Corrected some typo

.gitignore

@@ -1,2 +1,3 @@
 program/main_controller/build
+program/main_controller/src/wifi/headers/wifi_operator.h
 program/motion_controller/build

program/main_controller/src/headers/motion_control.h

@@ -13,7 +13,7 @@ typedef struct motion_control_data_t {
 } motion_control_data_t;
 
 // Init values for motion control
-void init_motion_control(void);
+void motion_control_init(void);
 // Update motion control buffer from motion control data and gyro data
 void i2c_update_motion_control(void);
 // Update servo motors from motion control data

program/main_controller/src/headers/robot.h

@@ -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;

program/main_controller/src/i2c/headers/gyro.h

@@ -1,7 +1,7 @@
 #ifndef GYRO_H
 #define GYRO_H
 
-#define I2C_GYRO_ADDRESS 0x6b
+#define I2C_GYRO_ADDRESS 0x6B
 
 typedef struct gyro_data_t {
     float x_offset, y_offset, z_offset;

program/main_controller/src/i2c/headers/mcp23017.h

@@ -6,7 +6,6 @@
 
 #define I2C_MCP23017_ADDRESS 0x20
 
-
 typedef struct mcp23017_data_t {
     uint8_t gpio_state[2];
 } mcp23017_data_t;

program/main_controller/src/motion_control.c

@@ -7,7 +7,7 @@
 
 #define GAIN_KD 10
 
-void init_motion_control(void)
+void motion_control_init(void)
 {
     robot.motion_control_data.angle = 0;
     robot.motion_control_data.x_axis_speed = 0;

program/main_controller/src/robot.c

@@ -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();
+    wifi_operator_init();
-    udp_client_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();
 }

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

@@ -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
+    struct udp_pcb *pcb;
-    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
+// Init udp client
-void udp_client_init(void);
+int udp_client_init(void);
 // Exit udp client
 void udp_client_deinit(void);
 

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

@@ -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);
 

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

@@ -1,9 +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_PASSWORD "CDuKaka2000!"
 
-void init_wifi_operator(void);
+void wifi_operator_init(void);
 
 #endif // WIFI_OPERATOR_H

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

@@ -1,8 +1,8 @@
 #ifndef WIFI_OPERATOR_H
 #define WIFI_OPERATOR_H
 
-#define WIFI_OPERATOR_SSID "RiombotiqueAP"
+#define WIFI_OPERATOR_SSID "CoolAccessPointName"
-#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
+#define WIFI_OPERATOR_PASSWORD "TheBestPasswordEver"
 
 void init_wifi_operator(void);
 

program/main_controller/src/wifi/udp_client.c

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

program/main_controller/src/wifi/udp_payload.c

@@ -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;

program/main_controller/src/wifi/wifi_operator.c

@@ -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
+        puts("WiFi connection attempt");
-        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;
+            const char *error_message;
 
             switch(error_code)
             {
-              case -1:
+              case PICO_ERROR_TIMEOUT:
-                error_description = "Error Generic";
+                error_message = "Timeout reached";
                 break;
 
-              case -2:
+              case PICO_ERROR_BADAUTH:
-                error_description = "Acces point not found";
+                error_message = "Bad password";
                 break;
 
-              case -3:
+              case PICO_ERROR_CONNECT_FAILED:
-                error_description = "Incorrect password";
+                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 !");
 }