Add Doxygen, clang-format, cppcheck, and Gitea CI

Doxygen:
- Doxyfile: minimal config, HTML output to docs/, no LaTeX
- @file/@brief on all source files, full @param/@return on public API
- docs/ added to .gitignore

clang-format (14, Linux brace style, 4-space, column 100):
- .clang-format added
- Applied to entire codebase; this commit is the canonical baseline
- just format rewrites in-place; just format-check is the CI gate

cppcheck (--enable=warning,style,performance,portability):
- Linker-symbol pointer comparisons in startup.c suppressed with
  inline cppcheck-suppress (false positives, not real bugs)
- just lint runs cppcheck; zero warnings required to pass

Dockerfile gains clang-format, cppcheck, doxygen packages so all
tools run inside the existing container -- host stays clean.

Gitea Actions (.gitea/workflows/ci.yml):
- Four parallel jobs: build, format, lint, docs
- All jobs use the same Dockerfile-based image
- Doxygen job fails on any warning line in output

.clang-format

@@ -0,0 +1,15 @@
+---
+BasedOnStyle: LLVM
+IndentWidth: 4
+TabWidth: 4
+UseTab: Never
+ColumnLimit: 100
+AlignConsecutiveBitFields: true
+AlignConsecutiveAssignments: false
+AlignTrailingComments: true
+AllowShortFunctionsOnASingleLine: None
+AllowShortIfStatementsOnASingleLine: Never
+BreakBeforeBraces: Linux
+SortIncludes: false
+SpaceAfterCStyleCast: false
+SpaceBeforeParens: ControlStatements

.gitea/workflows/ci.yml

@@ -0,0 +1,99 @@
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+env:
+  IMAGE: ptt-builder
+
+jobs:
+  build:
+    name: Build firmware
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Build container image
+        run: docker build -t $IMAGE .
+
+      - name: Compile firmware
+        run: |
+          docker run --rm \
+            --user "$(id -u):$(id -g)" \
+            -v "$PWD:/src" \
+            $IMAGE \
+            sh -c "cmake -B /src/build -G Ninja \
+                         -DCMAKE_BUILD_TYPE=MinSizeRel /src \
+                   && ninja -C /src/build"
+
+      - name: Print size
+        run: |
+          docker run --rm \
+            -v "$PWD:/src" \
+            $IMAGE \
+            arm-none-eabi-size /src/build/firmware
+
+  format:
+    name: Check formatting
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build container image
+        run: docker build -t $IMAGE .
+
+      - name: clang-format check
+        run: |
+          docker run --rm \
+            --user "$(id -u):$(id -g)" \
+            -v "$PWD:/src" \
+            $IMAGE \
+            sh -c "find /src/src /src/include -name '*.c' -o -name '*.h' | \
+                   xargs clang-format --dry-run --Werror \
+                         --style=file:/src/.clang-format"
+
+  lint:
+    name: Static analysis
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build container image
+        run: docker build -t $IMAGE .
+
+      - name: cppcheck
+        run: |
+          docker run --rm \
+            --user "$(id -u):$(id -g)" \
+            -v "$PWD:/src" \
+            $IMAGE \
+            sh -c "cppcheck --error-exitcode=1 \
+                            --enable=warning,style,performance,portability \
+                            --suppress=missingInclude \
+                            --inline-suppr \
+                            --std=c11 \
+                            -I /src/include \
+                            /src/src/"
+
+  docs:
+    name: Build documentation
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build container image
+        run: docker build -t $IMAGE .
+
+      - name: Doxygen
+        run: |
+          docker run --rm \
+            --user "$(id -u):$(id -g)" \
+            -v "$PWD:/src" \
+            $IMAGE \
+            sh -c "cd /src && doxygen Doxyfile 2>&1 | tee /tmp/doxy.log && \
+                   ! grep -q 'warning:' /tmp/doxy.log"

.gitignore

@@ -1 +1,2 @@
 build/
+docs/

Dockerfile

@@ -6,6 +6,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
         libnewlib-arm-none-eabi \
         cmake \
         ninja-build \
+        clang-format \
+        cppcheck \
+        doxygen \
     && rm -rf /var/lib/apt/lists/*
 
 WORKDIR /src

Doxyfile

@@ -0,0 +1,21 @@
+PROJECT_NAME           = "ptt-fhss"
+PROJECT_BRIEF          = "Bare-metal PTT firmware for nRF52840 with FHSS"
+PROJECT_NUMBER         =
+OUTPUT_DIRECTORY       = docs
+INPUT                  = include src
+FILE_PATTERNS          = *.h *.c
+RECURSIVE              = NO
+EXTRACT_ALL            = YES
+EXTRACT_STATIC         = YES
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_NO_PARAMDOC       = YES
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_TIMESTAMP         = NO
+GENERATE_LATEX         = NO
+HAVE_DOT               = NO
+OPTIMIZE_OUTPUT_FOR_C  = YES
+JAVADOC_AUTOBRIEF      = YES
+PREDEFINED             = NRF52840_XXAA

include/fhss.h

@@ -1,6 +1,27 @@
+/**
+ * @file fhss.h
+ * @brief FHSS channel sequencer based on AES-128-ECB.
+ *
+ * Both link endpoints derive the same hopping sequence independently from a
+ * shared 128-bit key and a monotonically increasing slot counter.  No
+ * synchronisation traffic is required as long as both sides start from the
+ * same slot.
+ */
 #pragma once
 #include <stdint.h>
 
+/** @brief Reset the slot counter to zero. */
 void fhss_init(void);
-uint8_t fhss_next_channel(void);   /* next channel from AES-ECB PRNG sequence */
+
-void    fhss_sync_tick(void);      /* call every FHSS_DWELL_MS ms */
+/**
+ * @brief Return the next channel in the hopping sequence.
+ *
+ * Encrypts the current slot counter big-endian with AES-128-ECB, returns
+ * @c block[0] % 40, and advances the slot counter.
+ *
+ * @return Channel index in [0, 39].
+ */
+uint8_t fhss_next_channel(void);
+
+/** @brief Advance the slot counter without transmitting (receiver side). */
+void fhss_sync_tick(void);

include/power.h

@@ -1,4 +1,16 @@
+/**
+ * @file power.h
+ * @brief Power management: DC/DC regulator, GPIOTE wakeup, SYSTEM_ON sleep.
+ */
 #pragma once
 
+/** @brief Enable the DC/DC converter and configure GPIOTE wakeup on the PTT button. */
 void power_init(void);
-void power_sleep_until_button(void);   /* SYSTEM_ON WFI, woken by GPIOTE event */
+
+/**
+ * @brief Enter SYSTEM_ON low-power sleep and return on the next GPIOTE event.
+ *
+ * Sets TASKS_LOWPWR then executes WFI.  The CPU wakes when the GPIOTE
+ * interrupt fires (button press) and resumes from here.
+ */
+void power_sleep_until_button(void);

include/radio.h

@@ -1,7 +1,30 @@
+/**
+ * @file radio.h
+ * @brief RADIO peripheral driver -- NRF_1Mbit proprietary mode.
+ */
 #pragma once
 #include <stdint.h>
 
+/** @brief Configure the RADIO peripheral (mode, packet format, address, CRC, power, channel). */
 void radio_init(void);
-void    radio_set_channel(uint8_t ch);        /* 0-39, maps to 2402-2480 MHz */
+
+/**
+ * @brief Set the RF channel.
+ * @param ch Channel index 0-39, maps to 2400+ch MHz (MAP=0).
+ */
+void radio_set_channel(uint8_t ch);
+
+/**
+ * @brief Transmit one packet synchronously.
+ *
+ * Loads @p data into the internal packet buffer, asserts TASKS_TXEN, and
+ * returns after EVENTS_END fires.  The RADIO is DISABLED automatically via
+ * the END_DISABLE shortcut before the function returns.
+ *
+ * @param data  Payload bytes.
+ * @param len   Payload length (0-255 bytes).
+ */
 void radio_tx(const uint8_t *data, uint8_t len);
-void    radio_tx_burst(void);                 /* TX with FHSS hopping */
+
+/** @brief Transmit a burst with FHSS hopping (not yet implemented). */
+void radio_tx_burst(void);

include/regs.h

@@ -1,15 +1,16 @@
+/**
+ * @file regs.h
+ * @brief Hardware register bitfield unions for nRF52840 peripherals.
+ *
+ * Layout is guaranteed correct only with arm-none-eabi-gcc (LSB-first
+ * bitfields).  Bit ranges match nRF52840 Product Specification v1.7.
+ */
 #pragma once
 #include <stdint.h>
 
-/*
- * Hardware register bitfield unions for nRF52840 peripherals.
- * Layout is guaranteed correct only with arm-none-eabi-gcc (LSB-first bitfields).
- * Bit ranges match nRF52840 Product Specification v1.7.
- */
-
 /* GPIOTE */
 
-/* CONFIG[n]: channel configuration */
+/** @brief GPIOTE CONFIG[n]: channel configuration register. */
 typedef union {
     struct {
         uint32_t MODE     : 2;  /* [1:0]   0=Disabled  1=Event  3=Task */
@@ -33,7 +34,7 @@ typedef union {
 #define GPIOTE_POL_HITOLO 2u
 #define GPIOTE_POL_TOGGLE 3u
 
-/* INTENSET / INTENCLR: interrupt enable */
+/** @brief GPIOTE INTENSET / INTENCLR: interrupt enable register. */
 typedef union {
     struct {
         uint32_t IN0  : 1;  /* [0]    channel 0 input event */
@@ -52,7 +53,7 @@ typedef union {
 
 /* RADIO */
 
-/* FREQUENCY: radio channel */
+/** @brief RADIO FREQUENCY: RF channel selection register. */
 typedef union {
     struct {
         uint32_t FREQUENCY : 7;  /* [6:0]  offset from base frequency in MHz */
@@ -66,7 +67,7 @@ typedef union {
 #define RADIO_MAP_DEFAULT 0u /* channel n -> 2400+n MHz */
 #define RADIO_MAP_BLE 1u     /* channel n -> 2360+n MHz */
 
-/* TXPOWER: transmit power */
+/** @brief RADIO TXPOWER: transmit power register. */
 typedef union {
     struct {
         int32_t TXPOWER : 8; /* [7:0]  signed dBm: +8, +7, +6, +5, +4, +3, +2,
@@ -76,7 +77,7 @@ typedef union {
     uint32_t reg;
 } radio_txpower_t;
 
-/* MODE: radio data rate and modulation */
+/** @brief RADIO MODE: data rate and modulation register. */
 typedef union {
     struct {
         uint32_t MODE : 4;  /* [3:0]  0=NRF_1Mbit  1=NRF_2Mbit  4=BLE_1Mbit ... */
@@ -89,7 +90,7 @@ typedef union {
 #define RADIO_MODE_NRF_2MBIT 1u
 #define RADIO_MODE_BLE_1MBIT 4u
 
-/* PCNF0: packet configuration register 0 */
+/** @brief RADIO PCNF0: packet configuration register 0 (header fields). */
 typedef union {
     struct {
         uint32_t LFLEN  : 4; /* [3:0]   length of LENGTH field in bits */
@@ -106,7 +107,7 @@ typedef union {
     uint32_t reg;
 } radio_pcnf0_t;
 
-/* PCNF1: packet configuration register 1 */
+/** @brief RADIO PCNF1: packet configuration register 1 (payload and address). */
 typedef union {
     struct {
         uint32_t MAXLEN  : 8; /* [7:0]   maximum payload length in bytes */
@@ -120,7 +121,7 @@ typedef union {
     uint32_t reg;
 } radio_pcnf1_t;
 
-/* CRCCNF: CRC configuration */
+/** @brief RADIO CRCCNF: CRC configuration register. */
 typedef union {
     struct {
         uint32_t LEN      : 2;  /* [1:0]  0=disabled  1=1 byte  2=2 bytes  3=3 bytes */
@@ -136,7 +137,7 @@ typedef union {
 #define RADIO_CRCCNF_LEN_TWO 2u
 #define RADIO_CRCCNF_LEN_THREE 3u
 
-/* SHORTS: shortcut register */
+/** @brief RADIO SHORTS: hardware shortcut register. */
 typedef union {
     struct {
         uint32_t READY_START       : 1;  /* [0]  READY -> TASKS_START */

justfile

@@ -12,6 +12,8 @@ user_ns := `command -v podman >/dev/null 2>&1 \
             && echo "--userns=keep-id" \
             || echo "--user $(id -u):$(id -g)"`
 
+src_files := "find /src/src /src/include -name '*.c' -o -name '*.h'"
+
 # recipes
 # build container image (only rebuilt when Dockerfile changes)
 image-build:
@@ -27,6 +29,44 @@ build: image-build
                      -DCMAKE_BUILD_TYPE=MinSizeRel /src \
                && ninja -C /src/{{build_dir}}"
 
+# reformat all source files in-place with clang-format
+format: image-build
+    {{engine}} run --rm \
+        {{user_ns}} \
+        -v "{{justfile_directory()}}:/src:z" \
+        {{image}} \
+        sh -c "{{src_files}} | xargs clang-format -i --style=file:/src/.clang-format"
+
+# check formatting without modifying files (used in CI)
+format-check: image-build
+    {{engine}} run --rm \
+        {{user_ns}} \
+        -v "{{justfile_directory()}}:/src:z" \
+        {{image}} \
+        sh -c "{{src_files}} | xargs clang-format --dry-run --Werror --style=file:/src/.clang-format"
+
+# static analysis with cppcheck
+lint: image-build
+    {{engine}} run --rm \
+        {{user_ns}} \
+        -v "{{justfile_directory()}}:/src:z" \
+        {{image}} \
+        sh -c "cppcheck --error-exitcode=1 \
+                        --enable=warning,style,performance,portability \
+                        --suppress=missingInclude \
+                        --inline-suppr \
+                        --std=c11 \
+                        -I /src/include \
+                        /src/src/"
+
+# generate HTML documentation with Doxygen
+docs: image-build
+    {{engine}} run --rm \
+        {{user_ns}} \
+        -v "{{justfile_directory()}}:/src:z" \
+        {{image}} \
+        sh -c "cd /src && doxygen Doxyfile"
+
 # flash firmware via pyocd on the host (requires USB / DAPLink)
 flash: build
     pyocd flash --target nrf52840 {{build_dir}}/firmware.hex
@@ -35,10 +75,10 @@ flash: build
 gdbserver:
     pyocd gdbserver --target nrf52840 --port 3333
 
-# remove build artifacts
+# remove build artifacts and generated docs
 clean:
-    rm -rf {{build_dir}}
+    rm -rf {{build_dir}} docs
 
-# remove build artifacts AND the container image
+# remove build artifacts, docs AND the container image
 clean-all: clean
     {{engine}} rmi {{image}} 2>/dev/null || true

src/fhss.c

@@ -1,3 +1,6 @@
+/** @file fhss.c
+ *  @brief FHSS channel sequencer implementation.
+ */
 #include "fhss.h"
 #include <aes.h>
 
@@ -6,8 +9,7 @@
 
 /* TODO: replace with a real shared secret before deployment */
 static const uint8_t shared_key[16] = {
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 };
 
 static uint32_t slot;

src/main.c

@@ -1,3 +1,6 @@
+/** @file main.c
+ *  @brief Entry point: initialise peripherals and run the PTT event loop.
+ */
 #include "radio.h"
 #include "power.h"
 #include <stdint.h>

src/power.c

@@ -1,3 +1,6 @@
+/** @file power.c
+ *  @brief Power management implementation.
+ */
 #include "power.h"
 #include "regs.h"
 #include <nrf52840.h>
@@ -17,8 +20,7 @@ void power_init(void)
             .PSEL = BUTTON_PIN,
             .PORT = 0u,
             .POLARITY = GPIOTE_POL_LOTOHI,
-        }
+        }}.reg;
-    }.reg;
 
     NRF_GPIOTE->INTENSET = (gpiote_inten_t){.bit.IN0 = 1u}.reg;
 

src/radio.c

@@ -1,3 +1,6 @@
+/** @file radio.c
+ *  @brief RADIO peripheral driver implementation.
+ */
 #include "radio.h"
 #include "regs.h"
 #include <nrf52840.h>
@@ -27,20 +30,17 @@ static uint8_t pkt_buf[BUF_SIZE];
 
 void radio_init(void)
 {
-    NRF_RADIO->MODE = (radio_mode_t){
+    NRF_RADIO->MODE = (radio_mode_t){.bit = {.MODE = RADIO_MODE_NRF_1MBIT}}.reg;
-        .bit = { .MODE = RADIO_MODE_NRF_1MBIT }
-    }.reg;
 
     /* 8-bit LENGTH field, no S0/S1, 8-bit preamble, CRC not part of LENGTH */
-    NRF_RADIO->PCNF0 = (radio_pcnf0_t){
+    NRF_RADIO->PCNF0 =
-        .bit = { .LFLEN = 8, .S0LEN = 0, .S1LEN = 0, .PLEN = 0, .CRCINC = 0 }
+        (radio_pcnf0_t){.bit = {.LFLEN = 8, .S0LEN = 0, .S1LEN = 0, .PLEN = 0, .CRCINC = 0}}.reg;
-    }.reg;
 
     /* max 255-byte payload, 3-byte base address, little-endian, no whitening */
-    NRF_RADIO->PCNF1 = (radio_pcnf1_t){
+    NRF_RADIO->PCNF1 =
-        .bit = { .MAXLEN = MAX_PAYLOAD, .STATLEN = 0, .BALEN = 3,
+        (radio_pcnf1_t){
-                 .ENDIAN = 0, .WHITEEN = 0 }
+            .bit = {.MAXLEN = MAX_PAYLOAD, .STATLEN = 0, .BALEN = 3, .ENDIAN = 0, .WHITEEN = 0}}
-    }.reg;
+            .reg;
 
     NRF_RADIO->BASE0 = RADIO_BASE0;
     NRF_RADIO->PREFIX0 = RADIO_PREFIX0;
@@ -48,33 +48,29 @@ void radio_init(void)
     NRF_RADIO->RXADDRESSES = 1; /* receive on logical address 0 */
 
     /* 2-byte CRC, skip address field */
-    NRF_RADIO->CRCCNF = (radio_crccnf_t){
+    NRF_RADIO->CRCCNF = (radio_crccnf_t){.bit = {.LEN = RADIO_CRCCNF_LEN_TWO, .SKIPADDR = 1}}.reg;
-        .bit = { .LEN = RADIO_CRCCNF_LEN_TWO, .SKIPADDR = 1 }
-    }.reg;
     NRF_RADIO->CRCPOLY = 0x11021u; /* CRC-16/CCITT */
     NRF_RADIO->CRCINIT = 0xFFFFu;
 
-    NRF_RADIO->TXPOWER = (radio_txpower_t){
+    NRF_RADIO->TXPOWER =
+        (radio_txpower_t){
             .bit = {.TXPOWER = 0} /* 0 dBm */
-    }.reg;
+        }
+            .reg;
 
-    NRF_RADIO->FREQUENCY = (radio_frequency_t){
+    NRF_RADIO->FREQUENCY =
-        .bit = { .FREQUENCY = DEFAULT_CHANNEL, .MAP = RADIO_MAP_DEFAULT }
+        (radio_frequency_t){.bit = {.FREQUENCY = DEFAULT_CHANNEL, .MAP = RADIO_MAP_DEFAULT}}.reg;
-    }.reg;
 
     /* READY -> START and END -> DISABLE shortcuts so CPU only triggers TXEN */
-    NRF_RADIO->SHORTS = (radio_shorts_t){
+    NRF_RADIO->SHORTS = (radio_shorts_t){.bit = {.READY_START = 1, .END_DISABLE = 1}}.reg;
-        .bit = { .READY_START = 1, .END_DISABLE = 1 }
-    }.reg;
 
     NRF_RADIO->PACKETPTR = (uint32_t)pkt_buf;
 }
 
 void radio_set_channel(uint8_t ch)
 {
-    NRF_RADIO->FREQUENCY = (radio_frequency_t){
+    NRF_RADIO->FREQUENCY =
-        .bit = { .FREQUENCY = ch, .MAP = RADIO_MAP_DEFAULT }
+        (radio_frequency_t){.bit = {.FREQUENCY = ch, .MAP = RADIO_MAP_DEFAULT}}.reg;
-    }.reg;
 }
 
 void radio_tx(const uint8_t *data, uint8_t len)

src/startup.c

@@ -1,3 +1,6 @@
+/** @file startup.c
+ *  @brief Vector table and Reset_Handler for nRF52840 (no SoftDevice).
+ */
 #include <stdint.h>
 
 /* linker script symbols */
@@ -14,7 +17,8 @@ void Reset_Handler(void);
 
 static void __attribute__((used)) Default_Handler(void)
 {
-    while (1);
+    while (1)
+        ;
 }
 
 /* ARM Cortex-M4 core exceptions */
@@ -32,8 +36,10 @@ void SysTick_Handler(void)    __attribute__((weak, alias("Default_Handler")));
 void POWER_CLOCK_IRQHandler(void) __attribute__((weak, alias("Default_Handler")));
 void RADIO_IRQHandler(void) __attribute__((weak, alias("Default_Handler")));
 void UARTE0_UART0_IRQHandler(void) __attribute__((weak, alias("Default_Handler")));
-void SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQHandler(void) __attribute__((weak, alias("Default_Handler")));
+void SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQHandler(void)
-void SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQHandler(void) __attribute__((weak, alias("Default_Handler")));
+    __attribute__((weak, alias("Default_Handler")));
+void SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQHandler(void)
+    __attribute__((weak, alias("Default_Handler")));
 void NFCT_IRQHandler(void) __attribute__((weak, alias("Default_Handler")));
 void GPIOTE_IRQHandler(void) __attribute__((weak, alias("Default_Handler")));
 void SAADC_IRQHandler(void) __attribute__((weak, alias("Default_Handler")));
@@ -77,8 +83,7 @@ void SPIM3_IRQHandler(void)                              __attribute__((weak, al
 
 typedef void (*vector_fn)(void);
 
-__attribute__((section(".isr_vector"), used))
+__attribute__((section(".isr_vector"), used)) const vector_fn vectors[64] = {
-const vector_fn vectors[64] = {
     /* 0  */ (vector_fn)&_estack,
     /* 1  */ Reset_Handler,
     /* 2  */ NMI_Handler,
@@ -153,16 +158,19 @@ void Reset_Handler(void)
     /* copy .data initializers from Flash to RAM */
     uint32_t *src = &_sidata;
     uint32_t *dst = &_sdata;
+    // cppcheck-suppress comparePointers
     while (dst < &_edata) {
         *dst++ = *src++;
     }
 
     /* zero .bss */
     dst = &_sbss;
+    // cppcheck-suppress comparePointers
     while (dst < &_ebss) {
         *dst++ = 0u;
     }
 
     main();
-    while (1);
+    while (1)
+        ;
 }