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Alex B.
2025-08-03 01:43:02 -04:00
parent 306b1f743c
commit 8f6f00c7f4
3 changed files with 229 additions and 7 deletions
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2
ESP32-IDF_ESPNOW-Transmitter/main/CMakeLists.txt
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@@ -1,2 +1,2 @@
idf_component_register(SRCS "config.c" "system_health.c" "espnow_transmitter.c" "joystick.c"
idf_component_register(SRCS "transmitter.c" "config.c" "system_health.c" "espnow_transmitter.c" "joystick.c"
INCLUDE_DIRS ".")

12
ESP32-IDF_ESPNOW-Transmitter/main/sensors_data.h
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@@ -6,12 +6,12 @@
#include <stdbool.h>
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
bool led; // LED ON/OFF state
uint8_t motor1_rpm_pwm; // PWMs for 4 DC motors
uint16_t crc;
int sensor1;
int sensor2;
bool sensor3;
bool sensor4;
uint8_t motor1_rpm_pwm;
uint8_t motor2_rpm_pwm;
uint8_t motor3_rpm_pwm;
uint8_t motor4_rpm_pwm;

222
ESP32-IDF_ESPNOW-Transmitter/main/transmitter.c Normal file
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@@ -0,0 +1,222 @@
#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;
static 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.");
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++;
}
}
}
/* 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);
}
}
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);
// Specify 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);
}