代码规范

User_Code/bsp/fdcan/bsp_fdcan.c

@@ -165,7 +165,7 @@ FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config)
         }
     }
 
-    FDCANInstance *instance = (FDCANInstance *) malloc(sizeof(FDCANInstance)); // 分配空间
+    auto instance = (FDCANInstance *) malloc(sizeof(FDCANInstance)); // 分配空间
     memset(instance, 0, sizeof(FDCANInstance)); // 分配的空间未必是0,所以要先清空
 
     // 进行发送报文的配置

User_Code/bsp/gpio/bsp_gpio.c

@@ -29,7 +29,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 
 GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config)
 {
-    GPIOInstance *ins = (GPIOInstance *) malloc(sizeof(GPIOInstance));
+    auto ins = (GPIOInstance *) malloc(sizeof(GPIOInstance));
     memset(ins, 0, sizeof(GPIOInstance));
 
     ins->GPIOx = GPIO_config->GPIOx;

User_Code/bsp/spi/bsp_spi.c

@@ -10,7 +10,7 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
 {
     if (idx >= MX_SPI_BUS_SLAVE_CNT) // 超过最大实例数
         while (1);
-    SPIInstance *instance = (SPIInstance *) malloc(sizeof(SPIInstance));
+    auto instance = (SPIInstance *) malloc(sizeof(SPIInstance));
     memset(instance, 0, sizeof(SPIInstance));
 
     instance->spi_handle = conf->spi_handle;

User_Code/module/algorithm/kalman/kalman_filter.c

@@ -266,7 +266,9 @@ void Kalman_Filter_Measure(KalmanFilter_t *kf)
     // 矩阵H K R根据量测情况自动调整
     // matrix H K R auto adjustment
     if (kf->UseAutoAdjustment != 0)
+    {
         H_K_R_Adjustment(kf);
+    }
     else
     {
         memcpy(kf->z_data, kf->MeasuredVector, sizeof_float * kf->zSize);

User_Code/module/periph/imu/BMI088/BMI088driver.c

@@ -205,7 +205,9 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
 
             gNormDiff = gNormMax - gNormMin;
             for (uint8_t j = 0; j < 3; ++j)
+            {
                 gyroDiff[j] = gyroMax[j] - gyroMin[j];
+            }
             if (gNormDiff > 0.5f ||
                 gyroDiff[0] > 0.5f || //0.15
                 gyroDiff[1] > 0.5f || //0.15
@@ -220,7 +222,9 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
 
         bmi088->gNorm /= (float) CaliTimes;
         for (uint8_t i = 0; i < 3; ++i)
+        {
             bmi088->GyroOffset[i] /= (float) CaliTimes;
+        }
 
         BMI088_accel_read_muli_reg(BMI088_TEMP_M, buf, 2);
         bmi088_raw_temp = (int16_t) ((buf[0] << 3) | (buf[1] >> 5));

User_Code/module/periph/imu/ins_task.c

@@ -67,7 +67,9 @@ static void InitQuaternion(float *init_q4)
         DWT_Delay(0.001);
     }
     for (uint8_t i = 0; i < 3; ++i)
+    {
         acc_init[i] /= 100;
+    }
     Norm3d(acc_init);
     // 计算原始加速度矢量和导航系重力加速度矢量的夹角
     float angle = acosf(Dot3d(acc_init, gravity_norm));
@@ -75,7 +77,9 @@ static void InitQuaternion(float *init_q4)
     Norm3d(axis_rot);
     init_q4[0] = cosf(angle / 2.0f);
     for (uint8_t i = 0; i < 2; ++i)
+    {
         init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
+    }
 }
 
 attitude_t *INS_Init(void)
@@ -265,7 +269,9 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[
     }
     float gyro_temp[3];
     for (uint8_t i = 0; i < 3; ++i)
+    {
         gyro_temp[i] = gyro[i] * param->scale[i];
+    }
 
     gyro[X] = c_11 * gyro_temp[X] +
               c_12 * gyro_temp[Y] +
@@ -279,7 +285,9 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[
 
     float accel_temp[3];
     for (uint8_t i = 0; i < 3; ++i)
+    {
         accel_temp[i] = accel[i];
+    }
 
     accel[X] = c_11 * accel_temp[X] +
                c_12 * accel_temp[Y] +

User_Code/module/periph/power_meters/xiditech/xidipwmeter.c

@@ -38,11 +38,11 @@ void PowerMeterDecode(FDCANInstance *instance)
     measure->dt = DWT_GetDeltaT(&power_meter_instance->feed_cnt);
 
     // 解析电流数据 (放大100倍，需要除以100)
-    int16_t current_raw = (int16_t) ((rxbuff[1] << 8) | rxbuff[0]);
+    auto current_raw = (int16_t) ((rxbuff[1] << 8) | rxbuff[0]);
     measure->current = (float) current_raw / 100.0f;
 
     // 解析电压数据 (放大100倍，需要除以100)
-    int16_t voltage_raw = (int16_t) ((rxbuff[3] << 8) | rxbuff[2]);
+    auto voltage_raw = (int16_t) ((rxbuff[3] << 8) | rxbuff[2]);
     measure->voltage = (float) voltage_raw / 100.0f;
 
     // 计算功率