unsigned int deserializeControllerMapFromFile(struct HWCONTROLINPUT *hwcontrol, struct CONTROLLER *controller)
{
/* check for controller file -- if exists, dump into current hardware control structure */
FILE *f;
int i;
f = fopen("controls.dat", "rb+");
if (f) {
fread(serializedControllerMap, sizeof(char), sizeof(serializedControllerMap), f);
fclose(f);
for (i = 0; i < CONTROLLER_INPUT_MAX; ++i) {
if (serializedControllerMap[i][serializedKeyboard]) {
controller->pressedInputs[i] = &hwcontrol->pressedKeys[serializedControllerMap[i][serializedKeyboard]];
}
if (serializedControllerMap[i][serializedJoystick]) {
controller->pressedInputs[i] = &hwcontrol->pressedJS[serializedControllerMap[i][serializedJoystick]];
}
}
} else {
setControllerDefaults(hwcontrol, controller);
}
}
/* When enter is pressed, the command is excecuted here */
void executeSerialCommand(uint8_t string[])
{
float numArg = 0;
uint8_t tempBool = 0;
/* Big help screen */
if (compareCommand(string, CMD_HELP, &numArg))
{
print("\r\n Format is:");
print("\r\n command:number");
print("\r\n number must be between:");
print("\r\n -1000 and 1000 for (permilli) commands");
print("\r\n 1 or 0 for (boolean) commands\n");
/* Because serial can be time consuming */
#ifdef WATCHDOG_EN
HAL_IWDG_Refresh(&hiwdg);
#endif
print("\r\n defaults - Sets defaults (no args)");
print("\r\n print config - Prints out the current config (no args)");
print("\r\n power bias - Sets front to rear power bias (permilli)");
print("\r\n front slip - Sets front diff slip (permilli)");
/* Because serial can be time consuming */
#ifdef WATCHDOG_EN
HAL_IWDG_Refresh(&hiwdg);
#endif
print("\r\n rear slip - Sets rear diff slip (permilli)");
print("\r\n gyro gain - Sets steering correction gain (permilli)");
print("\r\n steering trim - Trims the steering (permilli)");
/* Because serial can be time consuming */
#ifdef WATCHDOG_EN
HAL_IWDG_Refresh(&hiwdg);
#endif
print("\r\n invert steering - Inverts the steering (boolean)");
print("\r\n wheel feedback - Enables the wheel speed feedback (boolean)\n");
}
/* Prints current config */
if (compareCommand(string, CMD_PRINT_CONFIG, &numArg))
{
uint8_t intString[10];
print("\r\n Power bias: ");
itoa(ControllerConfig.powerBias, &intString, 10);
print(&intString);
print("\r\n Front slip: ");
itoa(ControllerConfig.frontSlip, &intString, 10);
print(&intString);
print("\r\n Rear slip: ");
itoa(ControllerConfig.rearSlip, &intString, 10);
print(&intString);
print("\r\n Gyro gain: ");
itoa(ControllerConfig.gyroGain, &intString, 10);
print(&intString);
print("\r\n Steering trim: ");
itoa(ControllerConfig.steeringTrim, &intString, 10);
print(&intString);
print("\r\n Invert steering: ");
itoa(ControllerConfig.invertSteering, &intString, 10);
print(&intString);
print("\r\n Wheel speed feedback: ");
itoa(ControllerConfig.enableWheelSpeedFeedback, &intString, 10);
print(&intString);
print("\r\n");
}
/* Setting power bias etc */
if (compareCommand(string, CMD_SET_POWERBIAS, &numArg))
{
print("\r\n Power bias ");
setControllerConfig(powerBias, (int32_t)numArg);
}
if (compareCommand(string, CMD_SET_FRONTSLIP, &numArg))
{
print("\r\n Front slip ");
setControllerConfig(frontSlip, (int32_t)numArg);
}
if (compareCommand(string, CMD_SET_REARSLIP, &numArg))
{
setControllerConfig(rearSlip, (int32_t)numArg);
print("\r\n Rear slip ");
}
if (compareCommand(string, CMD_SET_GYROGAIN, &numArg))
{
setControllerConfig(gyroGain, (int32_t)numArg);
print("\r\n Gyro gain ");
}
if (compareCommand(string, CMD_SET_STEERINGTRIM, &numArg))
{
setControllerConfig(steeringTrim, (int32_t)numArg);
print("\r\n Steering trim ");
}
if (compareCommand(string, CMD_INVERT_STEERING, &numArg))
{
setControllerConfig(invertSteering, (int32_t)numArg);
print("\r\n Steering invert ");
}
if (compareCommand(string, CMD_WHEELFEEDBACK, &numArg))
{
setControllerConfig(enableWheelSpeedFeedback, (int32_t)numArg);
print("\r\n Wheel speed feedback ");
}
/* Restores default settings */
if (compareCommand(string, CMD_DEFAULTS, &numArg))
{
/* Set defaults */
setControllerDefaults();
}
/* Reboots CPU */
if (compareCommand(string, CMD_REBOOT, &numArg))
{
/* Flag for reset */
ResetPendingFlag = 1;
}
print("\r\nBrinir> ");
}
CSVController::CSVController(QObject *parent) : QObject(parent)
{
setControllerDefaults();
}
