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Alex B.
2025-08-03 02:24:42 -04:00
parent 321e36dc3f
commit 8bc16a5097
24 changed files with 924 additions and 1557 deletions
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ESP32-IDF_ESPNOW-Transmitter/build/.bin_timestamp
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ESP32-IDF_ESPNOW-Transmitter/build/.ninja_deps
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ESP32-IDF_ESPNOW-Transmitter/build/.ninja_log
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ESP32-IDF_ESPNOW-Transmitter/build/CMakeFiles/git-data/head-ref
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ESP32-IDF_ESPNOW-Transmitter/build/bootloader/.ninja_log
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ESP32-IDF_ESPNOW-Transmitter/build/build.ninja
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@@ -3167,7 +3167,7 @@ build esp-idf/partition_table/CMakeFiles/partition_table-flash | ${cmake_ninja_w
build cmake_object_order_depends_target___idf_esp_app_format: phony || cmake_object_order_depends_target___idf_esp_bootloader_format build cmake_object_order_depends_target___idf_esp_app_format: phony || cmake_object_order_depends_target___idf_esp_bootloader_format
build esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj: C_COMPILER____idf_esp_app_format_unscanned_ C$:/Users/alex/esp/v5.4/esp-idf/components/esp_app_format/esp_app_desc.c || cmake_object_order_depends_target___idf_esp_app_format build esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj: C_COMPILER____idf_esp_app_format_unscanned_ C$:/Users/alex/esp/v5.4/esp-idf/components/esp_app_format/esp_app_desc.c || cmake_object_order_depends_target___idf_esp_app_format
DEFINES = -DESP_PLATFORM -DIDF_VER=\"v5.4\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\"espnow_transmitter\" -DPROJECT_VER=\"ESP32-Node_Switch-v2.7-8923-g64\" DEFINES = -DESP_PLATFORM -DIDF_VER=\"v5.4\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\"espnow_transmitter\" -DPROJECT_VER=\"ESP32-Node_Switch-v2.7-8924-g32\"
DEP_FILE = esp-idf\esp_app_format\CMakeFiles\__idf_esp_app_format.dir\esp_app_desc.c.obj.d DEP_FILE = esp-idf\esp_app_format\CMakeFiles\__idf_esp_app_format.dir\esp_app_desc.c.obj.d
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-IC:/Users/alex/esp/v5.4/esp-idf/components/lwip/port/include -IC:/Users/alex/esp/v5.4/esp-idf/components/lwip/port/freertos/include -IC:/Users/alex/esp/v5.4/esp-idf/components/lwip/port/esp32xx/include -IC:/Users/alex/esp/v5.4/esp-idf/components/lwip/port/esp32xx/include/arch -IC:/Users/alex/esp/v5.4/esp-idf/components/lwip/port/esp32xx/include/sys INCLUDES = -IC:/Users/alex/github/ESP-Nodes/ESP32-IDF_ESPNOW-Transmitter/build/config -IC:/Users/alex/esp/v5.4/esp-idf/components/esp_app_format/include -IC:/Users/alex/esp/v5.4/esp-idf/components/newlib/platform_include -IC:/Users/alex/esp/v5.4/esp-idf/components/freertos/config/include -IC:/Users/alex/esp/v5.4/esp-idf/components/freertos/config/include/freertos -IC:/Users/alex/esp/v5.4/esp-idf/components/freertos/config/riscv/include -IC:/Users/alex/esp/v5.4/esp-idf/components/freertos/FreeRTOS-Kernel/include -IC:/Users/alex/esp/v5.4/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include 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ESP32-IDF_ESPNOW-Transmitter/build/compile_commands.json
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@@ -907,7 +907,7 @@
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@@ -1,7 +1,7 @@
{ {
"version": "1.1", "version": "1.1",
"project_name": "espnow_transmitter", "project_name": "espnow_transmitter",
"project_version": "ESP32-Node_Switch-v2.7-8923-g64e98ba85-dirty", "project_version": "ESP32-Node_Switch-v2.7-8924-g321e36dc3-dirty",
"project_path": "C:/Users/alex/github/ESP-Nodes/ESP32-IDF_ESPNOW-Transmitter", "project_path": "C:/Users/alex/github/ESP-Nodes/ESP32-IDF_ESPNOW-Transmitter",
"idf_path": "C:/Users/alex/esp/v5.4/esp-idf", "idf_path": "C:/Users/alex/esp/v5.4/esp-idf",
"build_dir": "C:/Users/alex/github/ESP-Nodes/ESP32-IDF_ESPNOW-Transmitter/build", "build_dir": "C:/Users/alex/github/ESP-Nodes/ESP32-IDF_ESPNOW-Transmitter/build",

7
ESP32-IDF_ESPNOW-Transmitter/main/config.h
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@@ -10,13 +10,6 @@
#define SYS_LED_GPIO (10) // 10 GPIO of on-board LED #define SYS_LED_GPIO (10) // 10 GPIO of on-board LED
/* ============================
Joystick
============================
*/
#define PROJ_X (1) // ADC1_CH1; 0 GPIO joystick, x-axis
#define PROJ_Y (0) // ADC1_CH0; 1 GPIO joystick, y-axis
#define NAV_BTN (8) // 8 GPIO joystick button
/* ============================ /* ============================
ESP NOW ESP NOW

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#include "driver/adc.h"
#include "esp_adc/adc_oneshot.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_now.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/timers.h"
#include "esp_event.h"
#include "config.h"
#include "joystick.h"
int x, y; // Joystick x and y positions
adc_oneshot_unit_handle_t adc_xy_handle;
sensors_data_t buffer;
// Function for sending the data to the receiver
void sendData (void)
{
buffer.crc = 0;
buffer.x_axis = 240;
buffer.y_axis = 256;
buffer.nav_bttn = 0;
buffer.motor1_rpm_pcm = 0; //10;
buffer.motor2_rpm_pcm = 0;
buffer.motor3_rpm_pcm = 0;
buffer.motor4_rpm_pcm = 0;
get_joystick_xy(&x, &y);
//ESP_LOGI("(x, y)", "[ %d, %d ]", x, y);
buffer.x_axis = x;
buffer.y_axis = y;
// Display brief summary of data being sent.
ESP_LOGI(TAG, "Joystick (x,y) position ( %d, %d )", buffer.x_axis, buffer.y_axis);
ESP_LOGI(TAG, "pcm 1, pcm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor1_rpm_pcm, (uint8_t)buffer.motor2_rpm_pcm);
ESP_LOGI(TAG, "pcm 3, pcm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor3_rpm_pcm, (uint8_t)buffer.motor4_rpm_pcm);
// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length)
uint8_t result = esp_now_send(receiver_mac, (uint8_t *)&buffer, sizeof(buffer));
// If status is NOT OK, display error message and error code (in hexadecimal).
if (result != 0) {
ESP_LOGE("sendData()", "Error sending data! Error code: 0x%04X", result);
ESP_LOGE("sendData()", "esp_now_send() failed: %s", esp_err_to_name(result));
ESP_LOGE("sendData()", "Ensure that receiver is powered-on.");
ESP_LOGE("sendData()", "Ensure that received MAC is: %02X:%02X:%02X:%02X:%02X:%02X",
receiver_mac[0], receiver_mac[1], receiver_mac[2],
receiver_mac[3], receiver_mac[4], receiver_mac[5]);
deletePeer();
}
}

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#include <stdlib.h>
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "esp_adc/adc_oneshot.h"
#include "nvs_flash.h"
#include "esp_event.h"
#include "esp_netif.h"
#include "esp_wifi.h"
#include "esp_log.h"
#include "esp_err.h"
#include "esp_mac.h"
#include "esp_now.h"
#include "sensors_data.h"
#include "config.h"
esp_now_peer_info_t devices;
static adc_oneshot_unit_handle_t adc_xy_handle;
sensors_data_t buffer;
static int x, y; // Joystick x- and y- axis positions
static int espnow_channel = 1;//11;
void transmission_init();
void wifi_init();
static void statusDataSend(const uint8_t *mac_addr, esp_now_send_status_t status);
esp_err_t joystick_adc_init(void)
{
adc_oneshot_unit_init_cfg_t adc_init_config_xy = {
.unit_id = ADC_UNIT_1,
.ulp_mode = ADC_ULP_MODE_DISABLE,
};
ESP_ERROR_CHECK(adc_oneshot_new_unit(&adc_init_config_xy, &adc_xy_handle));
adc_oneshot_chan_cfg_t config_x = {
.bitwidth = SOC_ADC_DIGI_MAX_BITWIDTH,
//.atten = ADC_ATTEN_DB_0, // 800mV
//.atten = ADC_ATTEN_DB_2_5, // 1.1V
//.atten = ADC_ATTEN_DB_6, // 1.3V
//.atten = ADC_ATTEN_DB_12, // 2.6V
.atten = ADC_ATTEN_DB_12,
};
adc_oneshot_chan_cfg_t config_y = {
.bitwidth = SOC_ADC_DIGI_MAX_BITWIDTH,
.atten = ADC_ATTEN_DB_12,
};
ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_xy_handle, ADC_CHANNEL_0, &config_x));
ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_xy_handle, ADC_CHANNEL_1, &config_y));
return ESP_OK;
}
void joystick_show_raw_xy()
{
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_0, &x));
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_1, &y));
ESP_LOGI("(x,y)", "( %d, %d )", x, y);
}
static void get_joystick_xy(int *x_axis, int *y_axis)
{
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_0, x_axis));
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_1, y_axis));
}
// Function to delete peer (i.e. when communication error occurs)
static void deletePeer (void)
{
uint8_t delStatus = esp_now_del_peer(receiver_mac);
if (delStatus != 0) {
ESP_LOGE(TAG, "Could not delete peer");
}
}
static void sendData (void)
{
buffer.crc = 0;
buffer.x_axis = 240;
buffer.y_axis = 256;
buffer.nav_bttn = 0;
buffer.led = 0;
buffer.motor1_rpm_pwm = 0;
buffer.motor2_rpm_pwm = 0;
buffer.motor3_rpm_pwm = 0;
buffer.motor4_rpm_pwm = 0;
//joystick_show_raw_xy();
//get_joystick_xy(&x, &y);
get_joystick_xy(&y, &x);
//ESP_LOGI("(x, y)", "[ %d, %d ]", x, y);
buffer.x_axis = x;
buffer.y_axis = y;
// Display brief summary of data being sent.
ESP_LOGI(TAG, "Joystick (x,y) position ( %d, %d )", buffer.x_axis, buffer.y_axis);
ESP_LOGI(TAG, "pwm 1, pwm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor1_rpm_pwm, (uint8_t)buffer.motor2_rpm_pwm);
ESP_LOGI(TAG, "pwm 3, pwm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor3_rpm_pwm, (uint8_t)buffer.motor4_rpm_pwm);
//ESP_LOGI(TAG, "ESP-NOW Channel: %d", devices.channel);
//ESP_LOGI(TAG, "Wi-Fi Channel: %d", );
uint8_t channel;
esp_wifi_get_channel(&channel, NULL);
ESP_LOGE(TAG, "ESP-NOW Channel: %d", channel);
// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length)
uint8_t result = esp_now_send((uint8_t*)receiver_mac, (uint8_t *)&buffer, sizeof(buffer));
ESP_LOGI(TAG, "Channel is set at %d", espnow_channel);
// If status is NOT OK, display error message and error code (in hexadecimal).
if (result != 0) {
ESP_LOGE(TAG, "Error sending data! Error code: 0x%04X", result);
ESP_LOGE(TAG, "esp_now_send() failed: %s", esp_err_to_name(result));
ESP_LOGE(TAG, "==========================");
ESP_LOGE(TAG, "Ensure that received MAC is: %02X:%02X:%02X:%02X:%02X:%02X",
receiver_mac[0], receiver_mac[1], receiver_mac[2],
receiver_mac[3], receiver_mac[4], receiver_mac[5]);
}
}
// Callback function to handle the status of data transmission
// This function is called when the data is sent or if there is an error.
static void statusDataSend(const uint8_t *mac_addr, esp_now_send_status_t status)
{
if (status == ESP_NOW_SEND_SUCCESS) {
ESP_LOGI(TAG, "Data sent successfully to: %02X:%02X:%02X:%02X:%02X:%02X",
mac_addr[0], mac_addr[1], mac_addr[2],
mac_addr[3], mac_addr[4], mac_addr[5]);
} else if (status != ESP_NOW_SEND_SUCCESS) {// == ESP_NOW_SEND_FAIL) {
ESP_LOGE(TAG, "Error sending data to: %02X:%02X:%02X:%02X:%02X:%02X",
mac_addr[0], mac_addr[1], mac_addr[2],
mac_addr[3], mac_addr[4], mac_addr[5]);
ESP_LOGE(TAG, "Error sending data. Error code: 0x%04X", status);
ESP_LOGE(TAG, "esp_now_send() failed: %s", esp_err_to_name(status));
ESP_LOGE(TAG, "Ensure that receiver is powered-on and MAC is correct.");
//deletePeer();
esp_now_del_peer(receiver_mac);
esp_now_deinit();
esp_wifi_set_channel(espnow_channel, WIFI_SECOND_CHAN_NONE);
esp_now_init();
memcpy(devices.peer_addr, receiver_mac, 6);
devices.channel = espnow_channel;
devices.encrypt = false;
esp_now_add_peer(&devices);
esp_now_register_send_cb(statusDataSend);
if (espnow_channel < 11) {
espnow_channel++;
}/* else {
esp_restart();
//espnow_channel = 1; // Reset to channel 1 if it exceeds 11
}*/
}
}
/* WiFi should start before using ESPNOW */
void wifi_init()
{
/*
* STAND-ALONE
*/
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK( esp_wifi_init(&cfg) );
ESP_ERROR_CHECK( esp_wifi_set_storage(WIFI_STORAGE_RAM) );
ESP_ERROR_CHECK( esp_wifi_set_mode(WIFI_MODE_STA));//ESPNOW_WIFI_MODE));
ESP_ERROR_CHECK( esp_wifi_start());
//ESP_ERROR_CHECK( esp_wifi_set_channel(CONFIG_ESPNOW_CHANNEL, WIFI_SECOND_CHAN_NONE));
ESP_ERROR_CHECK( esp_wifi_set_channel(espnow_channel, WIFI_SECOND_CHAN_NONE)); // 2
#if CONFIG_ESPNOW_ENABLE_LONG_RANGE
ESP_ERROR_CHECK( esp_wifi_set_protocol(ESPNOW_WIFI_IF, WIFI_PROTOCOL_11B|WIFI_PROTOCOL_11G|WIFI_PROTOCOL_11N|WIFI_PROTOCOL_LR) );
#endif
/*
* WI-FI
*/
/*
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
esp_netif_create_default_wifi_sta();
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK( esp_wifi_init(&cfg) );
ESP_ERROR_CHECK( esp_wifi_set_storage(WIFI_STORAGE_RAM) );
ESP_ERROR_CHECK( esp_wifi_set_mode(WIFI_MODE_STA));//ESPNOW_WIFI_MODE));
wifi_config_t wifi_config = {
.sta = {
.ssid = "IoT_bots2",
.password = "208208208",
},
};
ESP_ERROR_CHECK (esp_wifi_set_config(WIFI_IF_STA, &wifi_config));
//ESP_ERROR_CHECK( esp_wifi_set_channel(CONFIG_ESPNOW_CHANNEL, WIFI_SECOND_CHAN_NONE));
ESP_ERROR_CHECK( esp_wifi_start());
//ESP_ERROR_CHECK( esp_wifi_set_channel(CONFIG_ESPNOW_CHANNEL, WIFI_SECOND_CHAN_NONE));
ESP_ERROR_CHECK( esp_wifi_connect() );
*/
}
// Task to periodically send ESPNOW remote control data
static void rc_send_data_task()
{
while (true) {
if (esp_now_is_peer_exist((uint8_t*)receiver_mac)) {
sendData();
}
vTaskDelay (250 / portTICK_PERIOD_MS);
}
}
static void rc_display_data_task()
{
while (true) {
joystick_show_raw_xy();
ESP_LOGI(TAG, "Channel is set at %d", espnow_channel);
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}
void transmission_init()
{
esp_err_t espnow_ret = esp_now_init();
if (espnow_ret != ESP_OK) {
ESP_LOGE(TAG, "esp_now_init() failed: %s", esp_err_to_name(espnow_ret));
return;
}
ESP_LOGI(TAG, "ESPNOW initialized successfully");
esp_now_register_send_cb(statusDataSend);
// Set ESP-NOW receiver device configuration values
memcpy(devices.peer_addr, receiver_mac, 6);
devices.channel = espnow_channel;
devices.encrypt = false;
esp_now_add_peer(&devices);
// Defince a task for periodically sending ESPNOW remote control data
xTaskCreate(rc_send_data_task, "RC", 8096, NULL, 4, NULL);
xTaskCreate(rc_display_data_task, "RC Display", 8096, NULL, 5, NULL);
}

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#include "sensors_data.h"
#include "esp_adc/adc_oneshot.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_err.h"
#include "esp_mac.h"
#include "esp_now.h"
#include "config.h"
#include "joystick.h"
#include "sensors_data.h"
extern sensors_data_t buffer;
static int x, y; // Joystick x and y positions
adc_oneshot_unit_handle_t adc_xy_handle;
//uint8_t receiver_mac[ESP_NOW_ETH_ALEN] = {0xE4, 0xB0, 0x63, 0x17, 0x9E, 0x45}; // MAC address of Robot
//extern uint8_t receiver_mac[ESP_NOW_ETH_ALEN];
uint8_t broadcast_mac[ESP_NOW_ETH_ALEN] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}; // Broadcast MAC address
uint8_t receiver_mac[ESP_NOW_ETH_ALEN] = {0xE4, 0xB0, 0x63, 0x17, 0x9E, 0x45}; // MAC address of Robot
uint8_t transmitter_mac[ESP_NOW_ETH_ALEN] = {0x34, 0xB7, 0xDA, 0xF9, 0x33, 0x8D}; // MAC address of Remote Control
// Function to delete peer (i.e. when communication error occurs)
void deleteDev (void) {
uint8_t delStatus = esp_now_del_peer(receiver_mac);
if (delStatus != 0) {
ESP_LOGE("ESP-NOW", "Could not delete peer");
}
}
// Function to delete peer (i.e. when communication error occurs)
void deletePeer (void) {
uint8_t delStatus = esp_now_del_peer(receiver_mac);
if (delStatus != 0) {
ESP_LOGE("ESP-NOW", "Could not delete peer");
}
}
int convert_axis_to_pwm(int axis_value) {
// Convert the joystick axis value to a PWM value
// Assuming axis_value is in the range of 0-4095 for a 12-bit ADC
// and we want to map it to a PWM range of 0-255
return (axis_value * 255) / 4095;
}
void get_joystick_xy_axis(int *x_axis, int *y_axis) {
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_0, x_axis));
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_1, y_axis));
}
void sendRawData(void) {
buffer.crc = 0;
buffer.x_axis = 240;
buffer.y_axis = 256;
buffer.nav_bttn = 0;
buffer.motor1_rpm_pcm = 0;
buffer.motor2_rpm_pcm = 0;
buffer.motor3_rpm_pcm = 0;
buffer.motor4_rpm_pcm = 0;
get_joystick_xy_axis(&x, &y);
buffer.x_axis = x;
buffer.y_axis = y;
// Display brief summary of data being sent.
ESP_LOGI("ESP-NOW", "Joystick (x,y) position ( %d, %d )", buffer.x_axis, buffer.y_axis);
ESP_LOGI("ESP-NOW", "pcm 1, pcm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor1_rpm_pcm, (uint8_t)buffer.motor2_rpm_pcm);
ESP_LOGI("ESP-NOW", "pcm 3, pcm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor3_rpm_pcm, (uint8_t)buffer.motor4_rpm_pcm);
// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length)
uint8_t result = esp_now_send(receiver_mac, (uint8_t *)&buffer, sizeof(buffer));
// If status is NOT OK, display error message and error code (in hexadecimal).
if (result != 0) {
ESP_LOGE("sendData()", "Error sending data! Error code: 0x%04X", result);
ESP_LOGE("sendData()", "esp_now_send() failed: %s", esp_err_to_name(result));
ESP_LOGE("sendData()", "Ensure that receiver is powered-on.");
ESP_LOGE("sendData()", "Ensure that received MAC is: %02X:%02X:%02X:%02X:%02X:%02X",
receiver_mac[0], receiver_mac[1], receiver_mac[2],
receiver_mac[3], receiver_mac[4], receiver_mac[5]);
deleteDev();
}
}

22
ESP32-IDF_ESPNOW-Transmitter/main/joystick.h
View File

@@ -1,22 +0,0 @@
#ifndef JOYSTICK_H
#define JOYSTICK_H
#include "esp_mac.h"
#include "esp_now.h"
#include "esp_netif.h"
#include "config.h"
void wifi_init();
esp_err_t joystick_adc_init(void);
void transmission_init();
static void rc_send_data_task();
static void sendData (void);
static void get_joystick_xy(int *x_axis, int *y_axis);
static void deletePeer (void);
static void statusDataSend(const uint8_t *mac_addr, esp_now_send_status_t status);
//void joystick_show_raw_xy();
#endif

152
ESP32-IDF_ESPNOW-Transmitter/main/joystick.h.bak
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@@ -1,152 +0,0 @@
#ifndef JOYSTICK_H
#define JOYSTICK_H
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/timers.h"
//#include "driver/adc.h"
#include "esp_adc/adc_oneshot.h"
#include "esp_err.h"
#include "esp_log.h"
#include "sensors_data.h"
/*#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/timers.h"
#include "esp_event.h"*/
#include "config.h"
uint8_t broadcast_mac[ESP_NOW_ETH_ALEN];// = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}; // Broadcast MAC address
uint8_t receiver_mac[ESP_NOW_ETH_ALEN];// = {0xE4, 0xB0, 0x63, 0x17, 0x9E, 0x45}; // MAC address of Robot
uint8_t transmitter_mac[ESP_NOW_ETH_ALEN];// = {0x34, 0xB7, 0xDA, 0xF9, 0x33, 0x8D}; // MAC address of Remote Control
//static int x, y; // Joystick x and y positions
//static adc_oneshot_unit_handle_t adc_xy_handle;
// Struct holding sensors values
/*typedef struct {
uint16_t crc; // CRC16 value of ESPNOW data
int x_axis; // Joystick x-position
int y_axis; // Joystick y-position
bool nav_bttn; // Joystick push button
uint8_t motor1_rpm_pcm; // PWMs for 4 DC motors
uint8_t motor2_rpm_pcm;
uint8_t motor3_rpm_pcm;
uint8_t motor4_rpm_pcm;
} __attribute__((packed)) sensors_data_t;*/
static int x, y; // Joystick x and y positions
adc_oneshot_unit_handle_t adc_xy_handle;
sensors_data_t buffer;
int convert_axis_to_pwm(int axis_value);
void get_joystick_xy_axis(int *x_axis, int *y_axis);
void sendRawData(void);
void deleteDev(void);
void deletePeer(void);
//static sensors_data_t buffer;
esp_err_t joystick_adc_init(void) {
adc_oneshot_unit_init_cfg_t adc_init_config_xy = {
.unit_id = ADC_UNIT_1,
.ulp_mode = ADC_ULP_MODE_DISABLE,
};
ESP_ERROR_CHECK(adc_oneshot_new_unit(&adc_init_config_xy, &adc_xy_handle));
adc_oneshot_chan_cfg_t config_x = {
.bitwidth = SOC_ADC_DIGI_MAX_BITWIDTH,
.atten = ADC_ATTEN_DB_12,
};
adc_oneshot_chan_cfg_t config_y = {
.bitwidth = SOC_ADC_DIGI_MAX_BITWIDTH,
.atten = ADC_ATTEN_DB_12,
};
ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_xy_handle, ADC_CHANNEL_0, &config_x));
ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_xy_handle, ADC_CHANNEL_1, &config_y));
return ESP_OK;
}
void joystick_show_raw_xy() {
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_0, &x));
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_1, &y));
ESP_LOGI("(x,y)", "( %d, %d )", x, y);
}
void get_joystick_xy(int *x_axis, int *y_axis) {
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_0, x_axis));
ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_1, y_axis));
}
void joystick_task(void *arg) {
while (true) {
joystick_show_raw_xy();
vTaskDelay (1000 / portTICK_PERIOD_MS);
}
}
void statusDataSend(const uint8_t *mac_addr, esp_now_send_status_t status) {
if (status == ESP_NOW_SEND_SUCCESS) {
ESP_LOGI(TAG, "Data sent successfully to: %02X:%02X:%02X:%02X:%02X:%02X",
mac_addr[0], mac_addr[1], mac_addr[2],
mac_addr[3], mac_addr[4], mac_addr[5]);
} else {
ESP_LOGE(TAG, "Error sending data to: %02X:%02X:%02X:%02X:%02X:%02X",
mac_addr[0], mac_addr[1], mac_addr[2],
mac_addr[3], mac_addr[4], mac_addr[5]);
ESP_LOGE("sendData()", "Error sending data. Error code: 0x%04X", status);
ESP_LOGE("sendData()", "esp_now_send() failed: %s", esp_err_to_name(status));
ESP_LOGE("sendData()", "Ensure that receiver is powered-on and MAC is correct.");
deletePeer();
}
}
// Function for sending the data to the receiver
void sendData (void)
{
buffer.crc = 0;
buffer.x_axis = 240;
buffer.y_axis = 256;
buffer.nav_bttn = 0;
buffer.motor1_rpm_pcm = 0; //10;
buffer.motor2_rpm_pcm = 0;
buffer.motor3_rpm_pcm = 0;
buffer.motor4_rpm_pcm = 0;
get_joystick_xy(&x, &y);
//ESP_LOGI("(x, y)", "[ %d, %d ]", x, y);
buffer.x_axis = x;
buffer.y_axis = y;
// Display brief summary of data being sent.
ESP_LOGI(TAG, "Joystick (x,y) position ( %d, %d )", buffer.x_axis, buffer.y_axis);
ESP_LOGI(TAG, "pcm 1, pcm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor1_rpm_pcm, (uint8_t)buffer.motor2_rpm_pcm);
ESP_LOGI(TAG, "pcm 3, pcm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor3_rpm_pcm, (uint8_t)buffer.motor4_rpm_pcm);
// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length)
uint8_t result = esp_now_send(receiver_mac, (uint8_t *)&buffer, sizeof(buffer));
// If status is NOT OK, display error message and error code (in hexadecimal).
if (result != 0) {
ESP_LOGE("sendData()", "Error sending data! Error code: 0x%04X", result);
ESP_LOGE("sendData()", "esp_now_send() failed: %s", esp_err_to_name(result));
ESP_LOGE("sendData()", "Ensure that receiver is powered-on.");
ESP_LOGE("sendData()", "Ensure that received MAC is: %02X:%02X:%02X:%02X:%02X:%02X",
receiver_mac[0], receiver_mac[1], receiver_mac[2],
receiver_mac[3], receiver_mac[4], receiver_mac[5]);
deletePeer();
}
}
/*void rc_send_data_task()
{
while (true) {
if (esp_now_is_peer_exist(receiver_mac))
sendData();
vTaskDelay (250 / portTICK_PERIOD_MS);
}
}*/
#endif

5
ESP32-IDF_ESPNOW-Transmitter/main/transmitter.c
View File

@@ -20,11 +20,6 @@ static sensors_data_t buffer;
static float temperature_value = 0.0; static float temperature_value = 0.0;
static int espnow_channel = 1; static int espnow_channel = 1;
//void transmission_init();
//void wifi_init();
//static void statusDataSend(const uint8_t *mac_addr, esp_now_send_status_t status);
// Function to delete peer (i.e. when communication error occurs) // Function to delete peer (i.e. when communication error occurs)
static void deletePeer (void) static void deletePeer (void)
{ {