commit 34a9901e62a6dffb1c3f131359e3e6f7834e8c3f Author: nicoboy Date: Sat May 30 18:35:54 2026 +0200 Initial commit - ESP32 MAVLink WiFi relay diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..3074d78 --- /dev/null +++ b/.gitignore @@ -0,0 +1,6 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch +include/credentials.h diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/include/README b/include/README new file mode 100644 index 0000000..49819c0 --- /dev/null +++ b/include/README @@ -0,0 +1,37 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the convention is to give header files names that end with `.h'. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..9379397 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into the executable file. + +The source code of each library should be placed in a separate directory +("lib/your_library_name/[Code]"). + +For example, see the structure of the following example libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +Example contents of `src/main.c` using Foo and Bar: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +The PlatformIO Library Dependency Finder will find automatically dependent +libraries by scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..b598d83 --- /dev/null +++ b/platformio.ini @@ -0,0 +1,16 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:esp32dev] +platform = espressif32 +board = esp32dev +framework = arduino +monitor_speed = 115200 +lib_deps = okalachev/MAVLink@^2.0.29 diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..10de2b6 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,130 @@ +#include +#include +#include +#include "credentials.h" + +// ── Ports ─────────────────────────────────────────────── +const uint16_t JETSON_PORT_MAVSDK = 14551; +const uint16_t JETSON_PORT_PYMAV = 14552; +const uint16_t LOCAL_PORT = 14550; + +// ── UART vers Pi Zero ─────────────────────────────────── +#define UART_BAUD 57600 +#define UART_RX_PIN 16 +#define UART_TX_PIN 17 + +// ── LED status ────────────────────────────────────────── +#define LED_PIN 2 +#define LED_WIFI_OK 500 // clignote lentement = WiFi OK +#define LED_WIFI_WAIT 100 // clignote vite = attente WiFi + +// ── Variables globales ────────────────────────────────── +WiFiUDP udp; +HardwareSerial MavSerial(2); +bool wifiConnected = false; +unsigned long lastBlink = 0; +bool ledState = false; +int blinkInterval = LED_WIFI_WAIT; +unsigned long lastHeartbeat = 0; + +// ── Blink non bloquant ────────────────────────────────── +void updateLED() { + if (millis() - lastBlink > blinkInterval) { + ledState = !ledState; + digitalWrite(LED_PIN, ledState); + lastBlink = millis(); + } +} + +void setup() { + Serial.begin(115200); + pinMode(LED_PIN, OUTPUT); + + Serial.println("\n=== WireClaw ESP32 ==="); + + // UART2 vers Pi Zero / Matek H743 + MavSerial.begin(UART_BAUD, SERIAL_8N1, UART_RX_PIN, UART_TX_PIN); + Serial.printf("UART2 init: %d baud (RX=%d TX=%d)\n", UART_BAUD, UART_RX_PIN, UART_TX_PIN); + + // WiFi + Serial.printf("Connexion WiFi: %s\n", WIFI_SSID); + WiFi.begin(WIFI_SSID, WIFI_PASSWORD); + + int attempts = 0; + while (WiFi.status() != WL_CONNECTED && attempts < 20) { + updateLED(); + delay(500); + Serial.print("."); + attempts++; + } + + if (WiFi.status() == WL_CONNECTED) { + WiFi.setSleep(false); + wifiConnected = true; + blinkInterval = LED_WIFI_OK; + Serial.println("\nWiFi connecte !"); + Serial.print("IP ESP32: "); + Serial.println(WiFi.localIP()); + Serial.printf("Jetson IP: %s\n", JETSON_IP); + udp.begin(LOCAL_PORT); + + // Test immédiat au démarrage + delay(1000); + Serial.printf("Test envoi vers %s:14551\n", JETSON_IP); + const char* testMsg = "ESP32-boot-test"; + int result = udp.beginPacket(JETSON_IP, JETSON_PORT_MAVSDK); + Serial.printf("beginPacket result: %d\n", result); + udp.write((const uint8_t*)testMsg, strlen(testMsg)); + int sent = udp.endPacket(); + Serial.printf("endPacket result: %d\n", sent); + + Serial.printf("UDP ecoute sur port %d\n", LOCAL_PORT); + } else { + Serial.println("\nEchec WiFi — verifier credentials.h"); + } +} + +void loop() { + updateLED(); + + // ── Heartbeat test → Jetson toutes les 5s ── + if (millis() - lastHeartbeat > 5000) { + lastHeartbeat = millis(); + const char* msg = "WireClaw-ESP32-heartbeat"; + udp.beginPacket(JETSON_IP, JETSON_PORT_MAVSDK); + udp.write((const uint8_t*)msg, strlen(msg)); + udp.endPacket(); + Serial.println("Heartbeat envoyé → Jetson:14551"); + } + + if (!wifiConnected) return; + + // ── WiFi → UART (Jetson → Pi Zero) ── + int packetSize = udp.parsePacket(); + if (packetSize > 0) { + uint8_t buf[512]; + int len = udp.read(buf, sizeof(buf)); + if (len > 0) { + MavSerial.write(buf, len); + Serial.printf("WiFi→UART: %d bytes\n", len); + } + } + + // ── UART → WiFi (Pi Zero → Jetson) ── + if (MavSerial.available()) { + uint8_t buf[512]; + int len = 0; + while (MavSerial.available() && len < 512) { + buf[len++] = MavSerial.read(); + } + if (len > 0) { + udp.beginPacket(JETSON_IP, JETSON_PORT_MAVSDK); + udp.write(buf, len); + udp.endPacket(); + udp.beginPacket(JETSON_IP, JETSON_PORT_PYMAV); + udp.write(buf, len); + udp.endPacket(); + Serial.printf("UART→WiFi: %d bytes\n", len); + } + } +} \ No newline at end of file diff --git a/test/README b/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html