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ESP32-C3 RC & Receiver

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Alex B.
2025-01-03 23:55:33 -05:00
parent b50711494d
commit 9be0cadaa4
1 changed files with 74 additions and 0 deletions
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74
ESP-IDF_Robot_RC/main/controller.c
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@@ -49,3 +49,77 @@ static void rc_send_data_task2 (void *pvParameter) {
vTaskDelay(5000 / portTICK_PERIOD_MS); vTaskDelay(5000 / portTICK_PERIOD_MS);
} }
} }
static void rc_send_data_task (void *arg) {
while (true) {
flagToSend = !flagToSend;
if (esp_now_is_peer_exist(receiver_mac)) {
sendData();
}
vTaskDelay (1000 / portTICK_PERIOD_MS);
}
}
void sendData (void) {
// Send data, specify receiver MAC address, pointer to the data being sent, and length of data being sent.
sensors_data_t buffer;
buffer.type = 1;
buffer.crc = 0;
buffer.x_axis = 240;
buffer.y_axis = 2040;
buffer.nav_bttn = 0;
buffer.motor1_rpm_pcm = 10;
buffer.motor2_rpm_pcm = 0;
buffer.motor3_rpm_pcm = 0;
buffer.motor4_rpm_pcm = 0;
ESP_LOGI(TAG, "x-axis: 0x%04X", (uint8_t)buffer.x_axis);
ESP_LOGI(TAG, "y-axis: 0x%04X", (uint8_t)buffer.y_axis);
ESP_LOGI(TAG, "pcm 1: 0x%04X", buffer.motor1_rpm_pcm);
ESP_LOGI(TAG, "pcm 2: 0x%04X", (uint8_t)buffer.motor2_rpm_pcm);
ESP_LOGI(TAG, "pcm 3: 0x%04X", (uint8_t)buffer.motor3_rpm_pcm);
ESP_LOGI(TAG, "pcm 4: 0x%04X", (uint8_t)buffer.motor4_rpm_pcm);
//uint8_t result = esp_now_send(receiver_mac, &flagToSend, sizeof(flagToSend));
uint8_t result = esp_now_send(receiver_mac, &buffer, sizeof(buffer));
//uint8_t result = esp_now_send(receiver_mac, (sensors_data_t *)&buffer, sizeof(buffer));
if (result != 0) {
ESP_LOGE("ESP-NOW", "Error sending data!");
deletePeer();
}
else
ESP_LOGW("ESP-NOW", "Data was sent.");
}
/*
ESP-NOW
*/
/* Prepare ESPNOW data to be sent. */
void sensors_data_prepare(espnow_data_packet_t *send_packet)
{
//sensors_data_t *buffer;
//malloc(sizeof(sensors_data_t));
//send_packet->buffer = &buffer;
//sensors_data_t *buffer = (sensors_data_t *)send_packet->buffer;
sensors_data_t *buffer = (sensors_data_t *)send_packet->buffer;
assert(send_packet->len >= sizeof(sensors_data_t));
buffer->type = 1;
buffer->crc = 0;
buffer->x_axis = 0;
buffer->y_axis = 0;
buffer->nav_bttn = 0;
buffer->motor1_rpm_pcm = 0;
buffer->motor2_rpm_pcm = 0;
buffer->motor3_rpm_pcm = 0;
buffer->motor4_rpm_pcm = 0;
ESP_LOGW(TAG, "x-axis: %x", (uint8_t)buffer->x_axis);
buffer->crc = esp_crc16_le(UINT16_MAX, (uint8_t const *)buffer, send_packet->len);
}
void deletePeer (void) {
uint8_t delStatus = esp_now_del_peer(receiver_mac);
if (delStatus != 0) {
ESP_LOGE("ESP-NOW", "Could not delete peer");
}
}