feat: add clang-format script, mise tasks and ci job

.github/dependabot.yml

@@ -0,0 +1,9 @@
+# Set update schedule for GitHub Actions
+version: 2
+updates:
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      # Check for updates to GitHub Actions every week
+      interval: "weekly"

.github/workflows/main.yml

@@ -10,7 +10,7 @@ permissions:
   contents: read
 
 env:
-  # We don't need every tool in the manifest for CI.
+  # We don't need every tool in the manifest for CI, we specify the ones we need in each job.
   MISE_TASK_RUN_AUTO_INSTALL: "false"
 
 jobs:
@@ -20,41 +20,58 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
 
       - name: Install system dependencies
         run: |
           sudo apt-get update
           sudo apt-get install --yes build-essential
 
       - name: Set up mise
-        uses: jdx/mise-action@c2a87611a18de5b3828c5652fe268e992400cb5c
+        uses: jdx/mise-action@c2a87611a18de5b3828c5652fe268e992400cb5c # v4.3.0
         with:
           install_args: aqua:Kitware/CMake
 
       - name: Run unit tests
         run: mise run test
 
   lint:
-    name: Cppcheck
+    name: cppcheck
     runs-on: ubuntu-latest
 
     env:
       MISE_TASK_RUN_AUTO_INSTALL: "false"
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
         with:
           submodules: recursive
 
       - name: Set up mise
-        uses: jdx/mise-action@c2a87611a18de5b3828c5652fe268e992400cb5c
+        uses: jdx/mise-action@c2a87611a18de5b3828c5652fe268e992400cb5c # v4.3.0
         with:
           install_args: >-
             aqua:Kitware/CMake
             conda:cppcheck
             vfox:jdx/vfox-gcc-arm-none-eabi
 
       - name: Run cppcheck
-        run: mise run lint
+        run: mise run lint
+
+  format:
+    name: clang-format
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+
+      - name: Set up mise
+        uses: jdx/mise-action@c2a87611a18de5b3828c5652fe268e992400cb5c # v4.3.0
+        with:
+          install_args: >-
+            clang-format
+
+      - name: Check formatting
+        run: mise run format:check

README.md

@@ -120,6 +120,18 @@ To reset the device:
 mise run reset
 ```
 
+To format the C application code with `clang-format`:
+
+```sh
+mise run reset
+```
+
+To lint the C application code with `cppcheck`:
+
+```sh
+mise run lint
+```
+
 ### Debugging
 
 To debug the firmware, first build it with the debug preset, then install the probe-rs vscode

mise.toml

@@ -3,6 +3,7 @@
 "aqua:Kitware/CMake" = "4.3.1"
 "conda:cppcheck" = "2.21.0"
 "cargo:probe-rs-tools" = "0.31.0"
+clang-format = "23.1.2"
 python = "3.14"
 uv = "0.11.19"
 # For PlantUML diagrams.
@@ -117,3 +118,9 @@ description = "Lint all Python files"
 run = '''
 uvx ruff check
 '''
+
+[tasks.format]
+run = "./scripts/clang-format.sh -i"
+
+[tasks."format:check"]
+run = "./scripts/clang-format.sh --dry-run --Werror"

scripts/clang-format.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+find app tests \
+    \( -path 'app/drivers/vl53l0x' -o -path 'tests/unity' \) -prune -o \
+    -type f \( -name '*.c' -o -name '*.h' \) \
+    ! -path 'app/config/SEGGER_RTT_Conf.h' \
+    -print0 |
+xargs -0 -r clang-format "$@"

tests/integration/test-drive.c

@@ -3,16 +3,19 @@
 #include "main.h"
 #include "tim.h"
 
-void app_init(void) {
+void app_init(void)
+{
     // We need TIM17 for the microsecond sleep timer we use to wake the motor drivers.
     MX_TIM17_Init();
-    if (HAL_TIM_Base_Start(&htim17) != HAL_OK) {
+    if (HAL_TIM_Base_Start(&htim17) != HAL_OK)
+    {
         Error_Handler();
     }
     motor_driver_init();
 }
 
-void app_run(void) {
+void app_run(void)
+{
     // Enable LED and wait for 5 seconds before starting.
     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, SET);
     motor_drive(0, DRIVE_STOP);

tests/test_ring_buffer.c

@@ -1,5 +1,5 @@
-#include "unity.h"
 #include "ring_buffer.h"
+#include "unity.h"
 
 #define TEST_BUFFER_CAPACITY 8
 
@@ -33,7 +33,8 @@ void test_push_then_pop_then_empty(void)
 
 void test_push_beyond_full_drops_oldest_value(void)
 {
-    // Note that the capacity is one smaller, since we reserve one slot to determine if the buffer is full.
+    // Note that the capacity is one smaller, since we reserve one slot to determine if the buffer
+    // is full.
     for (int i = 0; i < TEST_BUFFER_CAPACITY; i++)
     {
         ring_buffer_push(&rb, &i);