100 lines
2.0 KiB
C
100 lines
2.0 KiB
C
#include "headers/robot.h"
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#include <pico/stdlib.h>
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#include <pico/cyw43_arch.h>
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#include <time.h>
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#include <pico/mutex.h>
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#include "i2c/headers/i2c_master.h"
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#include "i2c/headers/mcp23017.h"
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#include "wifi/headers/udp_client.h"
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#include "wifi/headers/wifi_operator.h"
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auto_init_mutex(wifi_mutex);
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void robot_init(void)
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{
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robot.is_running = true;
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stdio_init_all();
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if(cyw43_arch_init())
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robot.is_running = false;
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mutex_enter_blocking(&wifi_mutex);
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cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
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mutex_exit(&wifi_mutex);
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//i2c_master_init();
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//mcp23017_init();
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//gyro_init();
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//gyro_calibrate();
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//init_motion_control();
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init_wifi_operator();
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udp_client_init();
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// Initialisation ended
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for(uint i = 0, led_state = true; i < 5; i++)
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{
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mutex_enter_blocking(&wifi_mutex);
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cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
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mutex_exit(&wifi_mutex);
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sleep_ms(100);
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led_state = !led_state;
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}
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}
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static inline void update_time(void)
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{
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static float last_time = 0.0;
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float start_time = (float)clock() * 1000.0f / (float)CLOCKS_PER_SEC;
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robot.delta_time_ms = start_time - last_time;
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last_time = start_time;
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static float elapsed_time = 0.0f;
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elapsed_time += robot.delta_time_ms;
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static bool led_state = false;
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if(elapsed_time >= 1000.0f)
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{
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elapsed_time = 0.0f;
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mutex_enter_blocking(&wifi_mutex);
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cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
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mutex_exit(&wifi_mutex);
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led_state = !led_state;
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}
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}
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void robot_handle_inputs_outputs(void)
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{
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mutex_enter_blocking(&wifi_mutex);
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cyw43_arch_poll();
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mutex_exit(&wifi_mutex);
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update_time();
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//gyro_update();
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//i2c_update_motion_control();
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//i2c_update_servo_motors();
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//mcp23017_update();
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tight_loop_contents();
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}
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void robot_deinit(void)
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{
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udp_client_deinit();
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//i2c_master_deinit();
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}
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