WiFi AP mode connecting
This commit is contained in:
parent
264bb02e98
commit
16799fd960
2565
program/Makefile
2565
program/Makefile
File diff suppressed because it is too large
Load Diff
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@ -3,6 +3,28 @@
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# This can be dropped into an external project to help locate this SDK
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# It should be include()ed prior to project()
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# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd.
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#
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# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
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# following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
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# disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products
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# derived from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
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set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
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message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
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@ -18,9 +40,20 @@ if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_P
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message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
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endif ()
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if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
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set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
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message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
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endif ()
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if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
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set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
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message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
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endif()
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set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
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set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
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set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
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set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
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if (NOT PICO_SDK_PATH)
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if (PICO_SDK_FETCH_FROM_GIT)
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@ -32,11 +65,37 @@ if (NOT PICO_SDK_PATH)
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FetchContent_Declare(
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pico_sdk
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GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
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GIT_TAG master
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GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
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)
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if (NOT pico_sdk)
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message("Downloading Raspberry Pi Pico SDK")
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FetchContent_Populate(pico_sdk)
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# GIT_SUBMODULES_RECURSE was added in 3.17
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if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
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FetchContent_Populate(
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pico_sdk
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QUIET
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GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
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GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
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GIT_SUBMODULES_RECURSE FALSE
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SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
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BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
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SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
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)
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else ()
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FetchContent_Populate(
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pico_sdk
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QUIET
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GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
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GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
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SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
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BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
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SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
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)
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endif ()
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set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
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endif ()
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set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
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@ -1,48 +1,33 @@
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#include "headers/robot.h"
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#include "headers/controller.h"
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#include <pico/stdlib.h>
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#include <pico/cyw43_arch.h>
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#include <time.h>
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#include <pico/mutex.h>
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#include "i2c/headers/i2c_master.h"
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#include "i2c/headers/mcp23017.h"
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#include "wifi/headers/udp_client.h"
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#include "wifi/headers/udp_server.h"
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#include "wifi/headers/wifi_operator.h"
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auto_init_mutex(wifi_mutex);
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void robot_init(void)
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void controller_init(void)
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{
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robot.is_running = true;
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controller.is_running = true;
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stdio_init_all();
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if(cyw43_arch_init())
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robot.is_running = false;
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if(cyw43_arch_init_with_country(CYW43_COUNTRY_FRANCE))
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controller.is_running = false;
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mutex_enter_blocking(&wifi_mutex);
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cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
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mutex_exit(&wifi_mutex);
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//i2c_master_init();
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if(init_wifi_operator())
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controller.is_running = false;
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//mcp23017_init();
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//gyro_init();
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//gyro_calibrate();
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//init_motion_control();
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init_wifi_operator();
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udp_client_init();
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if(udp_server_init())
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controller.is_running = false;
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// Initialisation ended
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for(uint i = 0, led_state = true; i < 5; i++)
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{
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mutex_enter_blocking(&wifi_mutex);
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cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
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mutex_exit(&wifi_mutex);
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sleep_ms(100);
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@ -54,46 +39,33 @@ static inline void update_time(void)
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{
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static float last_time = 0.0;
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float start_time = (float)clock() * 1000.0f / (float)CLOCKS_PER_SEC;
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robot.delta_time_ms = start_time - last_time;
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controller.delta_time_ms = start_time - last_time;
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last_time = start_time;
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static float elapsed_time = 0.0f;
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elapsed_time += robot.delta_time_ms;
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elapsed_time += controller.delta_time_ms;
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static bool led_state = false;
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if(elapsed_time >= 1000.0f)
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{
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elapsed_time = 0.0f;
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mutex_enter_blocking(&wifi_mutex);
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cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
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mutex_exit(&wifi_mutex);
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led_state = !led_state;
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}
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}
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void robot_handle_inputs_outputs(void)
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void controller_handle_inputs_outputs(void)
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{
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mutex_enter_blocking(&wifi_mutex);
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cyw43_arch_poll();
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mutex_exit(&wifi_mutex);
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update_time();
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//gyro_update();
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//i2c_update_motion_control();
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//i2c_update_servo_motors();
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//mcp23017_update();
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tight_loop_contents();
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}
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void robot_deinit(void)
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void controller_deinit(void)
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{
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udp_client_deinit();
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//i2c_master_deinit();
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udp_server_deinit();
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}
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@ -3,18 +3,18 @@
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#include <stdbool.h>
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typedef struct robot_t {
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typedef struct controller_t {
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bool is_running;
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float delta_time_ms;
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} robot_t;
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} controller_t;
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extern robot_t robot;
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extern controller_t controller;
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// Init all robot's components
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void robot_init(void);
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// Init all controller's components
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void controller_init(void);
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// Handle inputs and outputs
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void robot_handle_inputs_outputs(void);
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// Deinit all robot's components
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void robot_deinit(void);
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void controller_handle_inputs_outputs(void);
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// Deinit all controller's components
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void controller_deinit(void);
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#endif // ROBOT_H
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@ -8,20 +8,20 @@
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* Ce Pico est un maitre pilotant le gyroscope, l'internet et le motion controller.*
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\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
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#include "headers/robot.h"
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#include "headers/controller.h"
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robot_t robot;
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controller_t controller;
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int main(void)
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{
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robot_init();
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controller_init();
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while(robot.is_running)
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while(controller.is_running)
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{
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robot_handle_inputs_outputs();
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controller_handle_inputs_outputs();
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}
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robot_deinit();
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controller_deinit();
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return 0;
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}
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@ -21,18 +21,18 @@
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#endif
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#define MEM_ALIGNMENT 4
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#ifndef MEM_SIZE
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#define MEM_SIZE 32768 // Augmenté pour plus de mémoire disponible
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#define MEM_SIZE 4000
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#endif
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#define MEMP_NUM_TCP_SEG 32
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#define MEMP_NUM_ARP_QUEUE 10
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#define PBUF_POOL_SIZE 32 // Augmenté pour réduire les allocations
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#define PBUF_POOL_SIZE 24
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#define LWIP_ARP 1
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#define LWIP_ETHERNET 1
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#define LWIP_ICMP 1
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#define LWIP_RAW 1
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#define TCP_WND (16 * TCP_MSS) // Augmenté pour de meilleures performances
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#define TCP_WND (8 * TCP_MSS)
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#define TCP_MSS 1460
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#define TCP_SND_BUF (8 * TCP_MSS) // Augmenté pour de meilleures performances
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#define TCP_SND_BUF (8 * TCP_MSS)
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#define TCP_SND_QUEUELEN ((4 * (TCP_SND_BUF) + (TCP_MSS - 1)) / (TCP_MSS))
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#define LWIP_NETIF_STATUS_CALLBACK 1
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#define LWIP_NETIF_LINK_CALLBACK 1
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@ -44,8 +44,7 @@
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#define LINK_STATS 0
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// #define ETH_PAD_SIZE 2
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#define LWIP_CHKSUM_ALGORITHM 3
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#define LWIP_DHCP 0
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#define LWIP_DHCP_SERVER 0
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#define LWIP_DHCP 1
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#define LWIP_IPV4 1
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#define LWIP_TCP 1
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#define LWIP_UDP 1
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@ -90,8 +89,4 @@
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#define SLIP_DEBUG LWIP_DBG_OFF
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#define DHCP_DEBUG LWIP_DBG_OFF
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#define SYS_LIGHTWEIGHT_PROT 1 // Protection pour le multicore
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#define MEMP_NUM_PBUF 32 // Augmenté pour les buffers
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#define ICMP_TTL 255 // Augmenté pour la fiabilité
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#endif /* __LWIPOPTS_H__ */
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#endif /* __LWIPOPTS_H__ */
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@ -4,25 +4,17 @@
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#include <stdint.h>
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#include <lwip/udp.h>
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#define UDP_CLIENT_PORT 4243
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#define UDP_SERVER_PORT 4242
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#define BUFFER_SIZE 1024
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// Message callback deffinition
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typedef void (*message_callback_t)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, uint16_t port);
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// Data in here is used by the SDK
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typedef struct udp_client_t {
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struct udp_pcb *pcb; // like this
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ip_addr_t local_addr; // or this...
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uint16_t local_port; // So don't remove them, even if they are not used explicitely in the program
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uint8_t recv_buffer[BUFFER_SIZE]; // Please (Do not even change their position)
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message_callback_t message_callback;
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} udp_client_t;
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typedef struct udp_server_t {
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struct udp_pcb *pcb;
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} udp_server_t;
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// Init udp client, set callback to NULL for the default callback
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void udp_client_init(void);
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int udp_server_init(void);
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// Send all data to robot
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void udp_server_send(void);
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// Exit udp client
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void udp_client_deinit(void);
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void udp_server_deinit(void);
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#endif // UDP_CLIENT_H
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@ -1,11 +1,10 @@
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#ifndef WIFI_OPERATOR_H
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#define WIFI_OPERATOR_H
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//#define WIFI_OPERATOR_SSID "RiombotiqueAP"
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//#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
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#define WIFI_OPERATOR_SSID "thinkpad"
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#define WIFI_OPERATOR_PASSWORD "CDuKaka2000!"
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#define WIFI_OPERATOR_SSID "RiombotiqueAP"
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#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
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#define WIFI_OPERATOR_CHANNEL 3
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void init_wifi_operator(void);
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int init_wifi_operator(void);
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#endif // WIFI_OPERATOR_H
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@ -2,69 +2,38 @@
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#include <stdio.h>
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udp_client_t udp_client;
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udp_server_t udp_server;
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static inline void handle_receive(struct pbuf *p, const ip_addr_t *addr, u16_t port)
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int udp_server_init(void)
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{
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if(p->len >= 2)
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udp_server.pcb = udp_new();
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if(udp_server.pcb == NULL)
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{
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uint8_t *payload = (uint8_t *)p->payload;
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uint16_t len = p->len;
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udp_client.message_callback(payload, len, addr, port);
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puts("Error creating UDP server");
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return -1;
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}
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pbuf_free(p);
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}
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static void __not_in_flash_func(udp_receive_callback)(void *arg, struct udp_pcb *pcb, struct pbuf *p, const ip_addr_t *addr, u16_t port)
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{
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udp_client_t *udp_client_received_data = (udp_client_t *)arg;
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handle_receive(p, addr, port);
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}
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// Default callback func
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static void __not_in_flash_func(default_message_callback)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, uint16_t port)
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{
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printf("Received: len=%d from %s:%d\n", len, ipaddr_ntoa(addr), port);
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for(uint i = 0; i < len; i++) printf("payload[%d]=%d | ", i, payload[i]);
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puts("\n");
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//printf(">Robot angle : %d\n", (int16_t)((payload[UDP_PAYLOAD_ANGLE_H_BYTE] << 8) | payload[UDP_PAYLOAD_ANGLE_L_BYTE]));
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//printf(">Robot x speed : %d\n", (int8_t)payload[UDP_PAYLOAD_X_AXIS_SPEED_BYTE]);
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//printf(">Robot y speed : %d\n", (int8_t)payload[UDP_PAYLOAD_Y_AXIS_SPEED_BYTE]);
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}
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void udp_client_init(void)
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{
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//udp_client.message_callback = udp_client_message_handler;
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udp_client.message_callback = default_message_callback;
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udp_client.pcb = udp_new();
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if(udp_client.pcb == NULL)
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if(udp_bind(udp_server.pcb, IP_ADDR_ANY, UDP_SERVER_PORT))
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{
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puts("Error creating UDP client");
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return;
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printf("Error bind UDP server");
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return -1;
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}
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udp_recv(udp_client.pcb, udp_receive_callback, &udp_client);
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puts("UDP client started");
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err_t err = udp_bind(udp_client.pcb, IP_ADDR_ANY, UDP_CLIENT_PORT);
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if(err != ERR_OK)
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{
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printf("Error bind UDP client: %d\n", err);
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return;
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}
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printf("UDP client started on port %d\n", UDP_CLIENT_PORT);
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return 0;
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||||
}
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||||
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void udp_client_deinit(void)
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void udp_server_send(void)
|
||||
{
|
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if(udp_client.pcb)
|
||||
|
||||
}
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||||
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void udp_server_deinit(void)
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||||
{
|
||||
if(udp_server.pcb)
|
||||
{
|
||||
udp_remove(udp_client.pcb);
|
||||
udp_client.pcb = NULL;
|
||||
udp_remove(udp_server.pcb);
|
||||
udp_server.pcb = NULL;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -5,70 +5,19 @@
|
|||
#include <lwip/netif.h>
|
||||
#include <lwip/ip4_addr.h>
|
||||
|
||||
void init_wifi_operator(void)
|
||||
int init_wifi_operator(void)
|
||||
{
|
||||
// Mode client
|
||||
cyw43_arch_enable_sta_mode();
|
||||
|
||||
// Désactiver le mode d'économie d'énergie
|
||||
cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE);
|
||||
|
||||
// Configuration IP
|
||||
ip4_addr_t ip, netmask, gateway;
|
||||
IP4_ADDR(&ip, 192, 168, 128, 2);
|
||||
IP4_ADDR(&netmask, 255, 255, 255, 0);
|
||||
IP4_ADDR(&gateway, 192, 168, 128, 1);
|
||||
|
||||
// Configuration réseau avant connexion
|
||||
netif_set_up(netif_default);
|
||||
netif_set_addr(netif_default, &ip, &netmask, &gateway);
|
||||
|
||||
puts("IP config done");
|
||||
sleep_ms(300); // Wait for wifi to be initialized
|
||||
|
||||
// Tentativs de connexion
|
||||
for(int error_code; !error_code;)
|
||||
if(cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE))
|
||||
{
|
||||
// Afficher les paramètres de connexion
|
||||
printf("Trying to connect to '%s'\n", WIFI_OPERATOR_SSID);
|
||||
error_code = cyw43_arch_wifi_connect_timeout_ms(WIFI_OPERATOR_SSID, WIFI_OPERATOR_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 10000);
|
||||
|
||||
if(error_code)
|
||||
{
|
||||
const char *error_description;
|
||||
|
||||
switch(error_code)
|
||||
{
|
||||
case -1:
|
||||
error_description = "Error Generic";
|
||||
break;
|
||||
|
||||
case -2:
|
||||
error_description = "Acces point not found";
|
||||
break;
|
||||
|
||||
case -3:
|
||||
error_description = "Incorrect password";
|
||||
break;
|
||||
|
||||
default:
|
||||
error_description = "Unknow error";
|
||||
}
|
||||
|
||||
printf("Error: WiFi can't be connected - Error code: %d - %s\n", error_code, error_description);
|
||||
}
|
||||
puts("CYW43 no powersave mode failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Configuration de l'interface réseau
|
||||
if(netif_default == NULL)
|
||||
{
|
||||
puts("Error: WiFi interface isn't accessible");
|
||||
return;
|
||||
}
|
||||
cyw43_arch_enable_ap_mode(WIFI_OPERATOR_SSID, WIFI_OPERATOR_PASSWORD, CYW43_AUTH_WPA2_AES_PSK);
|
||||
|
||||
netif_set_up(netif_default);
|
||||
netif_set_link_up(netif_default);
|
||||
netif_set_addr(netif_default, &ip, &netmask, &gateway);
|
||||
cyw43_wifi_ap_set_channel(&cyw43_state, WIFI_OPERATOR_CHANNEL);
|
||||
|
||||
puts("Connexion successfully etablished !");
|
||||
puts("AP mode enabled");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue