Permière communication du PAMI en WiFi

.vscode/c_cpp_properties.json

@@ -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"
     },

.vscode/tasks.json

@@ -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": {

CMakeLists.txt

@@ -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)

Teleplot.c

@@ -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);
+}

Teleplot.h

@@ -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);
+

VL53L8_2024.c

@@ -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){

lwipopts.h

@@ -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

lwipopts_examples_common.h

@@ -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__ */

main.c

@@ -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();

wifi_settings.h.default

@@ -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"