Permière communication du PAMI en WiFi
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4
.vscode/c_cpp_properties.json
vendored
4
.vscode/c_cpp_properties.json
vendored
@ -7,7 +7,9 @@
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"${env:PICO_SDK_PATH}/src/common/pico_base/include",
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"${env:PICO_SDK_PATH}/build/generated/pico_base",
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"${env:PICO_SDK_PATH}/src/common/pico_base/include/pico",
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"${env:PICO_SDK_PATH}/src/common/pico_stdlib/include"
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"${env:PICO_SDK_PATH}/src/common/pico_stdlib/include",
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"${env:PICO_SDK_PATH}/lib/cyw43-driver/src/",
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"${env:PICO_SDK_PATH}/lib/**/include"
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],
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"myCompilerPath": "/usr/bin/arm-none-eabi-gcc"
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},
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4
.vscode/tasks.json
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4
.vscode/tasks.json
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@ -2,7 +2,7 @@
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"tasks": [
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{
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"type": "shell",
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"command": "cd build; cmake ../; make",
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"command": "cd build; cmake ../ -DPICO_BOARD=pico_w; make",
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"label": "CMake in build/",
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"problemMatcher": [],
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"group": {
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@ -12,7 +12,7 @@
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},
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{
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"type": "shell",
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"command": "cd build; cmake ../; make Flash",
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"command": "cd build; cmake ../ -DPICO_BOARD=pico_w; make Flash",
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"label": "CMake & Make & Flash",
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"problemMatcher": [],
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"group": {
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@ -20,6 +20,7 @@ add_executable(Mon_Projet
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Localisation.c
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main.c
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QEI.c
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Teleplot.c
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Temps.c
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Trajectoire_bezier.c
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Trajectoire_circulaire.c
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@ -36,7 +37,7 @@ add_executable(Mon_Projet
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pico_generate_pio_header(Mon_Projet ${CMAKE_CURRENT_LIST_DIR}/quadrature_encoder.pio)
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target_include_directories(Mon_Projet PRIVATE VL53L8CX_ULD_API/inc/)
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target_include_directories(Mon_Projet PRIVATE VL53L8CX_ULD_API/inc/ ${CMAKE_CURRENT_LIST_DIR})
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target_link_libraries(Mon_Projet
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hardware_adc
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@ -45,6 +46,7 @@ target_link_libraries(Mon_Projet
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hardware_pio
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pico_stdlib
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pico_multicore
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pico_cyw43_arch_lwip_poll
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)
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pico_enable_stdio_usb(Mon_Projet 1)
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92
Teleplot.c
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92
Teleplot.c
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@ -0,0 +1,92 @@
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#include "pico/cyw43_arch.h"
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#include "Teleplot.h"
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// Si le fichier n'existe pas, créez-le à partir du modèle "wifi_settings.h.default"
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#include "wifi_settings.h"
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#define BEACON_MSG_LEN_MAX 500
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char teleplot_tampon[BEACON_MSG_LEN_MAX]="";
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struct udp_pcb* pcb;
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ip_addr_t addr;
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int Teleplot_init(void){
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if (cyw43_arch_init()) {
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printf("failed to initialise\n");
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return 1;
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}
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cyw43_arch_enable_sta_mode();
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printf("Connecting to Wi-Fi...\n");
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if (cyw43_arch_wifi_connect_timeout_ms(MY_WIFI_SSID, MY_WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) {
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printf("failed to connect.\n");
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return 1;
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} else {
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printf("Connected.\n");
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}
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pcb = udp_new();
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ipaddr_aton(BEACON_TARGET, &addr);
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return 0;
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}
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void teleplot_udp_send_string(char * message){
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static int counter = 0;
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struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, BEACON_MSG_LEN_MAX+1, PBUF_RAM);
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char *req = (char *)p->payload;
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memset(req, 0, BEACON_MSG_LEN_MAX+1);
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snprintf(req, BEACON_MSG_LEN_MAX, "%s", message);
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err_t er = udp_sendto(pcb, p, &addr, UDP_PORT);
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pbuf_free(p);
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if (er != ERR_OK) {
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printf("Failed to send UDP packet! error=%d", er);
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} else {
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printf("Sent packet %d\n", counter);
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counter++;
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}
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// Note in practice for this simple UDP transmitter,
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// the end result for both background and poll is the same
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#if PICO_CYW43_ARCH_POLL
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// if you are using pico_cyw43_arch_poll, then you must poll periodically from your
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// main loop (not from a timer) to check for Wi-Fi driver or lwIP work that needs to be done.
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cyw43_arch_poll();
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#else
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// if you are not using pico_cyw43_arch_poll, then WiFI driver and lwIP work
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// is done via interrupt in the background. This sleep is just an example of some (blocking)
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// work you might be doing.
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// sleep_ms(BEACON_INTERVAL_MS);
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#endif
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}
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void Teleplot_ajout_ou_envoie_tampon(char * message){
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// Si le tampon ne peut pas accueillir le prochain message
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// On envoie et on vide le tampon
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if(strlen(message) + strlen(teleplot_tampon) > BEACON_MSG_LEN_MAX){
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teleplot_udp_send_string(teleplot_tampon);
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teleplot_tampon[0]='\0'; // On "vide" le tampon
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}
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// On ajoute le message au tampon
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strcat(teleplot_tampon, message);
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}
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void Teleplot_add_variable_float_2decimal(char * nom_variable, float valeur){
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char tampon[100];
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sprintf(tampon, "%s:%lu:%.2f\n", nom_variable, (long)time_us_64()/1000, valeur);
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Teleplot_ajout_ou_envoie_tampon(tampon);
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}
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void Teleplot_add_variable_int(char * nom_variable, int valeur){
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char tampon[100];
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sprintf(tampon, "%s:%lu:%d\n", nom_variable, (long)time_us_64()/1000, valeur);
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Teleplot_ajout_ou_envoie_tampon(tampon);
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}
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5
Teleplot.h
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5
Teleplot.h
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@ -0,0 +1,5 @@
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int Teleplot_init(void);
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void teleplot_udp_send_string(char * message);
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void Teleplot_add_variable_float_2decimal(char * nom_variable, float valeur);
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void Teleplot_add_variable_int(char * nom_variable, int valeur);
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@ -145,8 +145,8 @@ void VL53L8_lecture(VL53L8CX_Configuration * Dev, VL53L8CX_ResultsData * Results
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printf("%d,", Results->distance_mm[col+ 8*row]);
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}
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}
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printf("\n");
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*/
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printf("\n");*/
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}
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int VL53L8_min_distance(VL53L8CX_ResultsData Results, float *distance){
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10
lwipopts.h
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10
lwipopts.h
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#ifndef _LWIPOPTS_H
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#define _LWIPOPTS_H
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// Generally you would define your own explicit list of lwIP options
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// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html)
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//
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// This example uses a common include to avoid repetition
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#include "lwipopts_examples_common.h"
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#endif
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90
lwipopts_examples_common.h
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90
lwipopts_examples_common.h
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#ifndef _LWIPOPTS_EXAMPLE_COMMONH_H
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#define _LWIPOPTS_EXAMPLE_COMMONH_H
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// Common settings used in most of the pico_w examples
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// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html for details)
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// allow override in some examples
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#ifndef NO_SYS
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#define NO_SYS 1
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#endif
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// allow override in some examples
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#ifndef LWIP_SOCKET
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#define LWIP_SOCKET 0
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#endif
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#if PICO_CYW43_ARCH_POLL
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#define MEM_LIBC_MALLOC 1
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#else
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// MEM_LIBC_MALLOC is incompatible with non polling versions
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#define MEM_LIBC_MALLOC 0
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#endif
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#define MEM_ALIGNMENT 4
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#define MEM_SIZE 4000
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#define MEMP_NUM_TCP_SEG 32
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#define MEMP_NUM_ARP_QUEUE 10
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#define PBUF_POOL_SIZE 24
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#define LWIP_ARP 1
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#define LWIP_ETHERNET 1
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#define LWIP_ICMP 1
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#define LWIP_RAW 1
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#define TCP_WND (8 * TCP_MSS)
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#define TCP_MSS 1460
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#define TCP_SND_BUF (8 * TCP_MSS)
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#define TCP_SND_QUEUELEN ((4 * (TCP_SND_BUF) + (TCP_MSS - 1)) / (TCP_MSS))
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#define LWIP_NETIF_STATUS_CALLBACK 1
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#define LWIP_NETIF_LINK_CALLBACK 1
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#define LWIP_NETIF_HOSTNAME 1
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#define LWIP_NETCONN 0
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#define MEM_STATS 0
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#define SYS_STATS 0
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#define MEMP_STATS 0
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#define LINK_STATS 0
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// #define ETH_PAD_SIZE 2
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#define LWIP_CHKSUM_ALGORITHM 3
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#define LWIP_DHCP 1
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#define LWIP_IPV4 1
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#define LWIP_TCP 1
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#define LWIP_UDP 1
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#define LWIP_DNS 1
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#define LWIP_TCP_KEEPALIVE 1
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#define LWIP_NETIF_TX_SINGLE_PBUF 1
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#define DHCP_DOES_ARP_CHECK 0
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#define LWIP_DHCP_DOES_ACD_CHECK 0
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#ifndef NDEBUG
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#define LWIP_DEBUG 1
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#define LWIP_STATS 1
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#define LWIP_STATS_DISPLAY 1
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#endif
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#define ETHARP_DEBUG LWIP_DBG_OFF
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#define NETIF_DEBUG LWIP_DBG_OFF
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#define PBUF_DEBUG LWIP_DBG_OFF
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#define API_LIB_DEBUG LWIP_DBG_OFF
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#define API_MSG_DEBUG LWIP_DBG_OFF
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#define SOCKETS_DEBUG LWIP_DBG_OFF
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#define ICMP_DEBUG LWIP_DBG_OFF
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#define INET_DEBUG LWIP_DBG_OFF
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#define IP_DEBUG LWIP_DBG_OFF
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#define IP_REASS_DEBUG LWIP_DBG_OFF
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#define RAW_DEBUG LWIP_DBG_OFF
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#define MEM_DEBUG LWIP_DBG_OFF
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#define MEMP_DEBUG LWIP_DBG_OFF
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#define SYS_DEBUG LWIP_DBG_OFF
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#define TCP_DEBUG LWIP_DBG_OFF
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#define TCP_INPUT_DEBUG LWIP_DBG_OFF
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#define TCP_OUTPUT_DEBUG LWIP_DBG_OFF
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#define TCP_RTO_DEBUG LWIP_DBG_OFF
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#define TCP_CWND_DEBUG LWIP_DBG_OFF
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#define TCP_WND_DEBUG LWIP_DBG_OFF
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#define TCP_FR_DEBUG LWIP_DBG_OFF
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#define TCP_QLEN_DEBUG LWIP_DBG_OFF
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#define TCP_RST_DEBUG LWIP_DBG_OFF
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#define UDP_DEBUG LWIP_DBG_OFF
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#define TCPIP_DEBUG LWIP_DBG_OFF
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#define PPP_DEBUG LWIP_DBG_OFF
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#define SLIP_DEBUG LWIP_DBG_OFF
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#define DHCP_DEBUG LWIP_DBG_OFF
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#endif /* __LWIPOPTS_H__ */
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5
main.c
5
main.c
@ -13,6 +13,7 @@
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#include "i2c_maitre.h"
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#include "Localisation.h"
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#include "Moteurs.h"
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#include "Teleplot.h"
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#include "Temps.h"
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#include "Trajectoire.h"
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#include "Trajet.h"
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@ -66,6 +67,7 @@ void main(void)
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identifiant_init();
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Localisation_init(identifiant_lire());
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Trajet_init(identifiant_lire());
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Teleplot_init();
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i2c_maitre_init();
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@ -83,6 +85,7 @@ void main(void)
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//multicore_launch_core1(gestion_affichage);
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multicore_launch_core1(gestion_VL53L8CX);
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sleep_ms(5000);
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printf("Demarrage...\n");
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@ -170,8 +173,10 @@ void affichage(void){
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printf(">m1_c:%f\n>m2_c:%f\n", AsserMoteur_getConsigne_mm_s(MOTEUR_A), AsserMoteur_getConsigne_mm_s(MOTEUR_B) );*/
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printf(">pos_x:%.1f\n>pos_y:%.1f\n>pos_angle:%.1f\n", Localisation_get().x_mm, Localisation_get().y_mm, Localisation_get().angle_radian);
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printf(">distance_obstacle:%f\n",Trajet_get_obstacle_mm());
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Teleplot_add_variable_float_2decimal("dist", Trajet_get_obstacle_mm());
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printf(">abscisse:%f\n",abscisse);
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Teleplot_add_variable_float_2decimal("abs", abscisse);
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struct position_t position_actuelle;
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position_actuelle = Localisation_get();
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9
wifi_settings.h.default
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9
wifi_settings.h.default
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@ -0,0 +1,9 @@
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// Copier ce fichier en "wifi_settings.h" et renseignez vos identifiants WiFi.
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// Le port est le port par défaut de Teleplot
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// BEACON_TARGET est l'IP ou l'adresse du serveur Teleplot
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#define MY_WIFI_SSID "My_SSID"
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#define MY_WIFI_PASSWORD "My_WiFi_Password"
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#define UDP_PORT 47269
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#define BEACON_TARGET "192.168.1.2"
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