Initial commit
This commit is contained in:
commit
264bb02e98
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program/build
|
||||
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|
@ -0,0 +1,27 @@
|
|||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "Linux",
|
||||
"intelliSenseMode": "linux-gcc-arm",
|
||||
"includePath": [
|
||||
"${env:PICO_SDK_PATH}/src/**/include/",
|
||||
"${env:PICO_SDK_PATH}/lib/**/include/",
|
||||
"${env:PICO_SDK_PATH}/lib/**/src/",
|
||||
"${workspaceFolder}/build/generated/pico_base/",
|
||||
"${workspaceFolder}/src/wifi/headers/",
|
||||
"${workspaceFolder}/src/"
|
||||
],
|
||||
"compilerPath": "/usr/bin/arm-none-eabi-gcc",
|
||||
"cStandard": "c11",
|
||||
"browse": {
|
||||
"path": [
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"limitSymbolsToIncludedHeaders": true,
|
||||
"databaseFilename": ""
|
||||
},
|
||||
"configurationProvider": "ms-vscode.cmake-tools"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
{
|
||||
"files.associations": {
|
||||
"*.md": "markdown",
|
||||
"binary_info.h": "c",
|
||||
"i2c.h": "c",
|
||||
"stdlib.h": "c",
|
||||
"stdint.h": "c",
|
||||
"gyro.h": "c",
|
||||
"motors.h": "c",
|
||||
"motion_control.h": "c",
|
||||
"i2c_master.h": "c",
|
||||
"udp_client.h": "c",
|
||||
"udp_payload.h": "c",
|
||||
"udp.h": "c",
|
||||
"opt.h": "c",
|
||||
"cyw43_arch.h": "c",
|
||||
"wifi_operator.h": "c"
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,37 @@
|
|||
{
|
||||
"tasks": [
|
||||
{
|
||||
"label": "CMake & Make",
|
||||
"type": "shell",
|
||||
"group": "build",
|
||||
|
||||
"command": "mkdir -p build && cd build && cmake ../ && make",
|
||||
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "CMake & Make & Flash",
|
||||
"type": "shell",
|
||||
"group": "build",
|
||||
|
||||
"command": "mkdir -p build && cd build && cmake ../ && make Flash",
|
||||
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": true,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": true,
|
||||
"clear": true
|
||||
}
|
||||
}
|
||||
],
|
||||
"version": "2.0.0"
|
||||
}
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
# Définir explicitement la carte comme Pico W
|
||||
set(PICO_BOARD pico_w)
|
||||
if(NOT DEFINED PICO_BOARD)
|
||||
add_definitions(-DPICO_BOARD=${PICO_BOARD})
|
||||
endif()
|
||||
|
||||
include(pico_sdk_import.cmake)
|
||||
|
||||
project(controller C CXX ASM)
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
|
||||
pico_sdk_init()
|
||||
|
||||
add_executable(controller
|
||||
src/main.c
|
||||
src/controller.c
|
||||
src/wifi/wifi_operator.c
|
||||
src/wifi/udp_server.c
|
||||
)
|
||||
|
||||
target_include_directories(controller PRIVATE
|
||||
${CMAKE_CURRENT_LIST_DIR}/src/wifi/headers/
|
||||
${CMAKE_CURRENT_LIST_DIR}/src/
|
||||
)
|
||||
|
||||
target_link_libraries(controller
|
||||
pico_stdlib
|
||||
hardware_i2c
|
||||
hardware_pwm
|
||||
hardware_uart
|
||||
pico_cyw43_arch_lwip_poll
|
||||
)
|
||||
|
||||
pico_enable_stdio_usb(controller 1)
|
||||
pico_enable_stdio_uart(controller 1)
|
||||
|
||||
pico_add_extra_outputs(controller)
|
||||
|
||||
add_custom_target(Flash
|
||||
DEPENDS controller
|
||||
|
||||
COMMAND sudo picotool load -f ${PROJECT_BINARY_DIR}/controller.uf2
|
||||
)
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,95 @@
|
|||
Motion controler code for the RPI Pico (RP2040)
|
||||
===============================================
|
||||
|
||||
This project is the main controller firmware for the RPI Pico (RP2040), designed for the Eurobot 2025 Cup.
|
||||
|
||||
|
||||
I2C description
|
||||
-----------------------------------------------
|
||||
|
||||
The robot’s I2C communication works as follows:
|
||||
* Send the device address + R/W bit (to select read or write mode).
|
||||
* Send the target register address (to read from or write to).
|
||||
* Read or write the register data. Multiple registers can be read/written sequentially, with the address auto-incrementing after each operation.
|
||||
|
||||
This code is designed to be the master in the i2c communication.
|
||||
|
||||
|Register |R/W|Description |Encoding |
|
||||
|---------|:-:|-------------------------------|:-----------------:|
|
||||
| 0x00 | W | Speed motor 1 |**-128** - **127** |
|
||||
| 0x01 | W | Speed motor 2 |**-128** - **127** |
|
||||
| 0x02 | W | Speed motor 3 |**-128** - **127** |
|
||||
| 0x03 | W | Speed motor 4 |**-128** - **127** |
|
||||
| 0x04 | W | Servo 1 position selection | **0** - **1** |
|
||||
| 0x05 | W | Servo 2 position selection | **0** - **1** |
|
||||
| 0x06 | W | Servo 3 position selection | **0** - **1** |
|
||||
| 0x07 | W | Servo 4 position selection | **0** - **1** |
|
||||
|
||||
|
||||
Motors communication description
|
||||
-----------------------------------------------
|
||||
|
||||
Motors are «connected» to their respective I2C buffer address.
|
||||
|
||||
To control a motor you need to write data to its adress of the form :
|
||||
|
||||
>```C
|
||||
>int8_t speed;
|
||||
>```
|
||||
|
||||
Value goes from **-128** to **127**.
|
||||
|
||||
|
||||
Servo motors communication description
|
||||
-----------------------------------------------
|
||||
|
||||
Servo motors are «connected» to their respective I2C buffer address.
|
||||
|
||||
To control a servo motor you need to write data to its adress of the form :
|
||||
|
||||
>```C
|
||||
>uint8_t close;
|
||||
>```
|
||||
|
||||
Value is 0 or 1 for the open or the close pos.
|
||||
|
||||
|
||||
Internet communication description
|
||||
-----------------------------------------------
|
||||
|
||||
The robot main_controller is a client connected to the wireless controller which is an udp server host. A buffer is used to store data received from host.
|
||||
|
||||
Speed on X and Y axis are not depending of the robot orientation.
|
||||
|
||||
Servo motors keep the same byte address in i2c buffer and udp payload.
|
||||
|
||||
|Byte |Description |Encoding |
|
||||
|---------|-------------------------------------------------|:-----------------:|
|
||||
| 0x00-01 | Robot angle (0x00 is the last significant byte) |**-180** - **180** |
|
||||
| 0x02 | Speed x axis |**-128** - **127** |
|
||||
| 0x03 | Speed y axis |**-128** - **127** |
|
||||
| 0x04 | Servo 1 position selection | **0** - **1** |
|
||||
| 0x05 | Servo 2 position selection | **0** - **1** |
|
||||
| 0x06 | Servo 3 position selection | **0** - **1** |
|
||||
| 0x07 | Servo 4 position selection | **0** - **1** |
|
||||
|
||||
|
||||
Pinout description
|
||||
-----------------------------------------------
|
||||
|
||||
|Pin |Description |GPIO Type |
|
||||
|----|----------------------------------|-----------|
|
||||
| 4 | I2C Bus SDA | I2C |
|
||||
| 5 | I2C Bus SCL | I2C |
|
||||
|
||||
|
||||
Motors placement
|
||||
-----------------------------------------------
|
||||
|
||||
,-~***~-,
|
||||
/1 2\
|
||||
| |
|
||||
| |
|
||||
| |
|
||||
\3 4/
|
||||
`-.....-'
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
|
||||
|
||||
# This can be dropped into an external project to help locate this SDK
|
||||
# It should be include()ed prior to project()
|
||||
|
||||
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
|
||||
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
|
||||
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
|
||||
endif ()
|
||||
|
||||
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
|
||||
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
|
||||
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
|
||||
endif ()
|
||||
|
||||
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
|
||||
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
|
||||
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
|
||||
endif ()
|
||||
|
||||
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
|
||||
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
|
||||
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
|
||||
|
||||
if (NOT PICO_SDK_PATH)
|
||||
if (PICO_SDK_FETCH_FROM_GIT)
|
||||
include(FetchContent)
|
||||
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
|
||||
if (PICO_SDK_FETCH_FROM_GIT_PATH)
|
||||
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
|
||||
endif ()
|
||||
FetchContent_Declare(
|
||||
pico_sdk
|
||||
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
|
||||
GIT_TAG master
|
||||
)
|
||||
if (NOT pico_sdk)
|
||||
message("Downloading Raspberry Pi Pico SDK")
|
||||
FetchContent_Populate(pico_sdk)
|
||||
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
|
||||
endif ()
|
||||
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
|
||||
else ()
|
||||
message(FATAL_ERROR
|
||||
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
|
||||
)
|
||||
endif ()
|
||||
endif ()
|
||||
|
||||
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
|
||||
if (NOT EXISTS ${PICO_SDK_PATH})
|
||||
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
|
||||
endif ()
|
||||
|
||||
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
|
||||
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
|
||||
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
|
||||
endif ()
|
||||
|
||||
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
|
||||
|
||||
include(${PICO_SDK_INIT_CMAKE_FILE})
|
||||
|
|
@ -0,0 +1,99 @@
|
|||
#include "headers/robot.h"
|
||||
|
||||
#include <pico/stdlib.h>
|
||||
#include <pico/cyw43_arch.h>
|
||||
#include <time.h>
|
||||
#include <pico/mutex.h>
|
||||
#include "i2c/headers/i2c_master.h"
|
||||
#include "i2c/headers/mcp23017.h"
|
||||
#include "wifi/headers/udp_client.h"
|
||||
#include "wifi/headers/wifi_operator.h"
|
||||
|
||||
auto_init_mutex(wifi_mutex);
|
||||
|
||||
void robot_init(void)
|
||||
{
|
||||
robot.is_running = true;
|
||||
|
||||
stdio_init_all();
|
||||
|
||||
if(cyw43_arch_init())
|
||||
robot.is_running = false;
|
||||
|
||||
mutex_enter_blocking(&wifi_mutex);
|
||||
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
|
||||
mutex_exit(&wifi_mutex);
|
||||
|
||||
//i2c_master_init();
|
||||
|
||||
//mcp23017_init();
|
||||
|
||||
//gyro_init();
|
||||
|
||||
//gyro_calibrate();
|
||||
|
||||
//init_motion_control();
|
||||
|
||||
init_wifi_operator();
|
||||
udp_client_init();
|
||||
|
||||
// Initialisation ended
|
||||
for(uint i = 0, led_state = true; i < 5; i++)
|
||||
{
|
||||
mutex_enter_blocking(&wifi_mutex);
|
||||
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
|
||||
mutex_exit(&wifi_mutex);
|
||||
|
||||
sleep_ms(100);
|
||||
|
||||
led_state = !led_state;
|
||||
}
|
||||
}
|
||||
|
||||
static inline void update_time(void)
|
||||
{
|
||||
static float last_time = 0.0;
|
||||
float start_time = (float)clock() * 1000.0f / (float)CLOCKS_PER_SEC;
|
||||
robot.delta_time_ms = start_time - last_time;
|
||||
last_time = start_time;
|
||||
|
||||
static float elapsed_time = 0.0f;
|
||||
elapsed_time += robot.delta_time_ms;
|
||||
|
||||
static bool led_state = false;
|
||||
if(elapsed_time >= 1000.0f)
|
||||
{
|
||||
elapsed_time = 0.0f;
|
||||
|
||||
mutex_enter_blocking(&wifi_mutex);
|
||||
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
|
||||
mutex_exit(&wifi_mutex);
|
||||
|
||||
led_state = !led_state;
|
||||
}
|
||||
}
|
||||
|
||||
void robot_handle_inputs_outputs(void)
|
||||
{
|
||||
mutex_enter_blocking(&wifi_mutex);
|
||||
cyw43_arch_poll();
|
||||
mutex_exit(&wifi_mutex);
|
||||
|
||||
update_time();
|
||||
|
||||
//gyro_update();
|
||||
|
||||
//i2c_update_motion_control();
|
||||
|
||||
//i2c_update_servo_motors();
|
||||
|
||||
//mcp23017_update();
|
||||
|
||||
tight_loop_contents();
|
||||
}
|
||||
|
||||
void robot_deinit(void)
|
||||
{
|
||||
udp_client_deinit();
|
||||
//i2c_master_deinit();
|
||||
}
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
#ifndef ROBOT_H
|
||||
#define ROBOT_H
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
typedef struct robot_t {
|
||||
bool is_running;
|
||||
float delta_time_ms;
|
||||
} robot_t;
|
||||
|
||||
extern robot_t robot;
|
||||
|
||||
// Init all robot's components
|
||||
void robot_init(void);
|
||||
// Handle inputs and outputs
|
||||
void robot_handle_inputs_outputs(void);
|
||||
// Deinit all robot's components
|
||||
void robot_deinit(void);
|
||||
|
||||
#endif // ROBOT_H
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
/* *\
|
||||
Copyrights 2025
|
||||
Riombotique
|
||||
\* */
|
||||
|
||||
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *\
|
||||
* Code du RPI Pico principale gérant les differentes entrées-sorties. *
|
||||
* Ce Pico est un maitre pilotant le gyroscope, l'internet et le motion controller.*
|
||||
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
|
||||
|
||||
#include "headers/robot.h"
|
||||
|
||||
robot_t robot;
|
||||
|
||||
int main(void)
|
||||
{
|
||||
robot_init();
|
||||
|
||||
while(robot.is_running)
|
||||
{
|
||||
robot_handle_inputs_outputs();
|
||||
}
|
||||
|
||||
robot_deinit();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,97 @@
|
|||
#ifndef _LWIPOPTS_EXAMPLE_COMMONH_H
|
||||
#define _LWIPOPTS_EXAMPLE_COMMONH_H
|
||||
|
||||
|
||||
// Common settings used in most of the pico_w examples
|
||||
// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html for details)
|
||||
|
||||
// allow override in some examples
|
||||
#ifndef NO_SYS
|
||||
#define NO_SYS 1
|
||||
#endif
|
||||
// allow override in some examples
|
||||
#ifndef LWIP_SOCKET
|
||||
#define LWIP_SOCKET 0
|
||||
#endif
|
||||
#if PICO_CYW43_ARCH_POLL
|
||||
#define MEM_LIBC_MALLOC 1
|
||||
#else
|
||||
// MEM_LIBC_MALLOC is incompatible with non polling versions
|
||||
#define MEM_LIBC_MALLOC 0
|
||||
#endif
|
||||
#define MEM_ALIGNMENT 4
|
||||
#ifndef MEM_SIZE
|
||||
#define MEM_SIZE 32768 // Augmenté pour plus de mémoire disponible
|
||||
#endif
|
||||
#define MEMP_NUM_TCP_SEG 32
|
||||
#define MEMP_NUM_ARP_QUEUE 10
|
||||
#define PBUF_POOL_SIZE 32 // Augmenté pour réduire les allocations
|
||||
#define LWIP_ARP 1
|
||||
#define LWIP_ETHERNET 1
|
||||
#define LWIP_ICMP 1
|
||||
#define LWIP_RAW 1
|
||||
#define TCP_WND (16 * TCP_MSS) // Augmenté pour de meilleures performances
|
||||
#define TCP_MSS 1460
|
||||
#define TCP_SND_BUF (8 * TCP_MSS) // Augmenté pour de meilleures performances
|
||||
#define TCP_SND_QUEUELEN ((4 * (TCP_SND_BUF) + (TCP_MSS - 1)) / (TCP_MSS))
|
||||
#define LWIP_NETIF_STATUS_CALLBACK 1
|
||||
#define LWIP_NETIF_LINK_CALLBACK 1
|
||||
#define LWIP_NETIF_HOSTNAME 1
|
||||
#define LWIP_NETCONN 0
|
||||
#define MEM_STATS 0
|
||||
#define SYS_STATS 0
|
||||
#define MEMP_STATS 0
|
||||
#define LINK_STATS 0
|
||||
// #define ETH_PAD_SIZE 2
|
||||
#define LWIP_CHKSUM_ALGORITHM 3
|
||||
#define LWIP_DHCP 0
|
||||
#define LWIP_DHCP_SERVER 0
|
||||
#define LWIP_IPV4 1
|
||||
#define LWIP_TCP 1
|
||||
#define LWIP_UDP 1
|
||||
#define LWIP_DNS 1
|
||||
#define LWIP_TCP_KEEPALIVE 1
|
||||
#define LWIP_NETIF_TX_SINGLE_PBUF 1
|
||||
#define DHCP_DOES_ARP_CHECK 0
|
||||
#define LWIP_DHCP_DOES_ACD_CHECK 0
|
||||
|
||||
#ifndef NDEBUG
|
||||
#define LWIP_DEBUG 1
|
||||
#define LWIP_STATS 1
|
||||
#define LWIP_STATS_DISPLAY 1
|
||||
#endif
|
||||
|
||||
#define ETHARP_DEBUG LWIP_DBG_OFF
|
||||
#define NETIF_DEBUG LWIP_DBG_OFF
|
||||
#define PBUF_DEBUG LWIP_DBG_OFF
|
||||
#define API_LIB_DEBUG LWIP_DBG_OFF
|
||||
#define API_MSG_DEBUG LWIP_DBG_OFF
|
||||
#define SOCKETS_DEBUG LWIP_DBG_OFF
|
||||
#define ICMP_DEBUG LWIP_DBG_OFF
|
||||
#define INET_DEBUG LWIP_DBG_OFF
|
||||
#define IP_DEBUG LWIP_DBG_OFF
|
||||
#define IP_REASS_DEBUG LWIP_DBG_OFF
|
||||
#define RAW_DEBUG LWIP_DBG_OFF
|
||||
#define MEM_DEBUG LWIP_DBG_OFF
|
||||
#define MEMP_DEBUG LWIP_DBG_OFF
|
||||
#define SYS_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_INPUT_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_OUTPUT_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_RTO_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_CWND_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_WND_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_FR_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_QLEN_DEBUG LWIP_DBG_OFF
|
||||
#define TCP_RST_DEBUG LWIP_DBG_OFF
|
||||
#define UDP_DEBUG LWIP_DBG_OFF
|
||||
#define TCPIP_DEBUG LWIP_DBG_OFF
|
||||
#define PPP_DEBUG LWIP_DBG_OFF
|
||||
#define SLIP_DEBUG LWIP_DBG_OFF
|
||||
#define DHCP_DEBUG LWIP_DBG_OFF
|
||||
|
||||
#define SYS_LIGHTWEIGHT_PROT 1 // Protection pour le multicore
|
||||
#define MEMP_NUM_PBUF 32 // Augmenté pour les buffers
|
||||
#define ICMP_TTL 255 // Augmenté pour la fiabilité
|
||||
|
||||
#endif /* __LWIPOPTS_H__ */
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
#ifndef UDP_CLIENT_H
|
||||
#define UDP_CLIENT_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <lwip/udp.h>
|
||||
|
||||
#define UDP_CLIENT_PORT 4243
|
||||
|
||||
#define BUFFER_SIZE 1024
|
||||
|
||||
// Message callback deffinition
|
||||
typedef void (*message_callback_t)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, uint16_t port);
|
||||
|
||||
// Data in here is used by the SDK
|
||||
typedef struct udp_client_t {
|
||||
struct udp_pcb *pcb; // like this
|
||||
ip_addr_t local_addr; // or this...
|
||||
uint16_t local_port; // So don't remove them, even if they are not used explicitely in the program
|
||||
uint8_t recv_buffer[BUFFER_SIZE]; // Please (Do not even change their position)
|
||||
message_callback_t message_callback;
|
||||
} udp_client_t;
|
||||
|
||||
// Init udp client, set callback to NULL for the default callback
|
||||
void udp_client_init(void);
|
||||
// Exit udp client
|
||||
void udp_client_deinit(void);
|
||||
|
||||
#endif // UDP_CLIENT_H
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
#ifndef WIFI_OPERATOR_H
|
||||
#define WIFI_OPERATOR_H
|
||||
|
||||
//#define WIFI_OPERATOR_SSID "RiombotiqueAP"
|
||||
//#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
|
||||
#define WIFI_OPERATOR_SSID "thinkpad"
|
||||
#define WIFI_OPERATOR_PASSWORD "CDuKaka2000!"
|
||||
|
||||
void init_wifi_operator(void);
|
||||
|
||||
#endif // WIFI_OPERATOR_H
|
||||
|
|
@ -0,0 +1,70 @@
|
|||
#include "headers/udp_server.h"
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
udp_client_t udp_client;
|
||||
|
||||
static inline void handle_receive(struct pbuf *p, const ip_addr_t *addr, u16_t port)
|
||||
{
|
||||
if(p->len >= 2)
|
||||
{
|
||||
uint8_t *payload = (uint8_t *)p->payload;
|
||||
uint16_t len = p->len;
|
||||
|
||||
udp_client.message_callback(payload, len, addr, port);
|
||||
}
|
||||
|
||||
pbuf_free(p);
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
udp_client_t *udp_client_received_data = (udp_client_t *)arg;
|
||||
handle_receive(p, addr, port);
|
||||
}
|
||||
|
||||
// Default callback func
|
||||
static void __not_in_flash_func(default_message_callback)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, uint16_t port)
|
||||
{
|
||||
printf("Received: len=%d from %s:%d\n", len, ipaddr_ntoa(addr), port);
|
||||
|
||||
for(uint i = 0; i < len; i++) printf("payload[%d]=%d | ", i, payload[i]);
|
||||
puts("\n");
|
||||
|
||||
//printf(">Robot angle : %d\n", (int16_t)((payload[UDP_PAYLOAD_ANGLE_H_BYTE] << 8) | payload[UDP_PAYLOAD_ANGLE_L_BYTE]));
|
||||
//printf(">Robot x speed : %d\n", (int8_t)payload[UDP_PAYLOAD_X_AXIS_SPEED_BYTE]);
|
||||
//printf(">Robot y speed : %d\n", (int8_t)payload[UDP_PAYLOAD_Y_AXIS_SPEED_BYTE]);
|
||||
}
|
||||
|
||||
void udp_client_init(void)
|
||||
{
|
||||
//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)
|
||||
{
|
||||
puts("Error creating UDP client");
|
||||
return;
|
||||
}
|
||||
|
||||
udp_recv(udp_client.pcb, udp_receive_callback, &udp_client);
|
||||
|
||||
err_t err = udp_bind(udp_client.pcb, IP_ADDR_ANY, UDP_CLIENT_PORT);
|
||||
if(err != ERR_OK)
|
||||
{
|
||||
printf("Error bind UDP client: %d\n", err);
|
||||
return;
|
||||
}
|
||||
|
||||
printf("UDP client started on port %d\n", UDP_CLIENT_PORT);
|
||||
}
|
||||
|
||||
void udp_client_deinit(void)
|
||||
{
|
||||
if(udp_client.pcb)
|
||||
{
|
||||
udp_remove(udp_client.pcb);
|
||||
udp_client.pcb = NULL;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,74 @@
|
|||
#include "headers/wifi_operator.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <pico/cyw43_arch.h>
|
||||
#include <lwip/netif.h>
|
||||
#include <lwip/ip4_addr.h>
|
||||
|
||||
void 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;)
|
||||
{
|
||||
// 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);
|
||||
}
|
||||
}
|
||||
|
||||
// Configuration de l'interface réseau
|
||||
if(netif_default == NULL)
|
||||
{
|
||||
puts("Error: WiFi interface isn't accessible");
|
||||
return;
|
||||
}
|
||||
|
||||
netif_set_up(netif_default);
|
||||
netif_set_link_up(netif_default);
|
||||
netif_set_addr(netif_default, &ip, &netmask, &gateway);
|
||||
|
||||
puts("Connexion successfully etablished !");
|
||||
}
|
||||
Loading…
Reference in New Issue