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Robot_Principal_2024-2025
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Added mutexes and modified code for client

This commit is contained in:
Ulysse Cura 2025-05-26 20:30:37 +02:00
parent 7d2c17a0fd
commit c5859a66a3
3 changed files with 15 additions and 3 deletions
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11
main controller code/src/robot.c
View File

@ -3,12 +3,15 @@
#include <pico/stdlib.h>
#include <pico/cyw43_arch.h>
#include <time.h>
#include <pico/mutex.h>
#include "include/i2c_master.h"
#include "include/udp_client.h"
#include "include/wifi_operator.h"
//#include "include/udp_fake_client.h"
auto_init_mutex(wifi_mutex);
int robot_init(void)
{
stdio_init_all();
@ -20,8 +23,8 @@ int robot_init(void)
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
udp_client_init();
wifi_operator_init();
udp_client_init();
i2c_master_init();
if(init_gyro()) return -1;
@ -49,7 +52,9 @@ static inline void update_time(void)
{
elapsed_time = 0;
mutex_enter_blocking(&wifi_mutex);
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
mutex_exit(&wifi_mutex);
led_state = !led_state;
}
@ -57,7 +62,9 @@ static inline void update_time(void)
void robot_handle_inputs_outputs(void)
{
mutex_enter_blocking(&wifi_mutex);
cyw43_arch_poll();
mutex_exit(&wifi_mutex);
update_time();
@ -65,6 +72,8 @@ void robot_handle_inputs_outputs(void)
i2c_update_motion_control();
i2c_update_servo_motors();
tight_loop_contents();
}

3
main controller code/src/udp_client.c
View File

@ -32,7 +32,8 @@ static void default_message_callback(uint8_t *payload, uint16_t len, const ip_ad
void udp_client_init(void)
{
udp_client.message_callback = false ? udp_client_message_handler : default_message_callback;
//udp_client.message_callback = udp_client_message_handler;
udp_client.message_callback = default_message_callback;
udp_client.pcb = udp_new();
if(udp_client.pcb == NULL)

4
main controller code/src/udp_payload.c
View File

@ -5,6 +5,8 @@
void __not_in_flash_func(udp_client_message_handler)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, u16_t port)
{
if(len != 16) return;
robot.motion_control_data.angle = ((payload[UDP_PAYLOAD_ANGLE_H_BYTE] << 8) | payload[UDP_PAYLOAD_ANGLE_L_BYTE]);
robot.motion_control_data.x_axis_speed = payload[UDP_PAYLOAD_X_AXIS_SPEED_BYTE];
@ -14,6 +16,6 @@ void __not_in_flash_func(udp_client_message_handler)(uint8_t *payload, uint16_t
{
const servo_motor_def_t *SERVO_MOTOR_DEF = &SERVO_MOTORS_DEFS[actual_servo_motor];
i2c_set_servo_motor(actual_servo_motor, payload[SERVO_MOTOR_DEF->buffer_reg_and_payload_byte]);
robot.motion_control_data.servo_motors_pos[actual_servo_motor] = payload[SERVO_MOTOR_DEF->buffer_reg_and_payload_byte];
}
}