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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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ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle vendored
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ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt vendored
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@@ -1,2 +1,52 @@
RECEIVER
========
Configuration Variables
-----------------------
.. code-block:: c
uint8_t transmitter_mac[ESP_NOW_ETH_ALEN] = {0x9C, 0x9E, 0x6E, 0x14, 0xB5, 0x54};
Receiving Data
--------------
.. code-block:: c
void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_len) {
ESP_LOGI(TAG, "Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5], data_len);
memcpy(&buf, data, sizeof(buf));
}
Main Function
-------------
.. code-block:: c
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "nvs_flash.h"
#include "esp_err.h"
void app_main(void) {
// Initialize NVS
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK( nvs_flash_erase() );
ret = nvs_flash_init();
}
ESP_ERROR_CHECK( ret );
wifi_init();
ESP_ERROR_CHECK(esp_now_init());
esp_now_peer_info_t transmitterInfo = {0};
memcpy(transmitterInfo.peer_addr, transmitter_mac, ESP_NOW_ETH_ALEN);
transmitterInfo.channel = 0; // Current WiFi channel
transmitterInfo.ifidx = ESP_IF_WIFI_STA;
transmitterInfo.encrypt = false;
ESP_ERROR_CHECK(esp_now_add_peer(&transmitterInfo));
ESP_ERROR_CHECK(esp_now_register_recv_cb((void*)onDataReceived));
system_led_init();
}

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ESP-IDF_Robot/tutorial/docs/build/html/_sources/transmitter.rst.txt vendored
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@@ -3,3 +3,29 @@ TRANSMITTER
Data Encapsulation
------------------
Main Function
-------------
.. code-block:: c
#include "freertos/FreeRTOS.h"
#include "nvs_flash.h"
#include "esp_err.h"
void app_main(void) {
// Initialize internal temperature sensor
chip_sensor_init();
// Initialize NVS
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK( nvs_flash_erase() );
ret = nvs_flash_init();
}
ESP_ERROR_CHECK( ret );
wifi_init();
joystick_adc_init();
transmission_init();
system_led_init();
}

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ESP-IDF_Robot/tutorial/docs/build/html/index.html vendored
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@@ -50,9 +50,15 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="transmitter.html">TRANSMITTER</a><ul>
<li class="toctree-l2"><a class="reference internal" href="transmitter.html#data-encapsulation">Data Encapsulation</a></li>
<li class="toctree-l2"><a class="reference internal" href="transmitter.html#main-function">Main Function</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="receiver.html">RECEIVER</a><ul>
<li class="toctree-l2"><a class="reference internal" href="receiver.html#configuration-variables">Configuration Variables</a></li>
<li class="toctree-l2"><a class="reference internal" href="receiver.html#receiving-data">Receiving Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="receiver.html#main-function">Main Function</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="receiver.html">RECEIVER</a></li>
<li class="toctree-l1"><a class="reference internal" href="progress.html">WORK-IN-PROGRESS WALK THROUGH</a><ul>
<li class="toctree-l2"><a class="reference internal" href="progress.html#finished-work">Finished Work</a></li>
<li class="toctree-l2"><a class="reference internal" href="progress.html#chassis">Chassis</a></li>

56
ESP-IDF_Robot/tutorial/docs/build/html/receiver.html vendored
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@@ -35,6 +35,53 @@
<section id="receiver">
<h1>RECEIVER<a class="headerlink" href="#receiver" title="Link to this heading"></a></h1>
<section id="configuration-variables">
<h2>Configuration Variables<a class="headerlink" href="#configuration-variables" title="Link to this heading"></a></h2>
<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">
<h2>Receiving Data<a class="headerlink" href="#receiving-data" title="Link to this heading"></a></h2>
<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">&quot;Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d&quot;</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">
<h2>Main Function<a class="headerlink" href="#main-function" title="Link to this heading"></a></h2>
<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">&quot;freertos/FreeRTOS.h&quot;</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;nvs_flash.h&quot;</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;esp_err.h&quot;</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>
@@ -66,9 +113,14 @@
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="intro.html">INTRODUCTION</a></li>
<li class="toctree-l1"><a class="reference internal" href="overview.html">HOW DOES IT WORK?</a></li>
<li class="toctree-l1"><a class="reference internal" href="data.html">DATA</a></li>
<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCT</a></li>
<li class="toctree-l1"><a class="reference internal" href="transmitter.html">TRANSMITTER</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">RECEIVER</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">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="progress.html">WORK-IN-PROGRESS WALK THROUGH</a></li>
</ul>

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@@ -38,6 +38,31 @@
<section id="data-encapsulation">
<h2>Data Encapsulation<a class="headerlink" href="#data-encapsulation" title="Link to this heading"></a></h2>
</section>
<section id="main-function">
<h2>Main Function<a class="headerlink" href="#main-function" title="Link to this heading"></a></h2>
<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;freertos/FreeRTOS.h&quot;</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;nvs_flash.h&quot;</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;esp_err.h&quot;</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>
@@ -72,6 +97,7 @@
<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCT</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">TRANSMITTER</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#data-encapsulation">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.html">RECEIVER</a></li>

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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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@@ -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>

50
ESP-IDF_Robot/tutorial/docs/source/receiver.rst
View File

@@ -1,2 +1,52 @@
RECEIVER
========
Configuration Variables
-----------------------
.. code-block:: c
uint8_t transmitter_mac[ESP_NOW_ETH_ALEN] = {0x9C, 0x9E, 0x6E, 0x14, 0xB5, 0x54};
Receiving Data
--------------
.. code-block:: c
void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_len) {
ESP_LOGI(TAG, "Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5], data_len);
memcpy(&buf, data, sizeof(buf));
}
Main Function
-------------
.. code-block:: c
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "nvs_flash.h"
#include "esp_err.h"
void app_main(void) {
// Initialize NVS
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK( nvs_flash_erase() );
ret = nvs_flash_init();
}
ESP_ERROR_CHECK( ret );
wifi_init();
ESP_ERROR_CHECK(esp_now_init());
esp_now_peer_info_t transmitterInfo = {0};
memcpy(transmitterInfo.peer_addr, transmitter_mac, ESP_NOW_ETH_ALEN);
transmitterInfo.channel = 0; // Current WiFi channel
transmitterInfo.ifidx = ESP_IF_WIFI_STA;
transmitterInfo.encrypt = false;
ESP_ERROR_CHECK(esp_now_add_peer(&transmitterInfo));
ESP_ERROR_CHECK(esp_now_register_recv_cb((void*)onDataReceived));
system_led_init();
}

26
ESP-IDF_Robot/tutorial/docs/source/transmitter.rst
View File

@@ -3,3 +3,29 @@ TRANSMITTER
Data Encapsulation
------------------
Main Function
-------------
.. code-block:: c
#include "freertos/FreeRTOS.h"
#include "nvs_flash.h"
#include "esp_err.h"
void app_main(void) {
// Initialize internal temperature sensor
chip_sensor_init();
// Initialize NVS
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK( nvs_flash_erase() );
ret = nvs_flash_init();
}
ESP_ERROR_CHECK( ret );
wifi_init();
joystick_adc_init();
transmission_init();
system_led_init();
}