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chore: refactor according to clippy & clean up config #6

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Naxdy merged 8 commits from clippy-fixes into main 2024-04-03 16:53:52 +00:00
Conversation 0 Commits 8 Files changed 5 +625 -576
3 changed files with 625 additions and 576 deletions
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411
src/config.rs
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@ -13,7 +13,9 @@ use embassy_rp::{
use packed_struct::{derive::PackedStruct, PackedStruct}; use packed_struct::{derive::PackedStruct, PackedStruct};
use crate::{ use crate::{
gcc_hid::{SIGNAL_CHANGE_RUMBLE_STRENGTH, SIGNAL_INPUT_CONSISTENCY_MODE_STATUS}, gcc_hid::{
Buttons1, Buttons2, SIGNAL_CHANGE_RUMBLE_STRENGTH, SIGNAL_INPUT_CONSISTENCY_MODE_STATUS,
},
helpers::{PackedFloat, ToPackedFloatArray, ToRegularArray, XyValuePair}, helpers::{PackedFloat, ToPackedFloatArray, ToRegularArray, XyValuePair},
input::{ input::{
read_ext_adc, Stick, StickAxis, FLOAT_ORIGIN, SPI_ACS_SHARED, SPI_CCS_SHARED, SPI_SHARED, read_ext_adc, Stick, StickAxis, FLOAT_ORIGIN, SPI_ACS_SHARED, SPI_CCS_SHARED, SPI_SHARED,
@ -561,8 +563,6 @@ impl ControllerConfig {
if r.is_err() { if r.is_err() {
warn!("Controller config not found in flash, using default."); warn!("Controller config not found in flash, using default.");
controller_config_packed = [0u8; 659]; controller_config_packed = [0u8; 659];
} else {
r.unwrap();
} }
match ControllerConfig::unpack(&controller_config_packed) { match ControllerConfig::unpack(&controller_config_packed) {
@ -1044,9 +1044,8 @@ fn get_stick_display_coords(current_step: usize) -> (f32, f32) {
let idx = CALIBRATION_ORDER[current_step]; let idx = CALIBRATION_ORDER[current_step];
if idx % 2 != 0 { if idx % 2 != 0 {
let notch_idx = idx / 2; let notch_idx = idx / 2;
match calc_stick_values(DEFAULT_ANGLES[notch_idx]) { let (x, y) = calc_stick_values(DEFAULT_ANGLES[notch_idx]);
(x, y) => (x + FLOAT_ORIGIN, y + FLOAT_ORIGIN), (x + FLOAT_ORIGIN, y + FLOAT_ORIGIN)
}
} else { } else {
(127.5, 127.5) (127.5, 127.5)
} }
@ -1065,7 +1064,7 @@ async fn configuration_main_loop<
const P: usize, const P: usize,
>( >(
current_config: &ControllerConfig, current_config: &ControllerConfig,
mut flash: &mut Flash<'static, FLASH, Async, FLASH_SIZE>, flash: &mut Flash<'static, FLASH, Async, FLASH_SIZE>,
gcc_subscriber: &mut Subscriber<'a, M, GcReport, C, S, P>, gcc_subscriber: &mut Subscriber<'a, M, GcReport, C, S, P>,
) -> ControllerConfig { ) -> ControllerConfig {
let mut final_config = current_config.clone(); let mut final_config = current_config.clone();
@ -1114,29 +1113,31 @@ async fn configuration_main_loop<
]; ];
'main: loop { 'main: loop {
match gcc_subscriber let selection = gcc_subscriber
.wait_and_filter_simultaneous_button_presses(&config_options) .wait_and_filter_simultaneous_button_presses(&config_options)
.await .await;
{ match selection {
selection => match selection {
// exit // exit
0 => { 0 => {
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_l = true; button_r: true,
a.buttons_2.button_r = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_y = true; },
a.buttons_1.button_a = true; buttons_1: Buttons1 {
a.stick_x = 127; button_x: true,
a.stick_y = 127; button_y: true,
a.cstick_x = 127; button_a: true,
a.cstick_y = 127; ..Default::default()
a },
} stick_x: 127,
stick_y: 127,
cstick_x: 127,
cstick_y: 127,
}, },
duration_ms: 1000, duration_ms: 1000,
}) })
@ -1147,20 +1148,24 @@ async fn configuration_main_loop<
// calibrate lstick // calibrate lstick
1 => { 1 => {
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_a = true; },
a.stick_x = 255; buttons_1: Buttons1 {
a.stick_y = 255; button_x: true,
a.cstick_x = 127; button_y: true,
a.cstick_y = 127; button_a: true,
a ..Default::default()
} },
stick_x: 255,
stick_y: 255,
cstick_x: 127,
cstick_y: 127,
}, },
duration_ms: 1000, duration_ms: 1000,
}) })
@ -1172,20 +1177,24 @@ async fn configuration_main_loop<
// calibrate rstick // calibrate rstick
2 => { 2 => {
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_a = true; },
a.stick_x = 127; buttons_1: Buttons1 {
a.stick_y = 127; button_x: true,
a.cstick_x = 255; button_y: true,
a.cstick_y = 255; button_a: true,
a ..Default::default()
} },
stick_x: 127,
stick_y: 127,
cstick_x: 255,
cstick_y: 255,
}, },
duration_ms: 1000, duration_ms: 1000,
}) })
@ -1227,48 +1236,52 @@ async fn configuration_main_loop<
.clamp(-ABS_MAX_SNAPBACK, ABS_MAX_SNAPBACK); .clamp(-ABS_MAX_SNAPBACK, ABS_MAX_SNAPBACK);
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_a = true; },
a.stick_x = (127 buttons_1: Buttons1 {
button_x: true,
button_y: true,
button_a: true,
..Default::default()
},
stick_x: (127
+ match stick { + match stick {
Stick::ControlStick => match axis { Stick::ControlStick => match axis {
StickAxis::XAxis => *to_adjust, StickAxis::XAxis => *to_adjust,
StickAxis::YAxis => 0, StickAxis::YAxis => 0,
}, },
Stick::CStick => 0, Stick::CStick => 0,
}) as u8; }) as u8,
a.stick_y = (127 stick_y: (127
+ match stick { + match stick {
Stick::ControlStick => match axis { Stick::ControlStick => match axis {
StickAxis::XAxis => 0, StickAxis::XAxis => 0,
StickAxis::YAxis => *to_adjust, StickAxis::YAxis => *to_adjust,
}, },
Stick::CStick => 0, Stick::CStick => 0,
}) as u8; }) as u8,
a.cstick_x = (127 cstick_x: (127
+ match stick { + match stick {
Stick::ControlStick => 0, Stick::ControlStick => 0,
Stick::CStick => match axis { Stick::CStick => match axis {
StickAxis::XAxis => *to_adjust, StickAxis::XAxis => *to_adjust,
StickAxis::YAxis => 0, StickAxis::YAxis => 0,
}, },
}) as u8; }) as u8,
a.cstick_y = (127 cstick_y: (127
+ match stick { + match stick {
Stick::ControlStick => 0, Stick::ControlStick => 0,
Stick::CStick => match axis { Stick::CStick => match axis {
StickAxis::XAxis => 0, StickAxis::XAxis => 0,
StickAxis::YAxis => *to_adjust, StickAxis::YAxis => *to_adjust,
}, },
}) as u8; }) as u8,
a
}
}, },
duration_ms: 750, duration_ms: 750,
}) })
@ -1309,48 +1322,52 @@ async fn configuration_main_loop<
.clamp(0, MAX_WAVESHAPING) as u8; .clamp(0, MAX_WAVESHAPING) as u8;
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_a = true; },
a.stick_x = (127 buttons_1: Buttons1 {
button_x: true,
button_y: true,
button_a: true,
..Default::default()
},
stick_x: (127
+ match stick { + match stick {
Stick::ControlStick => match axis { Stick::ControlStick => match axis {
StickAxis::XAxis => *to_adjust, StickAxis::XAxis => *to_adjust,
StickAxis::YAxis => 0, StickAxis::YAxis => 0,
}, },
Stick::CStick => 0, Stick::CStick => 0,
}) as u8; }) as u8,
a.stick_y = (127 stick_y: (127
+ match stick { + match stick {
Stick::ControlStick => match axis { Stick::ControlStick => match axis {
StickAxis::XAxis => 0, StickAxis::XAxis => 0,
StickAxis::YAxis => *to_adjust, StickAxis::YAxis => *to_adjust,
}, },
Stick::CStick => 0, Stick::CStick => 0,
}) as u8; }) as u8,
a.cstick_x = (127 cstick_x: (127
+ match stick { + match stick {
Stick::ControlStick => 0, Stick::ControlStick => 0,
Stick::CStick => match axis { Stick::CStick => match axis {
StickAxis::XAxis => *to_adjust, StickAxis::XAxis => *to_adjust,
StickAxis::YAxis => 0, StickAxis::YAxis => 0,
}, },
}) as u8; }) as u8,
a.cstick_y = (127 cstick_y: (127
+ match stick { + match stick {
Stick::ControlStick => 0, Stick::ControlStick => 0,
Stick::CStick => match axis { Stick::CStick => match axis {
StickAxis::XAxis => 0, StickAxis::XAxis => 0,
StickAxis::YAxis => *to_adjust, StickAxis::YAxis => *to_adjust,
}, },
}) as u8; }) as u8,
a
}
}, },
duration_ms: 750, duration_ms: 750,
}) })
@ -1391,48 +1408,52 @@ async fn configuration_main_loop<
.clamp(0, MAX_SMOOTHING) as u8; .clamp(0, MAX_SMOOTHING) as u8;
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_a = true; },
a.stick_x = (127 buttons_1: Buttons1 {
button_x: true,
button_y: true,
button_a: true,
..Default::default()
},
stick_x: (127
+ match stick { + match stick {
Stick::ControlStick => match axis { Stick::ControlStick => match axis {
StickAxis::XAxis => *to_adjust, StickAxis::XAxis => *to_adjust,
StickAxis::YAxis => 0, StickAxis::YAxis => 0,
}, },
Stick::CStick => 0, Stick::CStick => 0,
}) as u8; }) as u8,
a.stick_y = (127 stick_y: (127
+ match stick { + match stick {
Stick::ControlStick => match axis { Stick::ControlStick => match axis {
StickAxis::XAxis => 0, StickAxis::XAxis => 0,
StickAxis::YAxis => *to_adjust, StickAxis::YAxis => *to_adjust,
}, },
Stick::CStick => 0, Stick::CStick => 0,
}) as u8; }) as u8,
a.cstick_x = (127 cstick_x: (127
+ match stick { + match stick {
Stick::ControlStick => 0, Stick::ControlStick => 0,
Stick::CStick => match axis { Stick::CStick => match axis {
StickAxis::XAxis => *to_adjust, StickAxis::XAxis => *to_adjust,
StickAxis::YAxis => 0, StickAxis::YAxis => 0,
}, },
}) as u8; }) as u8,
a.cstick_y = (127 cstick_y: (127
+ match stick { + match stick {
Stick::ControlStick => 0, Stick::ControlStick => 0,
Stick::CStick => match axis { Stick::CStick => match axis {
StickAxis::XAxis => 0, StickAxis::XAxis => 0,
StickAxis::YAxis => *to_adjust, StickAxis::YAxis => *to_adjust,
}, },
}) as u8; }) as u8,
a
}
}, },
duration_ms: 750, duration_ms: 750,
}) })
@ -1463,28 +1484,32 @@ async fn configuration_main_loop<
.clamp(-1, MAX_CARDINAL_SNAP); .clamp(-1, MAX_CARDINAL_SNAP);
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_a = true; },
a.stick_x = 127; buttons_1: Buttons1 {
a.stick_y = (127 button_x: true,
button_y: true,
button_a: true,
..Default::default()
},
stick_x: 127,
stick_y: (127
+ match stick { + match stick {
Stick::ControlStick => *to_adjust, Stick::ControlStick => *to_adjust,
Stick::CStick => 0, Stick::CStick => 0,
}) as u8; }) as u8,
a.cstick_x = 127; cstick_x: 127,
a.cstick_y = (127 cstick_y: (127
+ match stick { + match stick {
Stick::ControlStick => 0, Stick::ControlStick => 0,
Stick::CStick => *to_adjust, Stick::CStick => *to_adjust,
}) as u8; }) as u8,
a
}
}, },
duration_ms: 750, duration_ms: 750,
}) })
@ -1515,28 +1540,32 @@ async fn configuration_main_loop<
.clamp(MIN_ANALOG_SCALER, MAX_ANALOG_SCALER); .clamp(MIN_ANALOG_SCALER, MAX_ANALOG_SCALER);
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_a = true; },
a.stick_x = 127; buttons_1: Buttons1 {
a.stick_y = (127 button_x: true,
button_y: true,
button_a: true,
..Default::default()
},
stick_x: 127,
stick_y: (127
+ match stick { + match stick {
Stick::ControlStick => *to_adjust, Stick::ControlStick => *to_adjust,
Stick::CStick => 0, Stick::CStick => 0,
}) as u8; }) as u8,
a.cstick_x = 127; cstick_x: 127,
a.cstick_y = (127 cstick_y: (127
+ match stick { + match stick {
Stick::ControlStick => 0, Stick::ControlStick => 0,
Stick::CStick => *to_adjust, Stick::CStick => *to_adjust,
}) as u8; }) as u8,
a
}
}, },
duration_ms: 750, duration_ms: 750,
}) })
@ -1559,21 +1588,25 @@ async fn configuration_main_loop<
SIGNAL_CHANGE_RUMBLE_STRENGTH.signal(*to_adjust); SIGNAL_CHANGE_RUMBLE_STRENGTH.signal(*to_adjust);
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; button_z: true,
a.buttons_1.button_a = true; ..Default::default()
a.buttons_2.button_z = true; // makes the controller rumble in smashscope },
a.stick_x = 127; buttons_1: Buttons1 {
a.stick_y = 127; button_x: true,
a.cstick_x = 127; button_y: true,
a.cstick_y = 127; button_a: true,
a ..Default::default()
} },
stick_x: 127,
stick_y: 127,
cstick_x: 127,
cstick_y: 127,
}, },
duration_ms: 750, duration_ms: 750,
}) })
@ -1586,24 +1619,28 @@ async fn configuration_main_loop<
final_config.input_consistency_mode = !final_config.input_consistency_mode; final_config.input_consistency_mode = !final_config.input_consistency_mode;
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_r = true; button_r: true,
a.buttons_2.button_l = true; button_l: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_a = true; },
a.stick_x = 127; buttons_1: Buttons1 {
a.stick_y = (127_i8 button_x: true,
button_y: true,
button_a: true,
..Default::default()
},
stick_x: 127,
stick_y: (127_i8
+ match final_config.input_consistency_mode { + match final_config.input_consistency_mode {
true => 69, true => 69,
false => -69, false => -69,
}) as u8; }) as u8,
a.cstick_x = 127; cstick_x: 127,
a.cstick_y = 127; cstick_y: 127,
a
}
}, },
duration_ms: 750, duration_ms: 750,
}) })
@ -1615,7 +1652,6 @@ async fn configuration_main_loop<
error!("Invalid selection in config loop: {}", s); error!("Invalid selection in config loop: {}", s);
continue; continue;
} }
},
}; };
final_config.write_to_flash(flash).unwrap(); final_config.write_to_flash(flash).unwrap();
@ -1656,21 +1692,24 @@ pub async fn config_task(mut flash: Flash<'static, FLASH, Async, FLASH_SIZE>) {
info!("Entering config mode."); info!("Entering config mode.");
override_gcc_state_and_wait(&OverrideGcReportInstruction { override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() { report: GcReport {
mut a => { trigger_r: 255,
a.trigger_r = 255; trigger_l: 255,
a.trigger_l = 255; buttons_2: Buttons2 {
a.buttons_2.button_l = true; button_l: true,
a.buttons_2.button_r = true; button_r: true,
a.buttons_1.button_x = true; ..Default::default()
a.buttons_1.button_y = true; },
a.buttons_1.button_a = true; buttons_1: Buttons1 {
a.stick_x = 127; button_x: true,
a.stick_y = 127; button_y: true,
a.cstick_x = 127; button_a: true,
a.cstick_y = 127; ..Default::default()
a },
} stick_x: 127,
stick_y: 127,
cstick_x: 127,
cstick_y: 127,
}, },
duration_ms: 1000, duration_ms: 1000,
}) })

53
src/input.rs
View file

@ -122,6 +122,7 @@ pub fn read_ext_adc<
/// Gets the average stick state over a 1ms interval in a non-blocking fashion. /// Gets the average stick state over a 1ms interval in a non-blocking fashion.
/// Will wait until end_time is reached before continuing after reading the ADCs. /// Will wait until end_time is reached before continuing after reading the ADCs.
#[allow(clippy::too_many_arguments)]
#[link_section = ".time_critical.update_stick_states"] #[link_section = ".time_critical.update_stick_states"]
async fn update_stick_states( async fn update_stick_states(
current_stick_state: &StickState, current_stick_state: &StickState,
@ -200,15 +201,16 @@ async fn update_stick_states(
let (x_pos_filt, y_pos_filt) = let (x_pos_filt, y_pos_filt) =
kalman_state.run_kalman(x_z, y_z, &controller_config.astick_config, filter_gains); kalman_state.run_kalman(x_z, y_z, &controller_config.astick_config, filter_gains);
let shaped_astick = match run_waveshaping( let shaped_astick = {
let (x, y) = run_waveshaping(
x_pos_filt, x_pos_filt,
y_pos_filt, y_pos_filt,
controller_config.astick_config.x_waveshaping, controller_config.astick_config.x_waveshaping,
controller_config.astick_config.y_waveshaping, controller_config.astick_config.y_waveshaping,
controlstick_waveshaping_values, controlstick_waveshaping_values,
filter_gains, filter_gains,
) { );
(x, y) => XyValuePair { x, y }, XyValuePair { x, y }
}; };
trace!("Shaped Controlstick: {}", shaped_astick); trace!("Shaped Controlstick: {}", shaped_astick);
@ -220,15 +222,16 @@ async fn update_stick_states(
old_stick_pos.x = pos_x; old_stick_pos.x = pos_x;
old_stick_pos.y = pos_y; old_stick_pos.y = pos_y;
let shaped_cstick = match run_waveshaping( let shaped_cstick = {
let (x, y) = run_waveshaping(
pos_cx, pos_cx,
pos_cy, pos_cy,
controller_config.cstick_config.x_waveshaping, controller_config.cstick_config.x_waveshaping,
controller_config.cstick_config.y_waveshaping, controller_config.cstick_config.y_waveshaping,
cstick_waveshaping_values, cstick_waveshaping_values,
filter_gains, filter_gains,
) { );
(x, y) => XyValuePair { x, y }, XyValuePair { x, y }
}; };
let old_c_pos = XyValuePair { let old_c_pos = XyValuePair {
@ -250,41 +253,45 @@ async fn update_stick_states(
trace!("Cstick position: {}, {}", pos_cx, pos_cy); trace!("Cstick position: {}, {}", pos_cx, pos_cy);
let mut remapped = match notch_remap( let mut remapped = {
let (x, y) = notch_remap(
pos_x, pos_x,
pos_y, pos_y,
controlstick_params, controlstick_params,
&controller_config.astick_config, &controller_config.astick_config,
is_calibrating, is_calibrating,
) { );
(x, y) => XyValuePair { x, y }, XyValuePair { x, y }
}; };
let mut remapped_c = match notch_remap( let mut remapped_c = {
let (x, y) = notch_remap(
pos_cx_filt, pos_cx_filt,
pos_cy_filt, pos_cy_filt,
cstick_params, cstick_params,
&controller_config.cstick_config, &controller_config.cstick_config,
is_calibrating, is_calibrating,
) { );
(x, y) => XyValuePair { x, y }, XyValuePair { x, y }
}; };
let remapped_unfiltered = match notch_remap( let remapped_unfiltered = {
let (x, y) = notch_remap(
raw_stick_values.a_linearized.x, raw_stick_values.a_linearized.x,
raw_stick_values.a_linearized.y, raw_stick_values.a_linearized.y,
controlstick_params, controlstick_params,
&controller_config.astick_config, &controller_config.astick_config,
is_calibrating, is_calibrating,
) { );
(x, y) => XyValuePair { x, y }, XyValuePair { x, y }
}; };
let remapped_c_unfiltered = match notch_remap( let remapped_c_unfiltered = {
let (x, y) = notch_remap(
raw_stick_values.c_linearized.x, raw_stick_values.c_linearized.x,
raw_stick_values.c_linearized.y, raw_stick_values.c_linearized.y,
cstick_params, cstick_params,
&controller_config.cstick_config, &controller_config.cstick_config,
is_calibrating, is_calibrating,
) { );
(x, y) => XyValuePair { x, y }, XyValuePair { x, y }
}; };
trace!( trace!(
@ -337,6 +344,7 @@ async fn update_stick_states(
out_stick_state out_stick_state
} }
#[allow(clippy::too_many_arguments)]
fn update_button_states< fn update_button_states<
A: Pin, A: Pin,
B: Pin, B: Pin,
@ -405,6 +413,7 @@ pub async fn input_integrity_benchmark() {
/// Task responsible for updating the button states. /// Task responsible for updating the button states.
/// Publishes the result to CHANNEL_GCC_STATE. /// Publishes the result to CHANNEL_GCC_STATE.
#[allow(clippy::too_many_arguments)]
#[embassy_executor::task] #[embassy_executor::task]
pub async fn update_button_state_task( pub async fn update_button_state_task(
btn_z: Input<'static, AnyPin>, btn_z: Input<'static, AnyPin>,
@ -424,6 +433,8 @@ pub async fn update_button_state_task(
if btn_a.is_low() && btn_x.is_low() && btn_y.is_low() { if btn_a.is_low() && btn_x.is_low() && btn_y.is_low() {
info!("Detected reset button press, booting into flash."); info!("Detected reset button press, booting into flash.");
embassy_rp::rom_data::reset_to_usb_boot(0, 0); embassy_rp::rom_data::reset_to_usb_boot(0, 0);
#[allow(clippy::empty_loop)]
loop {} loop {}
} }
@ -561,14 +572,14 @@ pub async fn update_stick_states_task(
} }
} }
match Instant::now() { {
n => { let n = Instant::now();
match (n - last_loop_time).as_micros() { match (n - last_loop_time).as_micros() {
a if a > 1666 => debug!("Loop took {} us", a), a if a > 1666 => debug!("Loop took {} us", a),
_ => {} _ => {}
}; };
last_loop_time = n; last_loop_time = n;
}
}; };
SIGNAL_STICK_STATE.signal(current_stick_state.clone()); SIGNAL_STICK_STATE.signal(current_stick_state.clone());

33
src/stick.rs
View file

@ -123,10 +123,10 @@ impl CleanedCalibrationPoints {
out.cleaned_points.x[i + 1] = cal_points_x[i * 2 + 1]; out.cleaned_points.x[i + 1] = cal_points_x[i * 2 + 1];
out.cleaned_points.y[i + 1] = cal_points_y[i * 2 + 1]; out.cleaned_points.y[i + 1] = cal_points_y[i * 2 + 1];
(out.notch_points.x[i + 1], out.notch_points.y[i + 1]) = (out.notch_points.x[i + 1], out.notch_points.y[i + 1]) = {
match calc_stick_values(notch_angles[i]) { let (a, b) = calc_stick_values(notch_angles[i]);
(a, b) => (roundf(a), roundf(b)), (roundf(a), roundf(b))
}; }
} }
// TODO: put the below in a macro to clean it up a bit, once it's confirmed to work // TODO: put the below in a macro to clean it up a bit, once it's confirmed to work
@ -186,6 +186,7 @@ impl CleanedCalibrationPoints {
out.cleaned_points.x[0] /= (NO_OF_NOTCHES - 4) as f32; out.cleaned_points.x[0] /= (NO_OF_NOTCHES - 4) as f32;
out.cleaned_points.y[0] /= (NO_OF_NOTCHES - 4) as f32; out.cleaned_points.y[0] /= (NO_OF_NOTCHES - 4) as f32;
#[allow(clippy::needless_range_loop)]
for i in 0..NO_OF_NOTCHES { for i in 0..NO_OF_NOTCHES {
let delta_x = out.cleaned_points.x[i + 1] - out.cleaned_points.x[0]; let delta_x = out.cleaned_points.x[i + 1] - out.cleaned_points.x[0];
let delta_y = out.cleaned_points.y[i + 1] - out.cleaned_points.y[0]; let delta_y = out.cleaned_points.y[i + 1] - out.cleaned_points.y[0];
@ -241,11 +242,9 @@ impl LinearizedCalibration {
/// ///
/// Generate a fit to linearize the stick response. /// Generate a fit to linearize the stick response.
/// ///
/// Inputs: /// Inputs: cleaned points X and Y, (must be 17 points for each of these, the first being the center, the others starting at 3 oclock and going around counterclockwise)
/// cleaned points X and Y, (must be 17 points for each of these, the first being the center, the others starting at 3 oclock and going around counterclockwise)
/// ///
/// Outputs: /// Outputs: linearization fit coefficients for X and Y
/// linearization fit coefficients for X and Y
pub fn from_calibration_points(cleaned_calibration_points: &CleanedCalibrationPoints) -> Self { pub fn from_calibration_points(cleaned_calibration_points: &CleanedCalibrationPoints) -> Self {
let mut fit_points_x = [0f64; 5]; let mut fit_points_x = [0f64; 5];
let mut fit_points_y = [0f64; 5]; let mut fit_points_y = [0f64; 5];
@ -376,6 +375,7 @@ impl NotchCalibration {
trace!("The transform matrix is: {:?}", a); trace!("The transform matrix is: {:?}", a);
#[allow(clippy::needless_range_loop)]
for j in 0..2 { for j in 0..2 {
for k in 0..2 { for k in 0..2 {
out.affine_coeffs[i - 1][j * 2 + k] = a[j][k]; out.affine_coeffs[i - 1][j * 2 + k] = a[j][k];
@ -721,6 +721,7 @@ fn inverse(in_mat: &[[f32; 3]; 3]) -> [[f32; 3]; 3] {
out_mat out_mat
} }
#[allow(clippy::needless_range_loop)]
fn matrix_mult(a: &[[f32; 3]; 3], b: &[[f32; 3]; 3]) -> [[f32; 3]; 3] { fn matrix_mult(a: &[[f32; 3]; 3], b: &[[f32; 3]; 3]) -> [[f32; 3]; 3] {
let mut out = [[0f32; 3]; 3]; let mut out = [[0f32; 3]; 3];
@ -777,8 +778,8 @@ fn det<const N: usize>(matrix: &[[f64; N]; N]) -> f64 {
let mut p = 1f64; let mut p = 1f64;
for i in 0..N { for (i, elem) in matrix.iter().enumerate().take(N) {
p *= matrix[i][i]; p *= elem[i];
} }
p * (sign as f64) p * (sign as f64)
@ -846,11 +847,11 @@ fn fit_curve<const N: usize, const NCOEFFS: usize>(
for i in 0..N { for i in 0..N {
let x = px[i]; let x = px[i];
let y = py[i]; let y = py[i];
for j in 0..NCOEFFS * 2 - 1 { for (j, elem) in s.iter_mut().enumerate().take(NCOEFFS * 2 - 1) {
s[j] += curve_fit_power(x, j as u32); *elem += curve_fit_power(x, j as u32);
} }
for j in 0..NCOEFFS { for (j, elem) in t.iter_mut().enumerate().take(NCOEFFS) {
t[j] += y * curve_fit_power(x, j as u32); *elem += y * curve_fit_power(x, j as u32);
} }
} }
@ -858,9 +859,7 @@ fn fit_curve<const N: usize, const NCOEFFS: usize>(
let mut matrix = [[0f64; NCOEFFS]; NCOEFFS]; let mut matrix = [[0f64; NCOEFFS]; NCOEFFS];
for i in 0..NCOEFFS { for i in 0..NCOEFFS {
for j in 0..NCOEFFS { matrix[i][..NCOEFFS].copy_from_slice(&s[i..(NCOEFFS + i)]);
matrix[i][j] = s[i + j];
}
} }
let denom = det(&matrix); let denom = det(&matrix);