src/input.rs

@@ -540,7 +540,7 @@ pub async fn update_button_state_task(
 }
 
 /// Task responsible for updating the stick states.
-/// Publishes the result to STICK_SIGNAL.
+/// Publishes the result to SIGNAL_STICK_STATE.
 ///
 /// Has to run on core0 because it makes use of SPI0.
 #[embassy_executor::task]
@@ -561,8 +561,8 @@ pub async fn update_stick_states_task(
 
     let mut controller_config = SIGNAL_CONFIG_CHANGE.wait().await;
 
-    let mut controlstick_params = StickParams::from_stick_config(&controller_config.astick_config);
+    let mut controlstick_params = StickParams::from(&controller_config.astick_config);
-    let mut cstick_params = StickParams::from_stick_config(&controller_config.cstick_config);
+    let mut cstick_params = StickParams::from(&controller_config.cstick_config);
     let mut filter_gains = FILTER_GAINS.get_normalized_gains(&controller_config);
 
     let mut current_stick_state = StickState {
@@ -621,13 +621,14 @@ pub async fn update_stick_states_task(
 
         SIGNAL_STICK_STATE.signal(current_stick_state.clone());
 
+        // the yield_now is in case we took too long for the ticker
         yield_now().await;
         ticker.next().await;
 
         if let Some(new_config) = SIGNAL_CONFIG_CHANGE.try_take() {
             controller_config = new_config;
-            controlstick_params = StickParams::from_stick_config(&controller_config.astick_config);
+            controlstick_params = StickParams::from(&controller_config.astick_config);
-            cstick_params = StickParams::from_stick_config(&controller_config.cstick_config);
+            cstick_params = StickParams::from(&controller_config.cstick_config);
             filter_gains = FILTER_GAINS.get_normalized_gains(&controller_config);
 
             info!("Controlstick params: {:?}", controlstick_params);

src/stick.rs

@@ -32,17 +32,19 @@ pub const NOTCH_ADJUSTMENT_ORDER: [usize; NO_OF_ADJ_NOTCHES] = [2,           6,
 
 #[derive(Clone, Debug, Default, Format)]
 pub struct StickParams {
-    // these are the linearization coefficients
+    /// these are the linearization coefficients
     pub fit_coeffs: XyValuePair<[f32; NUM_COEFFS]>,
 
     // these are the notch remap parameters
-    pub affine_coeffs: [[f32; 4]; 16], // affine transformation coefficients for all regions of the stick
+    /// affine transformation coefficients for all regions of the stick
-    pub boundary_angles: [f32; 16], // angles at the boundaries between regions of the stick (in the plane)
+    pub affine_coeffs: [[f32; 4]; 16],
+    /// angles at the boundaries between regions of the stick (in the plane)
+    pub boundary_angles: [f32; 16],
 }
 
-impl StickParams {
+impl From<&StickConfig> for StickParams {
-    /// Generate StickParams structs for the sticks, returned as a tuple of (analog_stick, c_stick)
+    /// Generate a StickParam struct from a stick config
-    pub fn from_stick_config(stick_config: &StickConfig) -> Self {
+    fn from(stick_config: &StickConfig) -> Self {
         let cleaned_cal_points = CleanedCalibrationPoints::from_temp_calibration_points(
             stick_config.cal_points_x.to_regular_array(),
             stick_config.cal_points_y.to_regular_array(),
@@ -427,7 +429,7 @@ impl AppliedCalibration {
         cal_points_y: &[f32; NO_OF_CALIBRATION_POINTS],
         stick_config: &StickConfig,
     ) -> Self {
-        let mut stick_params = StickParams::from_stick_config(stick_config);
+        let mut stick_params = StickParams::from(stick_config);
 
         let (stripped_cal_points_x, stripped_cal_points_y) =
             strip_cal_points(cal_points_x, cal_points_y);