Userman/NaxGCC-FW
1
0
Fork 0
forked from NaxdyOrg/NaxGCC-FW
Code Pull requests Activity

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

Browse source 
Reviewed-on: NaxdyOrg/NaxGCC-FW#6
This commit is contained in:
Naxdy 2024-04-03 16:53:52 +00:00
parent ac1d6e08a2
commit 2f49357029
Signed by: git.naxdy.org
GPG key ID: 05379DCFAACD8AC2
5 changed files with 694 additions and 619 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

23
.forgejo/workflows/clippy-check.yml Normal file
View file

@ -0,0 +1,23 @@
name: Code quality
on: pull_request
jobs:
check:
runs-on: nix-flakes
steps:
- name: Set up packages
run: |
echo "extra-substituters = https://builder.naxdy.org/attic" >> /etc/nix/nix.conf
echo "extra-trusted-public-keys = attic:05LdE8Nav5Qd1E+KOJqSwdr+WE1z8AUmSb3oKL7s8dk=" >> /etc/nix/nix.conf
nix profile install nixpkgs#nodejs "github:zhaofengli/attic?ref=6eabc3f02fae3683bffab483e614bebfcd476b21"
echo "PATH=/nix/var/nix/profiles/per-user/root/profile/bin:$PATH" >> "$GITHUB_ENV"
- name: Set up attic binary cache
run: |
attic login "${{ vars.BINARY_CACHE_NAME }}" "${{ vars.BINARY_CACHE_URL }}" "${{ secrets.BINARY_CACHE_AUTH_KEY }}"
attic use "${{ vars.BINARY_CACHE_NAME }}"
- uses: actions/checkout@v4
- name: Run Clippy
run: |
nix develop . --command cargo clippy -- -Dwarnings

4
Cargo.toml
View file

@ -72,7 +72,9 @@ debug = 2
debug-assertions = false
incremental = false
lto = 'fat'
opt-level = 1
# opt level needs to be benchmarked after every major feature
# due to the changes in binary size and alignment
opt-level = 2
overflow-checks = false
# do not optimize proc-macro crates = faster builds from scratch

1097
src/config.rs
View file

File diff suppressed because it is too large Load diff

143
src/input.rs
View file

@ -117,11 +117,12 @@ pub fn read_ext_adc<
spi_ccs.set_high();
}
return temp_value;
temp_value
}
/// 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,
@ -198,17 +199,18 @@ async fn update_stick_states(
trace!("Raw Stick Values 001: {:?}", raw_stick_values);
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(
x_pos_filt,
y_pos_filt,
controller_config.astick_config.x_waveshaping,
controller_config.astick_config.y_waveshaping,
controlstick_waveshaping_values,
&filter_gains,
) {
(x, y) => XyValuePair { x, y },
let shaped_astick = {
let (x, y) = run_waveshaping(
x_pos_filt,
y_pos_filt,
controller_config.astick_config.x_waveshaping,
controller_config.astick_config.y_waveshaping,
controlstick_waveshaping_values,
filter_gains,
);
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(
pos_cx,
pos_cy,
controller_config.cstick_config.x_waveshaping,
controller_config.cstick_config.y_waveshaping,
cstick_waveshaping_values,
&filter_gains,
) {
(x, y) => XyValuePair { x, y },
let shaped_cstick = {
let (x, y) = run_waveshaping(
pos_cx,
pos_cy,
controller_config.cstick_config.x_waveshaping,
controller_config.cstick_config.y_waveshaping,
cstick_waveshaping_values,
filter_gains,
);
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(
pos_x,
pos_y,
controlstick_params,
&controller_config.astick_config,
is_calibrating,
) {
(x, y) => XyValuePair { x, y },
let mut remapped = {
let (x, y) = notch_remap(
pos_x,
pos_y,
controlstick_params,
&controller_config.astick_config,
is_calibrating,
);
XyValuePair { x, y }
};
let mut remapped_c = match notch_remap(
pos_cx_filt,
pos_cy_filt,
cstick_params,
&controller_config.cstick_config,
is_calibrating,
) {
(x, y) => XyValuePair { x, y },
let mut remapped_c = {
let (x, y) = notch_remap(
pos_cx_filt,
pos_cy_filt,
cstick_params,
&controller_config.cstick_config,
is_calibrating,
);
XyValuePair { x, y }
};
let remapped_unfiltered = match notch_remap(
raw_stick_values.a_linearized.x,
raw_stick_values.a_linearized.y,
controlstick_params,
&controller_config.astick_config,
is_calibrating,
) {
(x, y) => XyValuePair { x, y },
let remapped_unfiltered = {
let (x, y) = notch_remap(
raw_stick_values.a_linearized.x,
raw_stick_values.a_linearized.y,
controlstick_params,
&controller_config.astick_config,
is_calibrating,
);
XyValuePair { x, y }
};
let remapped_c_unfiltered = match notch_remap(
raw_stick_values.c_linearized.x,
raw_stick_values.c_linearized.y,
cstick_params,
&controller_config.cstick_config,
is_calibrating,
) {
(x, y) => XyValuePair { x, y },
let remapped_c_unfiltered = {
let (x, y) = notch_remap(
raw_stick_values.c_linearized.x,
raw_stick_values.c_linearized.y,
cstick_params,
&controller_config.cstick_config,
is_calibrating,
);
XyValuePair { x, y }
};
trace!(
@ -309,20 +316,20 @@ async fn update_stick_states(
let mut out_stick_state = current_stick_state.clone();
let diff_x = (remapped.x + FLOAT_ORIGIN) - current_stick_state.ax as f32;
if (diff_x > (1.0 + STICK_HYST_VAL)) || (diff_x < -STICK_HYST_VAL) {
if !(-STICK_HYST_VAL..=(1.0 + STICK_HYST_VAL)).contains(&diff_x) {
out_stick_state.ax = (remapped.x + FLOAT_ORIGIN) as u8;
}
let diff_y = (remapped.y + FLOAT_ORIGIN) - current_stick_state.ay as f32;
if (diff_y > (1.0 + STICK_HYST_VAL)) || (diff_y < -STICK_HYST_VAL) {
if !(-STICK_HYST_VAL..=(1.0 + STICK_HYST_VAL)).contains(&diff_y) {
out_stick_state.ay = (remapped.y + FLOAT_ORIGIN) as u8;
}
let diff_cx = (remapped_c.x + FLOAT_ORIGIN) - current_stick_state.cx as f32;
if (diff_cx > (1.0 + STICK_HYST_VAL)) || (diff_cx < -STICK_HYST_VAL) {
if !(-STICK_HYST_VAL..=(1.0 + STICK_HYST_VAL)).contains(&diff_cx) {
out_stick_state.cx = (remapped_c.x + FLOAT_ORIGIN) as u8;
}
let diff_cy = (remapped_c.y + FLOAT_ORIGIN) - current_stick_state.cy as f32;
if (diff_cy > (1.0 + STICK_HYST_VAL)) || (diff_cy < -STICK_HYST_VAL) {
if !(-STICK_HYST_VAL..=(1.0 + STICK_HYST_VAL)).contains(&diff_cy) {
out_stick_state.cy = (remapped_c.y + FLOAT_ORIGIN) as u8;
}
@ -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 {}
}
@ -474,7 +485,7 @@ pub async fn update_button_state_task(
};
if let Some(override_state) = &override_stick_state {
let mut overriden_gcc_state = gcc_state.clone();
let mut overriden_gcc_state = gcc_state;
match override_state.which_stick {
Stick::ControlStick => {
overriden_gcc_state.stick_x = override_state.x;
@ -561,20 +572,20 @@ pub async fn update_stick_states_task(
}
}
match Instant::now() {
n => {
match (n - last_loop_time).as_micros() {
a if a > 1666 => debug!("Loop took {} us", a),
_ => {}
};
last_loop_time = n;
}
{
let n = Instant::now();
match (n - last_loop_time).as_micros() {
a if a > 1666 => debug!("Loop took {} us", a),
_ => {}
};
last_loop_time = n;
};
SIGNAL_STICK_STATE.signal(current_stick_state.clone());
ticker.next().await;
yield_now().await;
ticker.next().await;
if let Some(new_config) = SIGNAL_CONFIG_CHANGE.try_take() {
controller_config = new_config;

46
src/stick.rs
View file

@ -19,7 +19,7 @@ pub const NO_OF_CALIBRATION_POINTS: usize = 32;
const MAX_ORDER: usize = 20;
/// 28 degrees; this is the max angular deflection of the stick.
const MAX_STICK_ANGLE: f32 = 0.4886921906;
const MAX_STICK_ANGLE: f32 = 0.488_692_2;
#[rustfmt::skip]
// right notch 1 up right notch 2 up notch 3 up left notch 4 left notch 5 down left notch 6 down notch 7 down right notch 8
@ -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]) =
match calc_stick_values(notch_angles[i]) {
(a, b) => (roundf(a), roundf(b)),
};
(out.notch_points.x[i + 1], out.notch_points.y[i + 1]) = {
let (a, b) = calc_stick_values(notch_angles[i]);
(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:
/// 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)
/// 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)
///
/// Outputs:
/// linearization fit coefficients for X and Y
/// Outputs: 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];
@ -263,7 +262,7 @@ impl LinearizedCalibration {
fit_points_x[1] = (in_x[6 + 1] + in_x[10 + 1]) / 2.0f64;
fit_points_x[2] = in_x[0];
fit_points_x[3] = (in_x[2 + 1] + in_x[14 + 1]) / 2.0f64;
fit_points_x[4] = in_x[0 + 1];
fit_points_x[4] = in_x[1];
fit_points_y[0] = in_y[12 + 1];
fit_points_y[1] = (in_y[10 + 1] + in_y[14 + 1]) / 2.0f64;
@ -282,8 +281,8 @@ impl LinearizedCalibration {
let x_zero_error = linearize(fit_points_x[2] as f32, &fit_coeffs_x.map(|e| e as f32));
let y_zero_error = linearize(fit_points_y[2] as f32, &fit_coeffs_y.map(|e| e as f32));
fit_coeffs_x[3] = fit_coeffs_x[3] - x_zero_error as f64;
fit_coeffs_y[3] = fit_coeffs_y[3] - y_zero_error as f64;
fit_coeffs_x[3] -= x_zero_error as f64;
fit_coeffs_y[3] -= y_zero_error as f64;
let mut linearized_points_x = [0f32; NO_OF_NOTCHES + 1];
let mut linearized_points_y = [0f32; NO_OF_NOTCHES + 1];
@ -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 {
p *= matrix[i][i];
for (i, elem) in matrix.iter().enumerate().take(N) {
p *= elem[i];
}
p * (sign as f64)
@ -798,9 +799,7 @@ fn trianglize<const N: usize>(matrix: &mut [[f64; N]; N]) -> i32 {
}
if max > 0 {
sign = -sign;
let tmp = matrix[i];
matrix[i] = matrix[max];
matrix[max] = tmp;
matrix.swap(i, max);
}
if matrix[i][i] == 0. {
return 0;
@ -848,11 +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 {
s[j] += curve_fit_power(x, j as u32);
for (j, elem) in s.iter_mut().enumerate().take(NCOEFFS * 2 - 1) {
*elem += curve_fit_power(x, j as u32);
}
for j in 0..NCOEFFS {
t[j] += y * curve_fit_power(x, j as u32);
for (j, elem) in t.iter_mut().enumerate().take(NCOEFFS) {
*elem += y * curve_fit_power(x, j as u32);
}
}
@ -860,9 +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][j] = s[i + j];
}
matrix[i][..NCOEFFS].copy_from_slice(&s[i..(NCOEFFS + i)]);
}
let denom = det(&matrix);
@ -893,7 +890,6 @@ pub fn linearize(point: f32, coefficients: &[f32; NUM_COEFFS]) -> f32 {
+ coefficients[3]
}
// TODO: currently broken!
#[link_section = ".time_critical.notch_remap"]
pub fn notch_remap(
x_in: f32,