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Alex B.
2025-07-05 18:35:56 -04:00
parent 7c3655b3a2
commit a7049daa83
14 changed files with 371 additions and 9 deletions
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2
ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo vendored
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@@ -1,4 +1,4 @@
# Sphinx build info version 1
# This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
config: d34a004e496198515034b25931fe275c
config: de8c605d22cabaea60d5c70fb28ac570
tags: 62a1e7829a13fc7881b6498c52484ec0

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ESP-IDF_Robot/tutorial/docs/build/simplepdf/esp-idf_espnow_rc-car.pdf vendored
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ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html vendored
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@@ -109,12 +109,34 @@
Data Encapsulation
</a>
</li>
<li class="toctree-l2">
<a class="reference internal" href="#main-function">
Main Function
</a>
</li>
</ul>
</li>
<li class="toctree-l1">
<a class="reference internal" href="#receiver">
RECEIVER
</a>
<ul>
<li class="toctree-l2">
<a class="reference internal" href="#configuration-variables">
Configuration Variables
</a>
</li>
<li class="toctree-l2">
<a class="reference internal" href="#receiving-data">
Receiving Data
</a>
</li>
<li class="toctree-l2">
<a class="reference internal" href="#main-function">
Main Function
</a>
</li>
</ul>
</li>
<li class="toctree-l1">
<a class="reference internal" href="#work-in-progress-walk-through">
@@ -753,6 +775,39 @@ This enables fine-grained speed control, supports differential drive configurati
</a>
</h3>
</section>
<section id="main-function">
<h3>
Main Function
<a class="headerlink" href="#main-function" title="Link to this heading">
&para;
</a>
</h3>
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="cp">#include</span><span class="w"> </span><span class="cpf">"freertos/FreeRTOS.h"</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"nvs_flash.h"</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"esp_err.h"</span>
<span class="kt">void</span><span class="w"> </span><span class="nf">app_main</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="c1">// Initialize internal temperature sensor</span>
<span class="w"> </span><span class="n">chip_sensor_init</span><span class="p">();</span>
<span class="w"> </span><span class="c1">// Initialize NVS</span>
<span class="w"> </span><span class="n">esp_err_t</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">nvs_flash_init</span><span class="p">();</span>
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">ret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">ESP_ERR_NVS_NO_FREE_PAGES</span><span class="w"> </span><span class="o">||</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">ESP_ERR_NVS_NEW_VERSION_FOUND</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="w"> </span><span class="n">nvs_flash_erase</span><span class="p">()</span><span class="w"> </span><span class="p">);</span>
<span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">nvs_flash_init</span><span class="p">();</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="p">);</span>
<span class="w"> </span><span class="n">wifi_init</span><span class="p">();</span>
<span class="w"> </span><span class="n">joystick_adc_init</span><span class="p">();</span>
<span class="w"> </span><span class="n">transmission_init</span><span class="p">();</span>
<span class="w"> </span><span class="n">system_led_init</span><span class="p">();</span>
<span class="p">}</span>
</pre>
</div>
</div>
</section>
</section>
<span id="document-receiver">
</span>
@@ -763,6 +818,77 @@ This enables fine-grained speed control, supports differential drive configurati
&para;
</a>
</h2>
<section id="configuration-variables">
<h3>
Configuration Variables
<a class="headerlink" href="#configuration-variables" title="Link to this heading">
&para;
</a>
</h3>
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">transmitter_mac</span><span class="p">[</span><span class="n">ESP_NOW_ETH_ALEN</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span><span class="mh">0x9C</span><span class="p">,</span><span class="w"> </span><span class="mh">0x9E</span><span class="p">,</span><span class="w"> </span><span class="mh">0x6E</span><span class="p">,</span><span class="w"> </span><span class="mh">0x14</span><span class="p">,</span><span class="w"> </span><span class="mh">0xB5</span><span class="p">,</span><span class="w"> </span><span class="mh">0x54</span><span class="p">};</span>
</pre>
</div>
</div>
</section>
<section id="receiving-data">
<h3>
Receiving Data
<a class="headerlink" href="#receiving-data" title="Link to this heading">
&para;
</a>
</h3>
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">onDataReceived</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">data_len</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d"</span><span class="p">,</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">4</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">5</span><span class="p">],</span><span class="w"> </span><span class="n">data_len</span><span class="p">);</span>
<span class="w"> </span><span class="n">memcpy</span><span class="p">(</span><span class="o">&amp;</span><span class="n">buf</span><span class="p">,</span><span class="w"> </span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buf</span><span class="p">));</span>
<span class="p">}</span>
</pre>
</div>
</div>
</section>
<section id="main-function">
<h3>
Main Function
<a class="headerlink" href="#main-function" title="Link to this heading">
&para;
</a>
</h3>
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="cp">#include</span><span class="w"> </span><span class="cpf">&lt;string.h&gt;</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"freertos/FreeRTOS.h"</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"nvs_flash.h"</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"esp_err.h"</span>
<span class="kt">void</span><span class="w"> </span><span class="nf">app_main</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="c1">// Initialize NVS</span>
<span class="w"> </span><span class="n">esp_err_t</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">nvs_flash_init</span><span class="p">();</span>
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">ret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">ESP_ERR_NVS_NO_FREE_PAGES</span><span class="w"> </span><span class="o">||</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">ESP_ERR_NVS_NEW_VERSION_FOUND</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="w"> </span><span class="n">nvs_flash_erase</span><span class="p">()</span><span class="w"> </span><span class="p">);</span>
<span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">nvs_flash_init</span><span class="p">();</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="p">);</span>
<span class="w"> </span><span class="n">wifi_init</span><span class="p">();</span>
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="n">esp_now_init</span><span class="p">());</span>
<span class="w"> </span><span class="n">esp_now_peer_info_t</span><span class="w"> </span><span class="n">transmitterInfo</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span><span class="mi">0</span><span class="p">};</span>
<span class="w"> </span><span class="n">memcpy</span><span class="p">(</span><span class="n">transmitterInfo</span><span class="p">.</span><span class="n">peer_addr</span><span class="p">,</span><span class="w"> </span><span class="n">transmitter_mac</span><span class="p">,</span><span class="w"> </span><span class="n">ESP_NOW_ETH_ALEN</span><span class="p">);</span>
<span class="w"> </span><span class="n">transmitterInfo</span><span class="p">.</span><span class="n">channel</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span><span class="w"> </span><span class="c1">// Current WiFi channel</span>
<span class="w"> </span><span class="n">transmitterInfo</span><span class="p">.</span><span class="n">ifidx</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">ESP_IF_WIFI_STA</span><span class="p">;</span>
<span class="w"> </span><span class="n">transmitterInfo</span><span class="p">.</span><span class="n">encrypt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nb">false</span><span class="p">;</span>
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="n">esp_now_add_peer</span><span class="p">(</span><span class="o">&amp;</span><span class="n">transmitterInfo</span><span class="p">));</span>
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="n">esp_now_register_recv_cb</span><span class="p">((</span><span class="kt">void</span><span class="o">*</span><span class="p">)</span><span class="n">onDataReceived</span><span class="p">));</span>
<span class="w"> </span><span class="n">system_led_init</span><span class="p">();</span>
<span class="p">}</span>
</pre>
</div>
</div>
</section>
</section>
<span id="document-progress">
</span>