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main_robot_2025-2026
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Commit caca

This commit is contained in:
Ulysse Cura 2026-02-25 19:02:16 +01:00
parent 4e0714e424
commit 9966f4745c
7 changed files with 94 additions and 41 deletions
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6
program/main_controller/src/motion_control.c
View File

@ -86,6 +86,12 @@ void motion_control_update(void)
data.hard.motor1_speed = (uint8_t)abs((int)motor1_speed);
data.hard.motor2_speed = (uint8_t)abs((int)motor2_speed);
data.hard.motor1_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
data.hard.motor2_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
motor_set_dir(MOTOR1, (int16_t)robot.udp_client.data.hard.inputs.joystick_x);
motor_set_dir(MOTOR2, (int16_t)robot.udp_client.data.hard.inputs.joystick_x);
uint8_t reg = 0x00;
if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, &reg, 1, true) == PICO_ERROR_GENERIC)

32
program/main_controller/src/robot.c
View File

@ -30,11 +30,28 @@ void robot_init(void)
motion_control_init();
if(wifi_operator_init())
robot.is_running = false;
if(wifi_operator_init()){
while(1){
printf("No Wifi\n");
robot.is_running = false;
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
sleep_ms(50);
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, false);
sleep_ms(50);
}
}
if(udp_client_init())
robot.is_running = false;
if(udp_client_init()){
while(1){
printf("No UDP\n");
robot.is_running = false;
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
sleep_ms(50);
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, false);
sleep_ms(50);
}
}
// Initialisation ended
for(uint8_t i = 0, led_state = true; i < 5; i++)
@ -45,6 +62,7 @@ void robot_init(void)
led_state = !led_state;
}
printf(">robot_running:%d\n", robot.is_running);
}
static inline void update_time(void)
@ -69,6 +87,7 @@ static inline void update_time(void)
void robot_handle_inputs_outputs(void)
{
static bool led_state=false;
update_time();
cyw43_arch_poll();
@ -79,7 +98,10 @@ void robot_handle_inputs_outputs(void)
mcp23017_update();
tight_loop_contents();
sleep_ms(200);
led_state= !led_state;
uint8_t data[] = {0x02, led_state};
int ret = i2c_write_blocking(I2C_MASTER_INSTANCE, 0x09, data, 2, false);
}
void robot_deinit(void)

2
program/motion_controller/CMakeLists.txt
View File

@ -27,7 +27,7 @@ target_link_libraries(motion_controller
)
pico_enable_stdio_usb(motion_controller 1)
pico_enable_stdio_uart(motion_controller 1)
pico_enable_stdio_uart(motion_controller 0)
pico_add_extra_outputs(motion_controller)

5
program/motion_controller/src/i2c/headers/i2c_slave.h
View File

@ -27,4 +27,9 @@ void init_i2c_slave(void);
// Deinit i2c slave
void deinit_i2c_slave(void);
uint8_t get_vitesse_moteur_1(void);
uint8_t get_vitesse_moteur_2(void);
extern int nb_messages;
#endif // I2C_SLAVE_H

59
program/motion_controller/src/i2c/i2c_slave.c
View File

@ -4,37 +4,40 @@
#include <hardware/i2c.h>
#include <pico/i2c_slave.h>
#include <headers/robot.h>
void i2c_slave_buffer_handler(i2c_inst_t *i2c, i2c_slave_event_t event)
static struct
{
switch(event)
{
case I2C_SLAVE_RECEIVE: // master has written some data
if(!robot.i2c_buffer.buffer_reg_written)
{
uint8_t mem[256];
uint8_t mem_address;
bool mem_address_written;
} context;
int nb_messages = 0;
// Our handler is called from the I2C ISR, so it must complete quickly. Blocking calls /
// printing to stdio may interfere with interrupt handling.
static void i2c_slave_handler(i2c_inst_t *i2c, i2c_slave_event_t event) {
switch (event) {
case I2C_SLAVE_RECEIVE: // master has written some data
if (!context.mem_address_written) {
// writes always start with the memory address
robot.i2c_buffer.buffer_reg = i2c_read_byte_raw(I2C_SLAVE_INSTANCE);
robot.i2c_buffer.buffer_reg_written = true;
}
else
{
context.mem_address = i2c_read_byte_raw(i2c);
context.mem_address_written = true;
} else {
// save into memory
robot.i2c_buffer.buffer.raw[robot.i2c_buffer.buffer_reg] = i2c_read_byte_raw(I2C_SLAVE_INSTANCE);
robot.i2c_buffer.buffer_reg++;
context.mem[context.mem_address] = i2c_read_byte_raw(i2c);
context.mem_address++;
}
break;
case I2C_SLAVE_REQUEST: // master is requesting data
case I2C_SLAVE_REQUEST: // master is requesting data
// load from memory
i2c_write_byte_raw(I2C_SLAVE_INSTANCE, robot.i2c_buffer.buffer.raw[robot.i2c_buffer.buffer_reg]);
robot.i2c_buffer.buffer_reg++;
i2c_write_byte_raw(i2c, context.mem[context.mem_address]);
context.mem_address++;
break;
case I2C_SLAVE_FINISH: // master has signalled Stop / Restart
robot.i2c_buffer.buffer_reg_written = false;
case I2C_SLAVE_FINISH: // master has signalled Stop / Restart
context.mem_address_written = false;
nb_messages++;
break;
default:
default:
break;
}
}
@ -49,7 +52,7 @@ void init_i2c_slave(void)
i2c_init(I2C_SLAVE_INSTANCE, 0);
// New SDK method to init i2c slave
i2c_slave_init(I2C_SLAVE_INSTANCE, I2C_SLAVE_ADDRESS, &i2c_slave_buffer_handler);
i2c_slave_init(I2C_SLAVE_INSTANCE, I2C_SLAVE_ADDRESS, i2c_slave_handler);
}
void deinit_i2c_slave(void)
@ -61,3 +64,11 @@ void deinit_i2c_slave(void)
// New SDK method to reset i2c slave
i2c_slave_deinit(I2C_SLAVE_INSTANCE);
}
uint8_t get_vitesse_moteur_1(void){
return context.mem[0];
}
uint8_t get_vitesse_moteur_2(void){
return context.mem[1];
}

9
program/motion_controller/src/motors.c
View File

@ -1,9 +1,11 @@
#include "headers/motors.h"
#include "i2c/headers/i2c_slave.h"
#include <pico/stdlib.h>
#include <hardware/pwm.h>
#include <headers/robot.h>
#include <stdio.h>
static inline uint get_motor_pwm_pin(motors_enum_t motor)
@ -32,7 +34,10 @@ void motors_init(void)
const uint SLICE_NUM = pwm_gpio_to_slice_num(MOTOR_PWM_PIN);
gpio_set_function(MOTOR_PWM_PIN, GPIO_FUNC_PWM);
pwm_set_clkdiv(SLICE_NUM, 255);
pwm_set_wrap(SLICE_NUM, 256);
pwm_set_enabled(SLICE_NUM, true);
motor_set_speed(motor, 0);
@ -48,6 +53,6 @@ void motor_set_speed(motors_enum_t motor, uint8_t value)
void motors_update(void)
{
motor_set_speed(MOTOR1, robot.i2c_buffer.buffer.hard.motor1_speed);
motor_set_speed(MOTOR2, robot.i2c_buffer.buffer.hard.motor2_speed);
motor_set_speed(MOTOR1, get_vitesse_moteur_1());
motor_set_speed(MOTOR2, get_vitesse_moteur_2());
}

16
program/motion_controller/src/robot.c
View File

@ -43,9 +43,9 @@ static inline void update_time(void)
static double elapsed_time = 0.0;
elapsed_time += robot.delta_time_ms;
if(elapsed_time >= 1000.0)
if(nb_messages >= 10)
{
elapsed_time = 0.0;
nb_messages = 0;
gpio_put(PICO_DEFAULT_LED_PIN, led_state);
@ -55,15 +55,19 @@ static inline void update_time(void)
void robot_handle_inputs_outputs(void)
{
static bool led_state=false;
update_time();
motors_update();
//printf(">motor1_speed:%d\n", robot.i2c_buffer.buffer.hard.motor1_speed);
//printf(">motor2_speed:%d\n", robot.i2c_buffer.buffer.hard.motor2_speed);
sleep_ms(5);
printf(">motor1_speed:%d\n", get_vitesse_moteur_1());
printf(">motor2_speed:%d\n", get_vitesse_moteur_2());
sleep_ms(200);
led_state= !led_state;
uint8_t data[] = {0x02, led_state};
int ret = i2c_write_blocking(i2c0, 0x09, data, 2, false);
tight_loop_contents();
//tight_loop_contents();
}
void robot_deinit(void)