Permière communication du PAMI en WiFi

This commit is contained in:
Samuel 2024-07-25 21:00:44 +02:00
parent b0e750106d
commit 9f4a0b7523
10 changed files with 221 additions and 6 deletions

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@ -7,7 +7,9 @@
"${env:PICO_SDK_PATH}/src/common/pico_base/include",
"${env:PICO_SDK_PATH}/build/generated/pico_base",
"${env:PICO_SDK_PATH}/src/common/pico_base/include/pico",
"${env:PICO_SDK_PATH}/src/common/pico_stdlib/include"
"${env:PICO_SDK_PATH}/src/common/pico_stdlib/include",
"${env:PICO_SDK_PATH}/lib/cyw43-driver/src/",
"${env:PICO_SDK_PATH}/lib/**/include"
],
"myCompilerPath": "/usr/bin/arm-none-eabi-gcc"
},

4
.vscode/tasks.json vendored
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@ -2,7 +2,7 @@
"tasks": [
{
"type": "shell",
"command": "cd build; cmake ../; make",
"command": "cd build; cmake ../ -DPICO_BOARD=pico_w; make",
"label": "CMake in build/",
"problemMatcher": [],
"group": {
@ -12,7 +12,7 @@
},
{
"type": "shell",
"command": "cd build; cmake ../; make Flash",
"command": "cd build; cmake ../ -DPICO_BOARD=pico_w; make Flash",
"label": "CMake & Make & Flash",
"problemMatcher": [],
"group": {

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@ -20,6 +20,7 @@ add_executable(Mon_Projet
Localisation.c
main.c
QEI.c
Teleplot.c
Temps.c
Trajectoire_bezier.c
Trajectoire_circulaire.c
@ -36,7 +37,7 @@ add_executable(Mon_Projet
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 VL53L8CX_ULD_API/inc/ ${CMAKE_CURRENT_LIST_DIR})
target_link_libraries(Mon_Projet
hardware_adc
@ -45,6 +46,7 @@ target_link_libraries(Mon_Projet
hardware_pio
pico_stdlib
pico_multicore
pico_cyw43_arch_lwip_poll
)
pico_enable_stdio_usb(Mon_Projet 1)

92
Teleplot.c Normal file
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@ -0,0 +1,92 @@
#include "pico/cyw43_arch.h"
#include "Teleplot.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
char teleplot_tampon[BEACON_MSG_LEN_MAX]="";
struct udp_pcb* pcb;
ip_addr_t addr;
int Teleplot_init(void){
if (cyw43_arch_init()) {
printf("failed to initialise\n");
return 1;
}
cyw43_arch_enable_sta_mode();
printf("Connecting to Wi-Fi...\n");
if (cyw43_arch_wifi_connect_timeout_ms(MY_WIFI_SSID, MY_WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) {
printf("failed to connect.\n");
return 1;
} else {
printf("Connected.\n");
}
pcb = udp_new();
ipaddr_aton(BEACON_TARGET, &addr);
return 0;
}
void teleplot_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, &addr, UDP_PORT);
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 Teleplot_ajout_ou_envoie_tampon(char * message){
// Si le tampon ne peut pas accueillir le prochain message
// On envoie et on vide le tampon
if(strlen(message) + strlen(teleplot_tampon) > BEACON_MSG_LEN_MAX){
teleplot_udp_send_string(teleplot_tampon);
teleplot_tampon[0]='\0'; // On "vide" le tampon
}
// On ajoute le message au tampon
strcat(teleplot_tampon, message);
}
void Teleplot_add_variable_float_2decimal(char * nom_variable, float valeur){
char tampon[100];
sprintf(tampon, "%s:%lu:%.2f\n", nom_variable, (long)time_us_64()/1000, valeur);
Teleplot_ajout_ou_envoie_tampon(tampon);
}
void Teleplot_add_variable_int(char * nom_variable, int valeur){
char tampon[100];
sprintf(tampon, "%s:%lu:%d\n", nom_variable, (long)time_us_64()/1000, valeur);
Teleplot_ajout_ou_envoie_tampon(tampon);
}

5
Teleplot.h Normal file
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@ -0,0 +1,5 @@
int Teleplot_init(void);
void teleplot_udp_send_string(char * message);
void Teleplot_add_variable_float_2decimal(char * nom_variable, float valeur);
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
printf("%d,", Results->distance_mm[col+ 8*row]);
}
}
printf("\n");
*/
printf("\n");*/
}
int VL53L8_min_distance(VL53L8CX_ResultsData Results, float *distance){

10
lwipopts.h Normal file
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@ -0,0 +1,10 @@
#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

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@ -0,0 +1,90 @@
#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__ */

5
main.c
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@ -13,6 +13,7 @@
#include "i2c_maitre.h"
#include "Localisation.h"
#include "Moteurs.h"
#include "Teleplot.h"
#include "Temps.h"
#include "Trajectoire.h"
#include "Trajet.h"
@ -66,6 +67,7 @@ void main(void)
identifiant_init();
Localisation_init(identifiant_lire());
Trajet_init(identifiant_lire());
Teleplot_init();
i2c_maitre_init();
@ -83,6 +85,7 @@ void main(void)
//multicore_launch_core1(gestion_affichage);
multicore_launch_core1(gestion_VL53L8CX);
sleep_ms(5000);
printf("Demarrage...\n");
@ -170,8 +173,10 @@ void affichage(void){
printf(">m1_c:%f\n>m2_c:%f\n", AsserMoteur_getConsigne_mm_s(MOTEUR_A), AsserMoteur_getConsigne_mm_s(MOTEUR_B) );*/
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);
printf(">distance_obstacle:%f\n",Trajet_get_obstacle_mm());
Teleplot_add_variable_float_2decimal("dist", Trajet_get_obstacle_mm());
printf(">abscisse:%f\n",abscisse);
Teleplot_add_variable_float_2decimal("abs", abscisse);
struct position_t position_actuelle;
position_actuelle = Localisation_get();

9
wifi_settings.h.default Normal file
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@ -0,0 +1,9 @@
// 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"