src/input.rs

@@ -122,6 +122,7 @@ pub fn read_ext_adc<
 
 /// 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.
+#[allow(clippy::too_many_arguments)]
 #[link_section = ".time_critical.update_stick_states"]
 async fn update_stick_states(
     current_stick_state: &StickState,
@@ -200,15 +201,16 @@ async fn update_stick_states(
     let (x_pos_filt, y_pos_filt) =
         kalman_state.run_kalman(x_z, y_z, &controller_config.astick_config, filter_gains);
 
-    let shaped_astick = match run_waveshaping(
+    let shaped_astick = {
-        x_pos_filt,
+        let (x, y) = run_waveshaping(
-        y_pos_filt,
+            x_pos_filt,
-        controller_config.astick_config.x_waveshaping,
+            y_pos_filt,
-        controller_config.astick_config.y_waveshaping,
+            controller_config.astick_config.x_waveshaping,
-        controlstick_waveshaping_values,
+            controller_config.astick_config.y_waveshaping,
-        filter_gains,
+            controlstick_waveshaping_values,
-    ) {
+            filter_gains,
-        (x, y) => XyValuePair { x, y },
+        );
+        XyValuePair { x, y }
     };
 
     trace!("Shaped Controlstick: {}", shaped_astick);
@@ -220,15 +222,16 @@ async fn update_stick_states(
     old_stick_pos.x = pos_x;
     old_stick_pos.y = pos_y;
 
-    let shaped_cstick = match run_waveshaping(
+    let shaped_cstick = {
-        pos_cx,
+        let (x, y) = run_waveshaping(
-        pos_cy,
+            pos_cx,
-        controller_config.cstick_config.x_waveshaping,
+            pos_cy,
-        controller_config.cstick_config.y_waveshaping,
+            controller_config.cstick_config.x_waveshaping,
-        cstick_waveshaping_values,
+            controller_config.cstick_config.y_waveshaping,
-        filter_gains,
+            cstick_waveshaping_values,
-    ) {
+            filter_gains,
-        (x, y) => XyValuePair { x, y },
+        );
+        XyValuePair { x, y }
     };
 
     let old_c_pos = XyValuePair {
@@ -250,41 +253,45 @@ async fn update_stick_states(
 
     trace!("Cstick position: {}, {}", pos_cx, pos_cy);
 
-    let mut remapped = match notch_remap(
+    let mut remapped = {
-        pos_x,
+        let (x, y) = notch_remap(
-        pos_y,
+            pos_x,
-        controlstick_params,
+            pos_y,
-        &controller_config.astick_config,
+            controlstick_params,
-        is_calibrating,
+            &controller_config.astick_config,
-    ) {
+            is_calibrating,
-        (x, y) => XyValuePair { x, y },
+        );
+        XyValuePair { x, y }
     };
-    let mut remapped_c = match notch_remap(
+    let mut remapped_c = {
-        pos_cx_filt,
+        let (x, y) = notch_remap(
-        pos_cy_filt,
+            pos_cx_filt,
-        cstick_params,
+            pos_cy_filt,
-        &controller_config.cstick_config,
+            cstick_params,
-        is_calibrating,
+            &controller_config.cstick_config,
-    ) {
+            is_calibrating,
-        (x, y) => XyValuePair { x, y },
+        );
+        XyValuePair { x, y }
     };
-    let remapped_unfiltered = match notch_remap(
+    let remapped_unfiltered = {
-        raw_stick_values.a_linearized.x,
+        let (x, y) = notch_remap(
-        raw_stick_values.a_linearized.y,
+            raw_stick_values.a_linearized.x,
-        controlstick_params,
+            raw_stick_values.a_linearized.y,
-        &controller_config.astick_config,
+            controlstick_params,
-        is_calibrating,
+            &controller_config.astick_config,
-    ) {
+            is_calibrating,
-        (x, y) => XyValuePair { x, y },
+        );
+        XyValuePair { x, y }
     };
-    let remapped_c_unfiltered = match notch_remap(
+    let remapped_c_unfiltered = {
-        raw_stick_values.c_linearized.x,
+        let (x, y) = notch_remap(
-        raw_stick_values.c_linearized.y,
+            raw_stick_values.c_linearized.x,
-        cstick_params,
+            raw_stick_values.c_linearized.y,
-        &controller_config.cstick_config,
+            cstick_params,
-        is_calibrating,
+            &controller_config.cstick_config,
-    ) {
+            is_calibrating,
-        (x, y) => XyValuePair { x, y },
+        );
+        XyValuePair { x, y }
     };
 
     trace!(
@@ -337,6 +344,7 @@ async fn update_stick_states(
     out_stick_state
 }
 
+#[allow(clippy::too_many_arguments)]
 fn update_button_states<
     A: Pin,
     B: Pin,
@@ -405,6 +413,7 @@ pub async fn input_integrity_benchmark() {
 
 /// Task responsible for updating the button states.
 /// Publishes the result to CHANNEL_GCC_STATE.
+#[allow(clippy::too_many_arguments)]
 #[embassy_executor::task]
 pub async fn update_button_state_task(
     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() {
         info!("Detected reset button press, booting into flash.");
         embassy_rp::rom_data::reset_to_usb_boot(0, 0);
+
+        #[allow(clippy::empty_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() {
+
-                    a if a > 1666 => debug!("Loop took {} us", a),
+            match (n - last_loop_time).as_micros() {
-                    _ => {}
+                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());

src/stick.rs

@@ -123,10 +123,10 @@ impl CleanedCalibrationPoints {
             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.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
@@ -186,6 +186,7 @@ impl CleanedCalibrationPoints {
         out.cleaned_points.x[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 {
             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];
@@ -241,11 +242,9 @@ impl LinearizedCalibration {
     ///
     /// 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 {
         let mut fit_points_x = [0f64; 5];
         let mut fit_points_y = [0f64; 5];
@@ -376,6 +375,7 @@ impl NotchCalibration {
 
             trace!("The transform matrix is: {:?}", a);
 
+            #[allow(clippy::needless_range_loop)]
             for j in 0..2 {
                 for k in 0..2 {
                     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
 }
 
+#[allow(clippy::needless_range_loop)]
 fn matrix_mult(a: &[[f32; 3]; 3], b: &[[f32; 3]; 3]) -> [[f32; 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;
 
-    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)
@@ -846,11 +847,11 @@ fn fit_curve<const N: usize, const NCOEFFS: usize>(
     for i in 0..N {
         let x = px[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];
 
     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);