT "/log.txt", FS_O_CREATE |FS_O_WRITE);
+    ret = fs_open(&file, MOUNT_POINT "/log.txt", FS_O_CREATE | FS_O_WRITE);
     if (ret) {
         LOG_ERR("Failed to open file: %d", ret);
         return;
@@ -44,7 +42,8 @@ void write_test_log(void) {
     fs_close(&file);
 }
 
-void mount_sd_card(void) {
+void mount_sd_card(void)
+{
     int ret;
 
     // Initialize the SDMMC disk
@@ -65,7 +64,8 @@ void mount_sd_card(void) {
     }
 }
 
-int main(void) {
+int main(void)
+{
     LOG_INF("SD Test Application Started");
 
     // Mount the SD card
@@ -75,10 +75,10 @@ int main(void) {
     write_test_log();
 
     int res = fs_unmount(&fatfs_mnt);
-		if (res != 0) {
-			printk("Error unmounting disk\n");
-			return res;
-		}
+    if (res != 0) {
+        printk("Error unmounting disk\n");
+        return res;
+    }
 
     return 0;
 }

apps/peripheral_tests/sensor_test/src/main.c

@@ -1,7 +1,7 @@
-#include <zephyr/kernel.h>
 #include <zephyr/device.h>
 #include <zephyr/devicetree.h>
 #include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>
 
 LOG_MODULE_REGISTER(sensor_test, LOG_LEVEL_INF);
@@ -65,12 +65,11 @@ int main(void)
                 sensor_channel_get(baro_dev, SENSOR_CHAN_AMBIENT_TEMP, &temperature);
 
                 LOG_INF("Pressure: %.2f mPa, Temperature: %.2f degC",
-                        sensor_value_to_double(&pressure),
-                        sensor_value_to_double(&temperature));
+                        sensor_value_to_double(&pressure), sensor_value_to_double(&temperature));
             } else {
                 LOG_ERR("Failed to fetch data from barometer sensor");
             }
-        }   
+        }
 #endif
 
 #if TEST_GYRO_SENSOR
@@ -81,8 +80,7 @@ int main(void)
                 sensor_channel_get(gyro_dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
 
                 LOG_INF("Gyroscope (rad/s): X=%.2f, Y=%.2f, Z=%.2f",
-                        sensor_value_to_double(&gyro_x),
-                        sensor_value_to_double(&gyro_y),
+                        sensor_value_to_double(&gyro_x), sensor_value_to_double(&gyro_y),
                         sensor_value_to_double(&gyro_z));
             } else {
                 LOG_ERR("Failed to fetch data from gyroscope");
@@ -98,8 +96,7 @@ int main(void)
                 sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
 
                 LOG_INF("Acceleration (m/s^2): X=%.2f, Y=%.2f, Z=%.2f",
-                        sensor_value_to_double(&accel_x),
-                        sensor_value_to_double(&accel_y),
+                        sensor_value_to_double(&accel_x), sensor_value_to_double(&accel_y),
                         sensor_value_to_double(&accel_z));
             } else {
                 LOG_ERR("Failed to fetch data from accelerometer");
@@ -111,4 +108,4 @@ int main(void)
         k_sleep(K_MSEC(1000));
     }
     return 0;
-}
+}

apps/rockets/cloudburst/src/data.c

@@ -1,6 +1,6 @@
+#include "data.h"
 #include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>
-#include "data.h"
 
 LOG_MODULE_REGISTER(data, LOG_LEVEL_INF);
 

apps/rockets/cloudburst/src/data.h

@@ -3,8 +3,7 @@
 
 #include <stdint.h>
 
-typedef enum
-{
+typedef enum {
     FLIGHT_STATE_STANDBY = 0,
     FLIGHT_STATE_ASCENT,
     FLIGHT_STATE_MACH_LOCK,
@@ -14,40 +13,36 @@ typedef enum
 } flight_state_id_t;
 
 // Data structures for sensor data
-struct imu_data
-{
+struct imu_data {
     float accel[3];    // Acceleration in m/s²
     float gyro[3];     // Angular velocity in rad/s
     int64_t timestamp; // Timestamp in milliseconds
 };
 
 // Per-barometer sensor data
-struct baro_sensor_data
-{
-    float pressure;     // Pressure in Pa
-    float temperature;  // Temperature in °C
-    float altitude;     // Altitude in meters (from pressure + temp)
-    float nis;          // Normalized innovation squared
-    uint8_t faults;     // Accumulated fault count
-    bool healthy;       // Health status (accepted/rejected)
+struct baro_sensor_data {
+    float pressure;    // Pressure in Pa
+    float temperature; // Temperature in °C
+    float altitude;    // Altitude in meters (from pressure + temp)
+    float nis;         // Normalized innovation squared
+    uint8_t faults;    // Accumulated fault count
+    bool healthy;      // Health status (accepted/rejected)
 };
 
 // Combined barometer data (shared with other threads)
-struct baro_data
-{
-    struct baro_sensor_data baro0;  // Barometer 0
-    struct baro_sensor_data baro1;  // Barometer 1
+struct baro_data {
+    struct baro_sensor_data baro0; // Barometer 0
+    struct baro_sensor_data baro1; // Barometer 1
 
-    float altitude;           // Kalman-filtered altitude estimate in meters
-    float alt_variance;      // Kalman filter variance (P)
-    float velocity;           // Vertical velocity estimate (m/s)
-    float vel_variance;      // Velocity variance (P11)
+    float altitude;     // Kalman-filtered altitude estimate in meters
+    float alt_variance; // Kalman filter variance (P)
+    float velocity;     // Vertical velocity estimate (m/s)
+    float vel_variance; // Velocity variance (P11)
 
-    int64_t timestamp;        // Timestamp in milliseconds
+    int64_t timestamp; // Timestamp in milliseconds
 };
 
-struct state_data
-{
+struct state_data {
     flight_state_id_t state;
     float ground_altitude;
     int64_t timestamp;

apps/rockets/cloudburst/src/log_format.h

@@ -4,8 +4,7 @@
 #include "data.h"
 #include <stdint.h>
 
-struct log_frame
-{
+struct log_frame {
     int64_t log_timestamp;
 
     struct imu_data imu;