checkpatch: Cleanup based on check_compliance.py

This commit fixes a number of issues found while running
check_compliance.py against the codebase.

Signed-off-by: Kevin Townsend <kevin@ktownsend.com>

README.md

@@ -144,6 +144,16 @@ $ twister --inline-logs -p mps2_an521 -T modules/lib/zscilib/tests
 
 See the `tests` folder for further details.
 
+To run compliance tests to make sure submitted code matches Zephyr PR
+requirements, run this (updating `HEAD~2` for the number of commits to check,
+or setting it to `origin/master..` to check everything):
+
+```bash
+$ ../../../zephyr/scripts/ci/check_compliance.py \
+  -m Gitlint -m Identity -m Nits -m pylint -m checkpatch \
+  -c HEAD~2..
+```
+
 ### Debugging with QEMU
 
 If you wish to debug using QEMU (and with minor variation actual hardware),
@@ -291,7 +301,6 @@ to ensure that the stack pointer is double-word aligned).
 | Project         | `zsl_vec_project`     | x   | x   |     |                 |
 | To unit vector  | `zsl_vec_to_unit`     | x   | x   |     |                 |
 | Cross product   | `zsl_vec_cross`       | x   | x   |     |                 |
-| Wedge product   | `zsl_vec_wedge`       |     |     |     |                 |
 | Sum of squares  | `zsl_vec_sum_of_sqrs` | x   | x   |     |                 |
 | Comp-wise mean  | `zsl_vec_mean`        | x   | x   |     |                 |
 | Arithmetic mean | `zsl_vec_ar_mean`     | x   | x   |     |                 |
@@ -332,6 +341,7 @@ to ensure that the stack pointer is double-word aligned).
 | Transpose       | `zsl_mtx_trans`       | x   | x   |     |                 |
 | Adjoint 3x3     | `zsl_mtx_adjoint_3x3` | x   | x   |     |                 |
 | Adjoint         | `zsl_mtx_adjoint`     | x   | x   |     |                 |
+| Wedge product   | `zsl_mtx_vec_wedge`   |     | x   |     |                 |
 | Reduce          | `zsl_mtx_reduce`      | x   | x   |     | Row+col removal |
 | Reduce (iter)   | `zsl_mtx_reduce_iter` | x   | x   |     | Iterative ver.  |
 | Augment         | `zsl_mtx_augm_diag`   | x   | x   |     | Adds row+col(s) |

include/zsl/chemistry.h

@@ -8,9 +8,8 @@
  * @defgroup CHEMISTRY Chemistry
  *
  * @brief Chemistry functions.
- * 
- * @{ */
-
+ * @{
+ */
 
 /**
  * @file

include/zsl/matrices.h

@@ -512,7 +512,7 @@ int zsl_mtx_mult(struct zsl_mtx *ma, struct zsl_mtx *mb, struct zsl_mtx *mc);
  *        Matrices 'ma' and 'mb' must be compatibly shaped, meaning that
  *        'ma' must have the same numbers of columns as there are rows
  *        in 'mb'. To use this function, 'mb' must be a square matrix.
- * 	      This function is destructive.
+ *        This function is destructive.
  *
  * @param ma    Pointer to the first input zsl_mtx.
  * @param mb    Pointer to the second input zsl_mtx.
@@ -594,19 +594,19 @@ int zsl_mtx_adjoint(struct zsl_mtx *m, struct zsl_mtx *ma);
 #ifndef CONFIG_ZSL_SINGLE_PRECISION
 /**
  * @brief Calculates the wedge product of n-1 vectors of size n, which are the
- * 		  rows of the matrix 'm'. This n-1 vectors must be linearly independent.
+ *        rows of the matrix 'm'. This n-1 vectors must be linearly independent.
  *
  * The wedge product is an extension of the cross product for dimension greater
  * than 3. Given a set of n-1 vectors of size n, the wedge product calculates
  * a n-dimensional vector that is perpendicular to all the others.
  *
  * @param m     The input (n-1) x n matrix, with n > 3, whose rows are the
- * 				linearly independent vectors to use in the wedge product.
+ *              linearly independent vectors to use in the wedge product.
  * @param v     The output vector of dimension n, perpendicular to all the
- * 				input vectors.
+ *              input vectors.
  *
  * @return  0 if everything executed correctly, or -EINVAL if n > 3, or if
- * 			the input matrix isn't of the form (n-1) x n.
+ *          the input matrix isn't of the form (n-1) x n.
  */
 int zsl_mtx_vec_wedge(struct zsl_mtx *m, struct zsl_vec *v);
 #endif
@@ -805,7 +805,7 @@ int zsl_mtx_inv(struct zsl_mtx *m, struct zsl_mtx *mi);
 
 /**
  * @brief Calculates the Cholesky decomposition of a symmetric square matrix
- * 		  using the Cholesky–Crout algorithm.
+ *        using the Cholesky–Crout algorithm.
  *
  * Computing the Cholesky decomposition of a symmetric square matrix M consists
  * in finding a matrix L such that M = L * Lt (L multiplied by its transpose).

include/zsl/orientation/ahrs.h

@@ -81,8 +81,8 @@ struct zsl_attitude {
  *        same memory address to a @ref zsl_vec, allowing for vector functions
  *        to be used on the zsl_attitude values.
  *
- * @param a		Pointer to the zsl_attitude struct to use.
- * @param v		Pointer to the zsl_vec struct to use.
+ * @param a     Pointer to the zsl_attitude struct to use.
+ * @param v     Pointer to the zsl_vec struct to use.
  *
  * @return 0 if everything executed correctly, otherwise a negative error code.
  */
@@ -92,8 +92,8 @@ int zsl_att_to_vec(struct zsl_attitude *a, struct zsl_vec *v);
  * @brief Converts the input @ref zsl_attitude, expessed in degrees, to it's
  *        equivalent in radians in the output @ref zsl_euler.
  *
- * @param a 	Pointer to the zsl_attitued struct to use.
- * @param e 	Pointer to the zsl_euler struct to use.
+ * @param a     Pointer to the zsl_attitued struct to use.
+ * @param e     Pointer to the zsl_euler struct to use.
  *
  * @return 0 if everything executed correctly, otherwise a negative error code.
  */
@@ -103,8 +103,8 @@ int zsl_att_to_euler(struct zsl_attitude *a, struct zsl_euler *e);
  * @brief Converts the input @ref zsl_euler, expessed in radians, to it's
  *        equivalent in degrees in the output @ref zsl_attitude.
  *
- * @param e 	Pointer to the zsl_euler struct to use.
- * @param a 	Pointer to the zsl_attitued struct to use.
+ * @param e     Pointer to the zsl_euler struct to use.
+ * @param a     Pointer to the zsl_attitued struct to use.
  *
  * @return 0 if everything executed correctly, otherwise a negative error code.
  */
@@ -114,9 +114,9 @@ int zsl_att_from_euler(struct zsl_euler *e, struct zsl_attitude *a);
  * @brief Converts a three-axis accelerometer (in m/s^2) and a three-axis
  *        magnetometer sample (in micro-Tesla) to attitude.
  *
- * @param accel 	Acceleration triplet in m/s^2.
- * @param mag		Magnetometer triplet in micro-Tesla.
- * @param a 		Pointer the the output @ref zsl_attitude struct.
+ * @param accel     Acceleration triplet in m/s^2.
+ * @param mag       Magnetometer triplet in micro-Tesla.
+ * @param a         Pointer the the output @ref zsl_attitude struct.
  *
  * @return 0 if everything executed correctly, otherwise a negative error code.
  */
@@ -127,8 +127,8 @@ int zsl_att_from_accelmag(struct zsl_vec *accel, struct zsl_vec *mag,
  * @brief Converts a three-axis accelerometer sample (in m/s^2) to roll and
  *        pitch.
  *
- * @param accel 	Acceleration triplet in m/s^2.
- * @param a 		Pointer the the output @ref zsl_attitude struct.
+ * @param accel     Acceleration triplet in m/s^2.
+ * @param a         Pointer the the output @ref zsl_attitude struct.
  *
  * @return 0 if everything executed correctly, otherwise a negative error code.
  */
@@ -137,9 +137,9 @@ int zsl_att_from_accel(struct zsl_vec *accel, struct zsl_attitude *a);
 /**
  * @brief Calculates the angle between two accelerometers.
  *
- * @param a1 	First acceleration triplet in m/s^2.
- * @param a2 	First acceleration triplet in m/s^2.
- * @param b		Angle between the accelerometers, in radians.
+ * @param a1    First acceleration triplet in m/s^2.
+ * @param a2    First acceleration triplet in m/s^2.
+ * @param b     Angle between the accelerometers, in radians.
  *
  * @return 0 if everything executed correctly, otherwise a negative error code
  *         if the accelerometer data is not tridimensional.

include/zsl/orientation/compass.h

@@ -41,7 +41,8 @@
  * 2° 13' 0" East) to decimal degrees (2.216667 in this case).
  *
  * @ingroup ORIENTATION
- *  @{ */
+ *  @{
+ */
 
 /**
  * @file
@@ -77,7 +78,7 @@ extern "C" {
  * @param dd    Pointer to the output decimal degrees value.
  *
  * @return 0 if everything executed normally, or a negative error code if the
- * 		   dimension of the magnetometer vector is not three.
+ *         dimension of the magnetometer vector is not three.
  */
 int zsl_comp_dms_to_dd(zsl_real_t d, zsl_real_t m, zsl_real_t s,
 		       zsl_real_t *dd);
@@ -96,10 +97,10 @@ int zsl_comp_dms_to_dd(zsl_real_t d, zsl_real_t m, zsl_real_t s,
  * Source:
  * https://cdn-shop.adafruit.com/datasheets/AN203_Compass_Heading_Using_Magnetometers.pdf
  *
- * @param m		Input corrected magnetometer tridimensional vector, in micro
+ * @param m     Input corrected magnetometer tridimensional vector, in micro
  *              Tesla.
- * @param d		Output angle between the magnetic north and the x axis, in
- * 				degrees.
+ * @param d     Output angle between the magnetic north and the x axis, in
+ *              degrees.
  *
  * @return 0 if everything executed normally, or a negative error code if the
  * 		   dimension of the magnetometer vector is not three.
@@ -130,13 +131,13 @@ int zsl_comp_magn_north(struct zsl_vec *m, zsl_real_t *d);
  * upwards, and that the input magnetometer data has already been corrected
  * for hard and soft iron errors.
  *
- * @param m  	 Input magnetometer tridimensional vector, in micro Tesla.
- * @param dec  	 Input magnetic declination, in degrees.
+ * @param m      Input magnetometer tridimensional vector, in micro Tesla.
+ * @param dec    Input magnetic declination, in degrees.
  * @param b    	 Output angle deviation between true or geographic north and
  *               the x axis, in degrees (AKA true bearing).
  *
  * @return 0 if everything executed normally, or a negative error code if the
- * 		   dimension of the magnetometer vector is not three.
+ *         dimension of the magnetometer vector is not three.
  */
 int zsl_comp_geo_north(struct zsl_vec *m, zsl_real_t dec, zsl_real_t *b);
 

include/zsl/orientation/euler.h

@@ -57,16 +57,16 @@ struct zsl_euler {
  *        same memory address to a @ref zsl_vec, allowing for vector functions
  *        to be used on the zsl_euler XYZ values.
  *
- * @param e		Pointer to the zsl_euler struct to use.
- * @param v		Pointer to the zsl_vec struct to use.
+ * @param e     Pointer to the zsl_euler struct to use.
+ * @param v     Pointer to the zsl_vec struct to use.
  *
  * @return 0 if everything executed correctly, otherwise a negative error code.
  */
 int zsl_eul_to_vec(struct zsl_euler *e, struct zsl_vec *v);
 
 /**
  * @brief Print the supplied euler angles vector using printf in a
- * 		  human-readable manner.
+ *        human-readable manner.
  *
  * @param e     Pointer to the vector containing the euler angles to print.
  *

include/zsl/orientation/fusion/aqua.h

@@ -10,7 +10,8 @@
  * @brief AQUA sensor fuion algorithm.
  *
  * @ingroup FUSION_ALGORITHMS
- *  @{ */
+ *  @{
+ */
 
 /**
  * @file
@@ -40,32 +41,33 @@ extern "C" {
  */
 struct zsl_fus_aqua_cfg {
 	/**
-	 * @brief A value between 0.0 and 1.0 which sets the gain for the cut-off
-	 *        frequency of the filter. Adjust this value to control LERP or
-	 *        SLERP, which reduces the amount of high frequency noise in the
-	 *        accelerometer. Alpha must be calculated in static conditions.
+	 * @brief A value between 0.0 and 1.0 which sets the gain for the
+	 *        cut-off frequency of the filter. Adjust this value to control
+	 *        LERP or SLERP, which reduces the amount of high frequency
+	 *        noise in the accelerometer. Alpha must be calculated in
+	 *        static conditions.
 	 */
 	zsl_real_t alpha;
 
 	/**
-	 * @brief Similar to alpha, this variable is set between 0.0 and 1.0 and is
-	 *        used to control the LERP or SLERP, which reduces the amount of
-	 *        high frequency noise in the magnetometer. Beta must be calculated
-	 *        in static conditions.
+	 * @brief Similar to alpha, this variable is set between 0.0 and 1.0
+	 *        and is used to control the LERP or SLERP, which reduces the
+	 *        amount of high frequency noise in the magnetometer. Beta
+	 *        must be calculated in static conditions.
 	 */
 	zsl_real_t beta;
 
 	/**
-	 * @brief Threshold value to determine whether to compute LERP or SLERP
-	 *        to reduce the amount of high frequency noise of the accelerometer
-	 *        in the Dq_acc vector. Typically set to 0.9.
+	 * @brief Threshold value to determine whether to compute LERP or
+	 *        SLERP to reduce the amount of high frequency noise of the
+	 *        accelerometer in the Dq_acc vector. Typically set to 0.9.
 	 */
 	zsl_real_t e_a;
 
 	/**
-	 * @brief Threshold value to determine whether to compute LERP or SLERP
-	 *        to reduce the amount of high frequency noise of the magnetometer
-	 *        in the Dq_mag vector. Typically set to 0.9.
+	 * @brief Threshold value to determine whether to compute LERP or
+	 *        SLERP to reduce the amount of high frequency noise of the
+	 *        magnetometer in the Dq_mag vector. Typically set to 0.9.
 	 */
 	zsl_real_t e_m;
 };