Updated pico files and udp communication

program/main_controller/.vscode/tasks.json

@@ -5,7 +5,7 @@
             "type": "shell",
             "group": "build",
 
-            "command": "mkdir -p build && cd build && cmake ../ && make",
+            "command": "mkdir -p build && cd build && cmake ../ && make -j $(nproc)",
 
             "presentation": {
                 "echo": true,
@@ -21,7 +21,7 @@
             "type": "shell",
             "group": "build",
 
-            "command": "mkdir -p build && cd build && cmake ../ && make Flash",
+            "command": "mkdir -p build && cd build && cmake ../ && make -j $(nproc) Flash",
 
             "presentation": {
                 "echo": true,

program/main_controller/CMakeLists.txt

@@ -24,7 +24,6 @@ add_executable(main_controller
   src/i2c/mcp23017.c
   src/wifi/wifi_operator.c
   src/wifi/udp_client.c
-  src/wifi/udp_payload.c
 )
 
 target_include_directories(main_controller PRIVATE
@@ -36,7 +35,6 @@ target_link_libraries(main_controller
   pico_stdlib
   hardware_i2c
   hardware_pwm
-  hardware_uart
   pico_cyw43_arch_lwip_poll
 )
 

program/main_controller/pico_sdk_import.cmake

@@ -3,6 +3,28 @@
 # This can be dropped into an external project to help locate this SDK
 # It should be include()ed prior to project()
 
+# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd.
+#
+# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+# following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+# disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products
+# derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
 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}')")
@@ -18,9 +40,20 @@ if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_P
     message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
 endif ()
 
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
+    set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
+    message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
+endif ()
+
+if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
+  set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
+  message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
+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 "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
 
 if (NOT PICO_SDK_PATH)
     if (PICO_SDK_FETCH_FROM_GIT)
@@ -32,11 +65,37 @@ if (NOT PICO_SDK_PATH)
         FetchContent_Declare(
                 pico_sdk
                 GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
-                GIT_TAG master
+                GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
         )
+
         if (NOT pico_sdk)
             message("Downloading Raspberry Pi Pico SDK")
-            FetchContent_Populate(pico_sdk)
+            # GIT_SUBMODULES_RECURSE was added in 3.17
+            if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+                FetchContent_Populate(
+                        pico_sdk
+                        QUIET
+                        GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                        GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+                        GIT_SUBMODULES_RECURSE FALSE
+
+                        SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
+                        BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
+                        SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
+                )
+            else ()
+                FetchContent_Populate(
+                        pico_sdk
+                        QUIET
+                        GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                        GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+
+                        SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
+                        BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
+                        SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
+                )
+            endif ()
+
             set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
         endif ()
         set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})

program/main_controller/src/robot.c

@@ -14,22 +14,23 @@ void robot_init(void)
 
     stdio_init_all();
 
-    if(cyw43_arch_init())
+    if(cyw43_arch_init_with_country(CYW43_COUNTRY_FRANCE))
         robot.is_running = false;
 
     cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
 
-    i2c_master_init();
+    //i2c_master_init();
 
-    mcp23017_init();
+    //mcp23017_init();
 
-    gyro_init();
+    //gyro_init();
 
     //gyro_calibrate();
 
     //motion_control_init();
 
-    wifi_operator_init();
+    if(wifi_operator_init())
+        robot.is_running = false;
 
     if(udp_client_init())
         robot.is_running = false;

program/main_controller/src/wifi/headers/lwipopts.h

@@ -21,18 +21,18 @@
 #endif
 #define MEM_ALIGNMENT               4
 #ifndef MEM_SIZE
-#define MEM_SIZE                    32768          // Augmenté pour plus de mémoire disponible
+#define MEM_SIZE                    4000
 #endif
 #define MEMP_NUM_TCP_SEG            32
 #define MEMP_NUM_ARP_QUEUE          10
-#define PBUF_POOL_SIZE              32              // Augmenté pour réduire les allocations
+#define PBUF_POOL_SIZE              24
 #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_WND                     (8 * TCP_MSS)
 #define TCP_MSS                     1460
-#define TCP_SND_BUF                 (8 * TCP_MSS)   // Augmenté pour de meilleures performances
+#define TCP_SND_BUF                 (8 * TCP_MSS)
 #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
@@ -44,8 +44,7 @@
 #define LINK_STATS                  0
 // #define ETH_PAD_SIZE                2
 #define LWIP_CHKSUM_ALGORITHM       3
-#define LWIP_DHCP                   0
+#define LWIP_DHCP                   1
-#define LWIP_DHCP_SERVER            0
 #define LWIP_IPV4                   1
 #define LWIP_TCP                    1
 #define LWIP_UDP                    1
@@ -90,8 +89,4 @@
 #define SLIP_DEBUG                  LWIP_DBG_OFF
 #define DHCP_DEBUG                  LWIP_DBG_OFF
 
-#define SYS_LIGHTWEIGHT_PROT       1  // Protection pour le multicore
+#endif /* __LWIPOPTS_H__ */
-#define MEMP_NUM_PBUF              32  // Augmenté pour les buffers
-#define ICMP_TTL                   255 // Augmenté pour la fiabilité
-
-#endif /* __LWIPOPTS_H__ */

program/main_controller/src/wifi/headers/udp_payload.h

@@ -1,11 +0,0 @@
-#ifndef UDP_BUFFER_H
-#define UDP_BUFFER_H
-
-#include <pico.h>
-#include <stdint.h>
-#include <lwip/udp.h>
-
-// Callback function for writing data when udp package received
-void __not_in_flash_func(udp_client_message_handler)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, u16_t port);
-
-#endif // UDP_BUFFER_H

program/main_controller/src/wifi/headers/wifi_operator.h

@@ -1,11 +1,11 @@
 #ifndef WIFI_OPERATOR_H
 #define WIFI_OPERATOR_H
 
-//#define WIFI_OPERATOR_SSID "RiombotiqueAP"
+#define WIFI_OPERATOR_SSID "RiombotiqueAP"
-//#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
+#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
-#define WIFI_OPERATOR_SSID "thinkpad-T440p"
+//#define WIFI_OPERATOR_SSID "thinkpad-T440p"
-#define WIFI_OPERATOR_PASSWORD "CDuKaka2000!"
+//#define WIFI_OPERATOR_PASSWORD "CDuKaka2000!"
 
-void wifi_operator_init(void);
+int wifi_operator_init(void);
 
 #endif // WIFI_OPERATOR_H

program/main_controller/src/wifi/udp_client.c

@@ -1,14 +1,18 @@
 #include "headers/udp_client.h"
 
 #include <stdio.h>
-#include "headers/udp_payload.h"
 #include "headers/robot.h"
 
+void __not_in_flash_func(message_callback)(uint8_t *payload, uint16_t len, const ip_addr_t *addr)
+{
+    // RECEIVE ALL CONTROLLER DATA
+}
+
 // Default callback func
-static void __not_in_flash_func(default_message_callback)(uint8_t *payload, uint16_t len)
+static inline void default_message_callback(uint8_t *payload, uint16_t len)
 {
     for(uint i = 0; i < len; i++)
-        printf("payload[%d]=%d | ", i, payload[i]);
+        printf("payload[%d]=%d%s", i, payload[i], ((i + 1) == len) ? "" : " | ");
 
     puts("\n");
 }

program/main_controller/src/wifi/udp_payload.c

@@ -1,26 +0,0 @@
-#include "headers/udp_payload.h"
-
-#include "i2c/headers/motors.h"
-#include "headers/robot.h"
-
-#define UDP_PAYLOAD_ANGLE_L_BYTE 0x00
-#define UDP_PAYLOAD_ANGLE_H_BYTE 0x01
-#define UDP_PAYLOAD_X_AXIS_SPEED_BYTE 0x02
-#define UDP_PAYLOAD_Y_AXIS_SPEED_BYTE 0x03
-
-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];
-    robot.motion_control_data.y_axis_speed = payload[UDP_PAYLOAD_Y_AXIS_SPEED_BYTE];
-/*
-    for(servo_motors_enum_t actual_servo_motor = SERVO_MOTOR1; actual_servo_motor < NB_SERVO_MOTORS; actual_servo_motor++)
-    {
-        const servo_motor_def_t *SERVO_MOTOR_DEF = &SERVO_MOTORS_DEFS[actual_servo_motor];
-
-        robot.motion_control_data.servo_motors_pos[actual_servo_motor] = payload[SERVO_MOTOR_DEF->buffer_reg_and_payload_byte];
-    }*/
-}

program/main_controller/src/wifi/wifi_operator.c

@@ -5,18 +5,20 @@
 #include <lwip/netif.h>
 #include <lwip/ip4_addr.h>
 
-void wifi_operator_init(void)
+int wifi_operator_init(void)
 {
-    // Mode client
+    if(cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE))
+    {
+        puts("CYW43 no powersave mode failed");
+        return -1;
+    }
+
+    // Station mode
     cyw43_arch_enable_sta_mode();
 
-    // Désactiver le mode d'économie d'énergie
-    cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE);
-
-    // Tentativs de connexion
     for(int error_code = 1; error_code; )
     {
-        puts("WiFi connection attempt");
+        printf("WiFi connection attempt 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);
 
@@ -43,5 +45,5 @@ void wifi_operator_init(void)
         }
     }
 
-    puts("Connexion successfully etablished !");
+    puts("STA mode activated");
 }