.vscode/settings.json

@@ -16,11 +16,6 @@
         "servomoteur.h": "c",
         "moteurs.h": "c",
         "messagerie_applicative.h": "c",
-        "config_robot.h": "c",
+        "config_robot.h": "c"
-        "wifi.h": "c",
-        "string.h": "c",
-        "lwip_nosys.h": "c",
-        "async_context.h": "c",
-        "wifi_settings.h": "c"
     }
 }

.vscode/tasks.json

@@ -2,7 +2,7 @@
     "tasks": [
         {
             "type": "shell",
-            "command": "mkdir -p build; cd build; cmake ../ -DPICO_BOARD=pico_w; make",
+            "command": "cd build; cmake ../; make",
             "label": "CMake in build/",
             "problemMatcher": [],
             "group": {
@@ -12,7 +12,7 @@
         },
         {
             "type": "shell",
-            "command": "cd build; cmake ../ -DPICO_BOARD=pico_w; make Flash",
+            "command": "cd build; cmake ../; make Flash",
             "label": "CMake & Make & Flash",
             "problemMatcher": [],
             "group": {

CMakeLists.txt

@@ -39,14 +39,12 @@ add_executable(Mon_Projet
   VL53L8CX_ULD_API/src/vl53l8cx_plugin_motion_indicator.c
   VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c
   VL53L8_2024.c
-  Wifi.c
   Platform/platform.c
 )
 
 pico_generate_pio_header(Mon_Projet ${CMAKE_CURRENT_LIST_DIR}/quadrature_encoder.pio)
 
 target_include_directories(Mon_Projet PRIVATE VL53L8CX_ULD_API/inc/)
-target_include_directories(Mon_Projet PRIVATE ${CMAKE_CURRENT_LIST_DIR})
 
 target_link_libraries(Mon_Projet
   hardware_adc 
@@ -55,7 +53,6 @@ target_link_libraries(Mon_Projet
   hardware_pio
   pico_stdlib
   pico_multicore
-  pico_cyw43_arch_lwip_threadsafe_background
 )
 
 pico_enable_stdio_usb(Mon_Projet 1)

Wifi.c

@@ -1,164 +0,0 @@
-#include "Wifi.h"
-#include <string.h>
-#include "pico/cyw43_arch.h"
-#include "lwip/etharp.h"
-#include "lwip/ethip6.h"
-#include "lwip/dns.h"
-#include "lwip/igmp.h"
-#include "lwip/tcpip.h"
-#include "netif/ethernet.h"
-#include <pico/lwip_nosys.h>
-// Si le fichier n'existe pas, créez-le à partir du modèle "wifi_settings.h.default"
-#include "wifi_settings.h"
-
-#define BEACON_MSG_LEN_MAX 500
-#define UDP_CLIENT_PORT 1234
-
-struct udp_pcb* pcb;
-struct udp_pcb * pcb_r;
-ip_addr_t my_ip_addr, host_ip_addr;
-
-char udp_buffer_r[UDP_BUFFER_LENGTH];
-unsigned int udp_buffer_r_index = 0;
-
-void udp_receive_put_in_buffer(char c){
-    if(udp_buffer_r_index + 1< UDP_BUFFER_LENGTH){
-        udp_buffer_r[udp_buffer_r_index] = c;
-        udp_buffer_r_index++;
-    }
-}
-
-/// @brief Copie les données reçues par UDP dans le tampon et renvoie le nombre de données copiées
-/// @param tampon qui va contenir les données
-/// @return Nombre de données dans le tampon
-int udp_receive_get_from_buffer(char* tampon){
-    unsigned int taille_tampon;
-    if( udp_buffer_r_index > 0){
-        taille_tampon = udp_buffer_r_index;
-        memcpy(tampon, udp_buffer_r, taille_tampon);
-        udp_buffer_r_index = 0;
-        return taille_tampon;
-    }
-    return 0;
-}
-
-void udp_receive_callback(void *arg, struct udp_pcb *pcb, struct pbuf *p, const ip_addr_t *addr, u16_t port){
-    for(int i=0; i < p->len; i++){
-        udp_receive_put_in_buffer(((char*)p->payload)[i]);
-    }
-    pbuf_free(p);
-}
-
-int UDP_client_init(void){
-    pcb_r = udp_new();
-    if(pcb_r == NULL)
-    {
-        puts("Error creating UDP client");
-        return -1;
-    }
-    udp_recv(pcb_r, udp_receive_callback, NULL);
-    err_t err = udp_bind(pcb_r, IP_ADDR_ANY, UDP_CLIENT_PORT);
-    if(err)
-    {
-        printf("Error binding UDP client: %d\n", err);
-        return -1;
-    }
-
-    printf("UDP client started on port %d\n", UDP_CLIENT_PORT);
-
-}
-
-int Wifi_init(void){
-    if (cyw43_arch_init()) {
-        printf("failed to initialise\n");
-        return 1;
-    }
-
-    cyw43_arch_enable_sta_mode();
-
-    printf("Connecting to Wi-Fi...\n");
-    while (cyw43_arch_wifi_connect_timeout_ms(MY_WIFI_SSID, MY_WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) {
-        printf("failed to connect.\n");
-    }
-    printf("Connected.\n");
-    
-    pcb = udp_new();
-    ipaddr_aton(BEACON_TARGET, &my_ip_addr);
-
-    
-    UDP_client_init();
-    return 0;
-}
-
-void Wifi_udp_send_data(char * message, unsigned int size){
-    static int counter = 0;
-
-    struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, BEACON_MSG_LEN_MAX+1, PBUF_RAM);
-    char *req = (char *)p->payload;
-    memset(req, 0, BEACON_MSG_LEN_MAX+1);
-
-    if(size <BEACON_MSG_LEN_MAX){
-        memcpy(req, message, size);
-    }else{
-        printf("Error: size >= BEACON_MSG_LEN_MAX\n");
-    }
-
-    err_t er = udp_sendto(pcb, p, &my_ip_addr, 1234);
-    
-    pbuf_free(p);
-    if (er != ERR_OK) {
-        printf("Failed to send UDP packet! error=%d", er);
-    } else {
-        // printf("Sent packet %d\n", counter);
-        counter++;
-    }
-
-    // Note in practice for this simple UDP transmitter,
-    // the end result for both background and poll is the same
-
-#if PICO_CYW43_ARCH_POLL
-    // if you are using pico_cyw43_arch_poll, then you must poll periodically from your
-    // main loop (not from a timer) to check for Wi-Fi driver or lwIP work that needs to be done.
-    cyw43_arch_poll();
-#else
-    // if you are not using pico_cyw43_arch_poll, then WiFI driver and lwIP work
-    // is done via interrupt in the background. This sleep is just an example of some (blocking)
-    // work you might be doing.
-    // sleep_ms(BEACON_INTERVAL_MS);
-#endif
-}
-
-void Wifi_udp_send_string(char * message){
-    static int counter = 0;
-
-    struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, BEACON_MSG_LEN_MAX+1, PBUF_RAM);
-    char *req = (char *)p->payload;
-    memset(req, 0, BEACON_MSG_LEN_MAX+1);
-
-    snprintf(req, BEACON_MSG_LEN_MAX, "%s", message);
-
-    err_t er = udp_sendto(pcb, p, &my_ip_addr, 1234);
-    //er |= udp_sendto(pcb, p, &my_ip_addr, 1234);
-    
-    pbuf_free(p);
-    if (er != ERR_OK) {
-        printf("Failed to send UDP packet! error=%d", er);
-    } else {
-        // printf("Sent packet %d\n", counter);
-        counter++;
-    }
-
-    // Note in practice for this simple UDP transmitter,
-    // the end result for both background and poll is the same
-
-#if PICO_CYW43_ARCH_POLL
-    // if you are using pico_cyw43_arch_poll, then you must poll periodically from your
-    // main loop (not from a timer) to check for Wi-Fi driver or lwIP work that needs to be done.
-    cyw43_arch_poll();
-#else
-    // if you are not using pico_cyw43_arch_poll, then WiFI driver and lwIP work
-    // is done via interrupt in the background. This sleep is just an example of some (blocking)
-    // work you might be doing.
-    // sleep_ms(BEACON_INTERVAL_MS);
-#endif
-}

Wifi.h

@@ -1,6 +0,0 @@
-#define UDP_BUFFER_LENGTH 1024
-
-int Wifi_init(void);
-void Wifi_udp_send_string(char * message);
-void Wifi_udp_send_data(char * message, unsigned int size);
-int udp_receive_get_from_buffer(char * );

communication.c

@@ -2,7 +2,6 @@
 #include <stdio.h>
 #include "communication.h"
 #include "messagerie.h"
-#include "Wifi.h"
 #include "tusb.h"
 
 #define TAMPON_TAILLE 1020
@@ -44,21 +43,31 @@ void augmente_index(unsigned int *index, unsigned int offset){
 /// et analyse si un message valide a été reçu.
 void communication_reception_message(){
     int input_char;
-    char tampon_reception_udp[UDP_BUFFER_LENGTH];
     int chaîne_octets_reçus[TAMPON_TAILLE];
     unsigned int index_chaine_recue;
     unsigned int index_tampon;
     struct message_t message;
     // Si un caractère est reçu, ajout du caractère au tampon tournant
+
+    /// TODO: Tester le code suivant à la place de while get_char();
+    /*
+    char nb_recu=0;
+    if(tud_cdc_available()){
+        char tampon_usb[128];
+        nb_recu = tud_cdc_read(tampon_usb, 128);
+        // copie dans le tampon tournant
+        for(int i=0; i<nb_recu; i++){
+            input_char = tampon_usb[i];
+            com_reception_buffer.index_tampon_ecriture++;
+            if(com_reception_buffer.index_tampon_ecriture >= TAMPON_TAILLE){
+                com_reception_buffer.index_tampon_ecriture = 0;
+            }
+            com_reception_buffer.tampon[com_reception_buffer.index_tampon_ecriture] = input_char;
+        }
+    }*/
     
-    // input_char = stdio_getchar_timeout_us(0);
+    input_char = stdio_getchar_timeout_us(0);
-    //printf("Ajout tampon tournant\n");
+    while(input_char != PICO_ERROR_TIMEOUT){
-    int nb_char = udp_receive_get_from_buffer(tampon_reception_udp);
-    int current_nb_char = nb_char;
-    //printf("nb_char %d\n", nb_char);
-    while(current_nb_char > 0){
-        input_char = tampon_reception_udp[nb_char - current_nb_char];
-        current_nb_char--;
         com_reception_buffer.index_tampon_ecriture++;
         if(com_reception_buffer.index_tampon_ecriture >= TAMPON_TAILLE){
             com_reception_buffer.index_tampon_ecriture = 0;
@@ -66,12 +75,11 @@ void communication_reception_message(){
         com_reception_buffer.tampon[com_reception_buffer.index_tampon_ecriture] = input_char;
 
         // Caractère suivant ?
-        //input_char = stdio_getchar_timeout_us(0);
+        input_char = stdio_getchar_timeout_us(0);
     }
 
     // Copie du tampon tournant dans une chaine
     // Parce que c'est plus simple à traiter
-    // printf("Copie, index_tampon:%d, index_tampon_ecriture:%d\n", index_tampon, com_reception_buffer.index_tampon_ecriture);
     index_chaine_recue = 0;
     index_tampon = com_reception_buffer.index_tampon_lecture;
     if(index_tampon != com_reception_buffer.index_tampon_ecriture){
@@ -84,14 +92,12 @@ void communication_reception_message(){
         index_chaine_recue++;
         increment_index(&index_tampon);
     }
-    
 
     // Traitement 
     // Si on trouve le début du message
     // Si on trouve la taille du message
     // Si le caractère de fin est bien à la fin du message
     int fin_message = 0;
-    // printf("Traitement, index_chaine_recue:%d\n", index_chaine_recue);
     for(int i=0; i<index_chaine_recue; i++){
         int index_fin_message = 0;
         // Com v2

config_robot.h

@@ -1,7 +1,7 @@
 // Changer le define en fonction qu'on soit sur les PAMIs ou sur le robot principal
 
-//#define ROBOT_PROPULSION_2026
+#define ROBOT_PROPULSION_2026
-#define ROBOT_TYPE_PAMI
+//#define ROBOT_TYPE_PAMI
 
 #ifndef ROBOT_PROPULSION_2026 
 #ifndef ROBOT_TYPE_PAMI

lwipopts.h

@@ -1,10 +0,0 @@
-#ifndef _LWIPOPTS_H
-#define _LWIPOPTS_H
-
-// Generally you would define your own explicit list of lwIP options
-// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html)
-//
-// This example uses a common include to avoid repetition
-#include "lwipopts_examples_common.h"
-
-#endif

lwipopts_examples_common.h

@@ -1,90 +0,0 @@
-#ifndef _LWIPOPTS_EXAMPLE_COMMONH_H
-#define _LWIPOPTS_EXAMPLE_COMMONH_H
-
-
-// Common settings used in most of the pico_w examples
-// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html for details)
-
-// allow override in some examples
-#ifndef NO_SYS
-#define NO_SYS                      1
-#endif
-// allow override in some examples
-#ifndef LWIP_SOCKET
-#define LWIP_SOCKET                 0
-#endif
-#if PICO_CYW43_ARCH_POLL
-#define MEM_LIBC_MALLOC             1
-#else
-// MEM_LIBC_MALLOC is incompatible with non polling versions
-#define MEM_LIBC_MALLOC             0
-#endif
-#define MEM_ALIGNMENT               4
-#define MEM_SIZE                    4000
-#define MEMP_NUM_TCP_SEG            32
-#define MEMP_NUM_ARP_QUEUE          10
-#define PBUF_POOL_SIZE              24
-#define LWIP_ARP                    1
-#define LWIP_ETHERNET               1
-#define LWIP_ICMP                   1
-#define LWIP_RAW                    1
-#define TCP_WND                     (8 * TCP_MSS)
-#define TCP_MSS                     1460
-#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
-#define LWIP_NETIF_HOSTNAME         1
-#define LWIP_NETCONN                0
-#define MEM_STATS                   0
-#define SYS_STATS                   0
-#define MEMP_STATS                  0
-#define LINK_STATS                  0
-// #define ETH_PAD_SIZE                2
-#define LWIP_CHKSUM_ALGORITHM       3
-#define LWIP_DHCP                   1
-#define LWIP_IPV4                   1
-#define LWIP_TCP                    1
-#define LWIP_UDP                    1
-#define LWIP_DNS                    1
-#define LWIP_TCP_KEEPALIVE          1
-#define LWIP_NETIF_TX_SINGLE_PBUF   1
-#define DHCP_DOES_ARP_CHECK         0
-#define LWIP_DHCP_DOES_ACD_CHECK    0
-
-#ifndef NDEBUG
-#define LWIP_DEBUG                  1
-#define LWIP_STATS                  1
-#define LWIP_STATS_DISPLAY          1
-#endif
-
-#define ETHARP_DEBUG                LWIP_DBG_OFF
-#define NETIF_DEBUG                 LWIP_DBG_OFF
-#define PBUF_DEBUG                  LWIP_DBG_OFF
-#define API_LIB_DEBUG               LWIP_DBG_OFF
-#define API_MSG_DEBUG               LWIP_DBG_OFF
-#define SOCKETS_DEBUG               LWIP_DBG_OFF
-#define ICMP_DEBUG                  LWIP_DBG_OFF
-#define INET_DEBUG                  LWIP_DBG_OFF
-#define IP_DEBUG                    LWIP_DBG_OFF
-#define IP_REASS_DEBUG              LWIP_DBG_OFF
-#define RAW_DEBUG                   LWIP_DBG_OFF
-#define MEM_DEBUG                   LWIP_DBG_OFF
-#define MEMP_DEBUG                  LWIP_DBG_OFF
-#define SYS_DEBUG                   LWIP_DBG_OFF
-#define TCP_DEBUG                   LWIP_DBG_OFF
-#define TCP_INPUT_DEBUG             LWIP_DBG_OFF
-#define TCP_OUTPUT_DEBUG            LWIP_DBG_OFF
-#define TCP_RTO_DEBUG               LWIP_DBG_OFF
-#define TCP_CWND_DEBUG              LWIP_DBG_OFF
-#define TCP_WND_DEBUG               LWIP_DBG_OFF
-#define TCP_FR_DEBUG                LWIP_DBG_OFF
-#define TCP_QLEN_DEBUG              LWIP_DBG_OFF
-#define TCP_RST_DEBUG               LWIP_DBG_OFF
-#define UDP_DEBUG                   LWIP_DBG_OFF
-#define TCPIP_DEBUG                 LWIP_DBG_OFF
-#define PPP_DEBUG                   LWIP_DBG_OFF
-#define SLIP_DEBUG                  LWIP_DBG_OFF
-#define DHCP_DEBUG                  LWIP_DBG_OFF
-
-#endif /* __LWIPOPTS_H__ */

main.c

@@ -24,7 +24,6 @@
 #include "Trajet.h"
 #include "VL53L8_2024.h"
 #include "vl53l8cx_api.h"
-#include "Wifi.h"
 #include <stdio.h>
 #include <math.h>
 #include "QEI.h"
@@ -56,18 +55,11 @@ const uint32_t step_ms=1;
 #endif
 float distance1_mm=0, distance2_mm=0;
 
-volatile char memoire_vl53L8[64];
-volatile uint8_t VL53L8CX_isReady;
-
 // DEBUG
 extern float abscisse; 
 extern struct point_xyo_t point;
 VL53L8CX_Configuration Dev;
 
-uint64_t get_temps_us(){
-	return to_us_since_boot(get_absolute_time());
-}
-
 void main(void)
 {
 	VL53L8CX_ResultsData Results;
@@ -83,26 +75,8 @@ void main(void)
 #endif
 	Localisation_init(get_identifiant());
 	Trajet_init(get_identifiant());
+	//i2c_maitre_init();
 
-	sleep_ms(3000);
-	Wifi_init();
-	sleep_ms(50);
-	Wifi_udp_send_string("Demarrage:1\n");
-	Wifi_udp_send_string("test:1\n");
-	sleep_ms(50);
-	Wifi_udp_send_string("Demarrage:1\n");
-	Wifi_udp_send_string("test:1\n");
-	sleep_ms(50);
-	Wifi_udp_send_string("Demarrage:1\n");
-	Wifi_udp_send_string("test:1\n");
-	sleep_ms(50);
-	Wifi_udp_send_data("\x01\x02\x03\x04\x05", 5);
-	Wifi_udp_send_string("test:1\n");
-	
-#ifdef ROBOT_PROPULSION_2026
-#else
-	i2c_maitre_init();
-#endif
 	//Servomoteur_Init();
 
 	communication_init();
@@ -119,58 +93,45 @@ void main(void)
 
 	gpio_init(LED1PIN);
 	gpio_set_dir(LED1PIN, GPIO_OUT );
-	//gpio_put(LED1PIN, 1);
+	gpio_put(LED1PIN, 1);
 
-	/*
 	gpio_init(PICO_DEFAULT_LED_PIN);
 	gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT );
-	gpio_put(PICO_DEFAULT_LED_PIN, 1);*/
+	gpio_put(PICO_DEFAULT_LED_PIN, 1);
 
 
 
-	
+	printf("Demarrage...\n");
 	
 	
 	// TODO: A remettre - quand on aura récupéré un capteur
-#ifdef ROBOT_PROPULSION_2026
+	if(get_identifiant() != 0){
-#else
+		//multicore_launch_core1(gestion_VL53L8CX);
-	VL53L8_init(&Dev);
-	sleep_ms(100);
-    VL53L8_lecture( &Dev, &Results); // une première lecture 
-	
-	//if(get_identifiant() != 0){
-		multicore_launch_core1(gestion_VL53L8CX);
-	//}else{
 		//multicore_launch_core1(gestion_affichage);
-	//}
+	}else{
-#endif
+		//multicore_launch_core1(gestion_affichage);
-	gpio_put(LED1PIN, 1);
+	}
-	//printf("Demarrage...\n");
 
 
+	
+
 	enum etat_trajet_t etat_trajet=TRAJET_EN_COURS;
 	struct trajectoire_t trajectoire;
 	uint8_t mode=0;
 	//Trajet_config(TRAJECT_CONFIG_STD);
 	Trajet_config(600, 300);
 
-	float distance_obstacle;
-	
-    uint8_t status, isReady;
-
-
 	while(1){
 
+		
 		communication_reception_message();
+		
 		if(messagerie_message_disponible()){
-			
 			uint8_t id_carte, registre;
 			while(messagerie_message_disponible()){
 				message = messagerie_get_message();
-				
 
 				if(message.type == 'b'){
-					
 					switch(message.donnees[0]){
 						case 'r': // réception de données
 							// Reception de données
@@ -209,7 +170,7 @@ void main(void)
 								}
 								if(mise_a_jour_mode){
 									get_données_reçues(&mode, sizeof(mode), REG_PROPULSION_MODE);
-									printf("mode:%d\n", mode);
+									//rintf("mode:%d\n", mode);
 								}
 								if(mise_a_jour_pwm){
 									struct msg_propulsion_pwm_t msg_propulsion_pwm;
@@ -274,54 +235,44 @@ void main(void)
 							id_carte = message.donnees[1];
 							registre = message.donnees[2];
 							if(id_carte == 'D'){
-								
+								if(message.donnees[4] > 0 && message.donnees[4] < 30){
+									//printf("LED ON\n");
+									gpio_put(PICO_DEFAULT_LED_PIN, 1);
+								}else{
+									//printf("LED OFF\n");
+									gpio_put(PICO_DEFAULT_LED_PIN, 0);
+								}
 							}
 							break;
 						case 'd':
-							char message_envoi_udp[500];
+							//printf("Demande donnees\n");
 							// Demande de données
 							memcpy(&message_applicatif, message.donnees, message.taille_donnees);
 							// printf("id_carte:%c %d\n", message_applicatif.id_carte, message_applicatif.id_carte);
 							// printf("adresse registre:%d\n", message_applicatif.adresse_registre, message_applicatif.id_carte);
 							// printf("taille:%d\n", message_applicatif.taille_donnees, message_applicatif.taille_donnees);
-							
+							stdio_putchar_raw(0xFF);
-							message_envoi_udp[0] = 0xFF;
+							stdio_putchar_raw(0xFF);
-							message_envoi_udp[1] = 0xFF;
+							stdio_putchar_raw('P');
-							if(message_applicatif.id_carte == 'P'){
+							stdio_putchar_raw(message_applicatif.taille_donnees+1);
-								// Demande des données liées au déplacement
+							for(int i=0; i<message_applicatif.taille_donnees; i++ ){
-								message_envoi_udp[2] = 'P';
+								stdio_putchar_raw(memoire_echange[message_applicatif.adresse_registre + i]);
-								message_envoi_udp[3] = message_applicatif.taille_donnees+1;
-								
-								for(int i=0; i<message_applicatif.taille_donnees; i++ ){
-									message_envoi_udp[4+i] = memoire_echange[message_applicatif.adresse_registre + i];
-								}
-								message_envoi_udp[4+message_applicatif.taille_donnees] = 0x00;
-								Wifi_udp_send_data(message_envoi_udp, 4+message_applicatif.taille_donnees + 1);
-							}else if(message_applicatif.id_carte == 'V'){
-								// Demande des données liées au VL53L8
-								message_envoi_udp[2] = 'V';
-								message_envoi_udp[3] = message_applicatif.taille_donnees+1;
-								for(int i=0; i<message_applicatif.taille_donnees; i++ ){
-									message_envoi_udp[4+i] =  memoire_vl53L8[i];
-								}
-								message_envoi_udp[4+message_applicatif.taille_donnees] = 0x00;
-								Wifi_udp_send_data(message_envoi_udp, 4+message_applicatif.taille_donnees + 1);
 							}
+							stdio_putchar_raw(0x00);
+							stdio_putchar_raw('\n');
 							break;
 						default:
 							//printf("Message inconnu: %d %c\n", message.donnees[0], message.donnees[0]);
 					}
-					
-							
 				}
-				
 			}
-			
+			//printf(">temps_reception:%lld\n", current_time_us - start_time_us);
-			
+			//printf(">nb_message:%u\n",nb_message);
 		}
 		
+		// Fin du match 
+		
 		if(temps_ms != Temps_get_temps_ms()){
-			
 			if(Temps_get_temps_ms() - temps_ms > 20){
 				/// PANIC
 				struct msg_propulsion_position_t msg_propulsion_position;
@@ -329,11 +280,10 @@ void main(void)
 				msg_propulsion_position.position_y_mm = 0;
 				msg_propulsion_position.orientation_rad = 0;
 				mise_données_dans_échange((uint8_t*) &msg_propulsion_position, sizeof(msg_propulsion_position), REG_PROPULSION_POSITION);
-				printf("panic\n");
-				
 				Moteur_Stop();
 				temps_ms = Temps_get_temps_ms();
 				continue;
+
 			}
 			temps_ms = Temps_get_temps_ms();
 			if(temps_ms % step_ms == 0){
@@ -347,6 +297,10 @@ void main(void)
 						Moteur_Stop();
 						break;
 					case 1:
+						/*
+						get_données_reçues((uint8_t *) &msg_propulsion_pwm, sizeof(msg_propulsion_pwm), REG_PROPULSION_PWM);
+						Moteur_SetVitesse(MOTEUR_A, msg_propulsion_pwm.pwm_gauche);
+						Moteur_SetVitesse(MOTEUR_B, msg_propulsion_pwm.pwm_droit);*/
 						break;
 					case 2:
 					case 3:
@@ -386,14 +340,14 @@ void main(void)
 				//printf("x_mm:%.2f, y_mm:%.2f\n", position.x_mm, position.y_mm);
 				
 				//gestion_PAMI(step_ms, &asser_pos);
+				/*if(asser_pos){
+					AsserMoteur_Gestion(step_ms);
+				}*/
 				// Récupération des valeurs pour les mettre dans la mémoire d'échange
 				// TODO
 			}
 		}
 		
-		
-		
-		
 	}
 }
 
@@ -472,36 +426,18 @@ void gestion_PAMI(uint32_t step_ms, int * asser_pos){
 void gestion_VL53L8CX(void){
 	VL53L8CX_ResultsData Results;
 	float distance_obstacle;
-	/*VL53L8_init(&Dev);
+	VL53L8_init(&Dev);
 	sleep_ms(100);
-    VL53L8_lecture( &Dev, &Results); // une première lecture */
+    VL53L8_lecture( &Dev, &Results); // une première lecture 
     uint8_t status, isReady;
-	VL53L8CX_isReady = 1;
 	while(1){
 		status = vl53l8cx_check_data_ready(&Dev, &isReady);
-		if(status){
-			//printf(">status:%d\n", status);
-		}
 		if(isReady){
-			//printf("Ready\n");
 			VL53L8_lecture( &Dev, &Results);
-			//printf("Trajet 1\n");
 			VL53L8_min_distance(Results, &distance_obstacle);
-			//printf("Trajet 2\n");
 			Trajet_set_obstacle_mm(distance_obstacle);
-			//printf("Trajet 3\n");
-			
-			for(int i=0; i<64; i++){
-				//int distance_cm  = Results.distance_mm[i] / 10;
-				int distance_cm  = Results.distance_mm[i];
-				if(distance_cm > 200){
-					distance_cm = 250;
-				}
-				memoire_vl53L8[i] = distance_cm;
-			}
-			/*printf("VL:%3d %3d %3d %3d\n", memoire_vl53L8[0], memoire_vl53L8[1], memoire_vl53L8[2], memoire_vl53L8[3]);*/
 		}
-		//affichage();
+		affichage();
 	}
 }
 

messagerie_applicative.c

@@ -1,7 +1,7 @@
 #include <string.h>
 #include "messagerie_applicative.h"
 
-uint8_t memoire_echange[0xFF];
+uint8_t memoire_echange[200];
 
 
 
@@ -14,11 +14,11 @@ bool mise_a_jour_trajectoire = false;
 bool mise_a_jour_config_trajet = false;
 bool mise_a_jour_cde_inv_traj = false;
 
-void get_données_reçues(uint8_t * dst, unsigned int taille, uint8_t registre){
+void get_données_reçues(uint8_t * dst, unsigned int taille, unsigned int registre){
     memcpy(dst, &(memoire_echange[registre]), taille);
 }
 
-void mise_données_dans_échange(uint8_t * source, unsigned int taille, uint8_t registre){
+void mise_données_dans_échange(uint8_t * source, unsigned int taille, unsigned int registre){
     memcpy(&(memoire_echange[registre]), source, taille);
 }
 

messagerie_applicative.h

@@ -2,8 +2,8 @@
 #include <stdbool.h>
 
 void écriture_données(unsigned int adresse, uint8_t donnée);
-void get_données_reçues(uint8_t * dst, unsigned int taille, uint8_t registre);
+void get_données_reçues(uint8_t * dst, unsigned int taille, unsigned int registre);
-void mise_données_dans_échange(uint8_t * source, unsigned int taille, uint8_t registre);
+void mise_données_dans_échange(uint8_t * source, unsigned int taille, unsigned int registre);
 
 extern uint8_t memoire_echange[];
 

wifi_settings.h

@@ -1,11 +0,0 @@
-#define MY_WIFI_SSID "Xperia 10 III"
-#define MY_WIFI_PASSWORD "keuronde"
-
-#define UDP_PORT 47269
-
-//#define BEACON_TARGET "192.168.1.58"
-
-#define BEACON_TARGET "172.28.172.11"
-
-/*#define MY_WIFI_SSID "Livebox-A040"
-#define MY_WIFI_PASSWORD "QkqoXCPt6UgvaUAWmq"*/

wifi_settings.h.default

@@ -1,9 +0,0 @@
-// Copier ce fichier en "wifi_settings.h" et renseignez vos identifiants WiFi.
-// Le port est le port par défaut de Teleplot
-// BEACON_TARGET est l'IP ou l'adresse du serveur Teleplot
-
-#define MY_WIFI_SSID "My_SSID"
-#define MY_WIFI_PASSWORD "My_WiFi_Password"
-
-#define UDP_PORT 47269
-#define BEACON_TARGET "192.168.1.2"