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Add WIFI_UDP_ALWAYS_BROADCAST define

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This commit is contained in:
Oleg Kalachev
2025-07-29 18:08:57 +03:00
parent dfceb8a6b2
commit a090e3543c
3 changed files with 17 additions and 1 deletions
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3
flix/cli.ino
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@@ -40,6 +40,7 @@ const char* motd =
"cr - calibrate RC\n" "cr - calibrate RC\n"
"ca - calibrate accel\n" "ca - calibrate accel\n"
"mfr, mfl, mrr, mrl - test motor (remove props)\n" "mfr, mfl, mrr, mrl - test motor (remove props)\n"
"wifi - show Wi-Fi info\n"
"sys - show system info\n" "sys - show system info\n"
"reset - reset drone's state\n" "reset - reset drone's state\n"
"reboot - reboot the drone\n"; "reboot - reboot the drone\n";
@@ -141,6 +142,8 @@ void doCommand(String str, bool echo = false) {
testMotor(MOTOR_REAR_RIGHT); testMotor(MOTOR_REAR_RIGHT);
} else if (command == "mrl") { } else if (command == "mrl") {
testMotor(MOTOR_REAR_LEFT); testMotor(MOTOR_REAR_LEFT);
} else if (command == "wifi") {
printWiFiInfo();
} else if (command == "sys") { } else if (command == "sys") {
#ifdef ESP32 #ifdef ESP32
print("Chip: %s\n", ESP.getChipModel()); print("Chip: %s\n", ESP.getChipModel());

14
flix/wifi.ino
View File

@@ -13,6 +13,7 @@
#define WIFI_PASSWORD "flixwifi" #define WIFI_PASSWORD "flixwifi"
#define WIFI_UDP_PORT 14550 #define WIFI_UDP_PORT 14550
#define WIFI_UDP_REMOTE_PORT 14550 #define WIFI_UDP_REMOTE_PORT 14550
#define WIFI_UDP_ALWAYS_BROADCAST 1
WiFiUDP udp; WiFiUDP udp;
@@ -24,7 +25,9 @@ void setupWiFi() {
void sendWiFi(const uint8_t *buf, int len) { void sendWiFi(const uint8_t *buf, int len) {
if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return; if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return;
udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_REMOTE_PORT); IPAddress remote = WiFi.softAPBroadcastIP();
if (!WIFI_UDP_ALWAYS_BROADCAST && udp.remoteIP()) remote = udp.remoteIP();
udp.beginPacket(remote, WIFI_UDP_REMOTE_PORT);
udp.write(buf, len); udp.write(buf, len);
udp.endPacket(); udp.endPacket();
} }
@@ -34,4 +37,13 @@ int receiveWiFi(uint8_t *buf, int len) {
return udp.read(buf, len); return udp.read(buf, len);
} }
void printWiFiInfo() {
print("SSID: %s\n", WiFi.softAPSSID().c_str());
print("Clients: %d\n", WiFi.softAPgetStationNum());
print("Status: %d\n", WiFi.status());
print("IP: %s\n", WiFi.softAPIP().toString().c_str());
print("Remote IP: %s\n", udp.remoteIP().toString().c_str());
print("Broadcast IP: %s\n", WiFi.softAPBroadcastIP().toString().c_str());
}
#endif #endif

1
gazebo/flix.h
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@@ -72,4 +72,5 @@ void calibrateGyro() { print("Skip gyro calibrating\n"); };
void calibrateAccel() { print("Skip accel calibrating\n"); }; void calibrateAccel() { print("Skip accel calibrating\n"); };
void printIMUCalibration() { print("cal: N/A\n"); }; void printIMUCalibration() { print("cal: N/A\n"); };
void printIMUInfo() {}; void printIMUInfo() {};
void printWiFiInfo() {};
Vector accBias, gyroBias, accScale(1, 1, 1); Vector accBias, gyroBias, accScale(1, 1, 1);