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Corrected WiFi and UDP

This commit is contained in:
Ulysse Cura 2026-01-31 20:44:44 +01:00
parent 83e00fe885
commit a4735a13f9
9 changed files with 63 additions and 117 deletions
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2
program/main_controller/src/headers/robot.h
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@ -5,8 +5,10 @@
#include "i2c/headers/mcp23017.h"
#include "i2c/headers/gyro.h"
#include "motion_control.h"
#include "wifi/headers/udp_client.h"
typedef struct robot_t {
udp_client_t udp_client;
mcp23017_data_t mcp23017_data;
gyro_data_t gyro_data;
motion_control_data_t motion_control_data;

28
program/main_controller/src/robot.c
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@ -3,14 +3,11 @@
#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;
@ -20,29 +17,27 @@ void robot_init(void)
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();
i2c_master_init();
//mcp23017_init();
mcp23017_init();
//gyro_init();
gyro_init();
//gyro_calibrate();
//init_motion_control();
//motion_control_init();
init_wifi_operator();
udp_client_init();
wifi_operator_init();
if(udp_client_init())
robot.is_running = false;
// 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);
@ -65,9 +60,7 @@ static inline void update_time(void)
{
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;
}
@ -75,9 +68,7 @@ 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();
@ -95,5 +86,6 @@ void robot_handle_inputs_outputs(void)
void robot_deinit(void)
{
udp_client_deinit();
//i2c_master_deinit();
cyw43_arch_deinit();
i2c_master_deinit();
}

15
program/main_controller/src/wifi/headers/udp_client.h
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@ -6,22 +6,15 @@
#define UDP_CLIENT_PORT 4243
#define BUFFER_SIZE 1024
typedef void (*message_callback_t)(uint8_t *payload, uint16_t len);
// 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)
struct udp_pcb *pcb;
message_callback_t message_callback;
} udp_client_t;
// Init udp client, set callback to NULL for the default callback
void udp_client_init(void);
// Init udp client
int udp_client_init(void);
// Exit udp client
void udp_client_deinit(void);

5
program/main_controller/src/wifi/headers/udp_payload.h
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@ -5,11 +5,6 @@
#include <stdint.h>
#include <lwip/udp.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
// 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);

8
program/main_controller/src/wifi/headers/wifi_operator.h
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@ -1,9 +1,11 @@
#ifndef WIFI_OPERATOR_H
#define WIFI_OPERATOR_H
#define WIFI_OPERATOR_SSID "RiombotiqueAP"
#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
//#define WIFI_OPERATOR_SSID "RiombotiqueAP"
//#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
#define WIFI_OPERATOR_SSID "thinkpad-T440p"
#define WIFI_OPERATOR_PASSWORD "CDuKaka2000!"
void init_wifi_operator(void);
void wifi_operator_init(void);
#endif // WIFI_OPERATOR_H

4
program/main_controller/src/wifi/headers/wifi_operator.h.template
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@ -1,8 +1,8 @@
#ifndef WIFI_OPERATOR_H
#define WIFI_OPERATOR_H
#define WIFI_OPERATOR_SSID "RiombotiqueAP"
#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
#define WIFI_OPERATOR_SSID "CoolAccessPointName"
#define WIFI_OPERATOR_PASSWORD "TheBestPasswordEver"
void init_wifi_operator(void);

62
program/main_controller/src/wifi/udp_client.c
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@ -2,70 +2,54 @@
#include <stdio.h>
#include "headers/udp_payload.h"
#include "headers/robot.h"
udp_client_t udp_client;
static inline void handle_receive(struct pbuf *p, const ip_addr_t *addr, u16_t port)
// Default callback func
static void __not_in_flash_func(default_message_callback)(uint8_t *payload, uint16_t len)
{
if(p->len >= 2)
{
uint8_t *payload = (uint8_t *)p->payload;
uint16_t len = p->len;
for(uint i = 0; i < len; i++)
printf("payload[%d]=%d | ", i, payload[i]);
udp_client.message_callback(payload, len, addr, port);
}
pbuf_free(p);
puts("\n");
}
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);
robot.udp_client.message_callback((uint8_t *)p->payload, p->len);
pbuf_free(p);
}
// 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)
int udp_client_init(void)
{
//udp_client.message_callback = udp_client_message_handler;
udp_client.message_callback = default_message_callback;
robot.udp_client.message_callback = default_message_callback;
udp_client.pcb = udp_new();
if(udp_client.pcb == NULL)
robot.udp_client.pcb = udp_new();
if(robot.udp_client.pcb == NULL)
{
puts("Error creating UDP client");
return;
return -1;
}
udp_recv(udp_client.pcb, udp_receive_callback, &udp_client);
udp_recv(robot.udp_client.pcb, udp_receive_callback, &robot.udp_client);
err_t err = udp_bind(udp_client.pcb, IP_ADDR_ANY, UDP_CLIENT_PORT);
if(err != ERR_OK)
err_t err = udp_bind(robot.udp_client.pcb, IP_ADDR_ANY, UDP_CLIENT_PORT);
if(err)
{
printf("Error bind UDP client: %d\n", err);
return;
printf("Error binding UDP client: %d\n", err);
return -1;
}
printf("UDP client started on port %d\n", UDP_CLIENT_PORT);
return 0;
}
void udp_client_deinit(void)
{
if(udp_client.pcb)
if(robot.udp_client.pcb)
{
udp_remove(udp_client.pcb);
udp_client.pcb = NULL;
udp_remove(robot.udp_client.pcb);
robot.udp_client.pcb = NULL;
}
}

5
program/main_controller/src/wifi/udp_payload.c
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@ -3,6 +3,11 @@
#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;

51
program/main_controller/src/wifi/wifi_operator.c
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@ -5,7 +5,7 @@
#include <lwip/netif.h>
#include <lwip/ip4_addr.h>
void init_wifi_operator(void)
void wifi_operator_init(void)
{
// Mode client
cyw43_arch_enable_sta_mode();
@ -13,62 +13,35 @@ void init_wifi_operator(void)
// 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;)
for(int error_code = 1; error_code; )
{
// Afficher les paramètres de connexion
printf("Trying to connect to '%s'\n", WIFI_OPERATOR_SSID);
puts("WiFi connection attempt");
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;
const char *error_message;
switch(error_code)
{
case -1:
error_description = "Error Generic";
case PICO_ERROR_TIMEOUT:
error_message = "Timeout reached";
break;
case -2:
error_description = "Acces point not found";
case PICO_ERROR_BADAUTH:
error_message = "Bad password";
break;
case -3:
error_description = "Incorrect password";
case PICO_ERROR_CONNECT_FAILED:
error_message = "Some reason";
break;
default:
error_description = "Unknow error";
}
printf("Error: WiFi can't be connected - Error code: %d - %s\n", error_code, error_description);
printf("Connection failed : %s\n", error_message);
}
}
// 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 !");
}