mirror of
https://github.com/alexandrebobkov/ESP-Nodes.git
synced 2025-08-07 22:36:12 +00:00
84 lines
3.3 KiB
C
84 lines
3.3 KiB
C
#include "sensors_data.h"
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#include "esp_adc/adc_oneshot.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "esp_err.h"
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#include "esp_mac.h"
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#include "esp_now.h"
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#include "config.h"
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#include "joystick.h"
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#include "sensors_data.h"
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extern sensors_data_t buffer;
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static int x, y; // Joystick x and y positions
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adc_oneshot_unit_handle_t adc_xy_handle;
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//uint8_t receiver_mac[ESP_NOW_ETH_ALEN] = {0xE4, 0xB0, 0x63, 0x17, 0x9E, 0x45}; // MAC address of Robot
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//extern uint8_t receiver_mac[ESP_NOW_ETH_ALEN];
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uint8_t broadcast_mac[ESP_NOW_ETH_ALEN] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}; // Broadcast MAC address
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uint8_t receiver_mac[ESP_NOW_ETH_ALEN] = {0xE4, 0xB0, 0x63, 0x17, 0x9E, 0x45}; // MAC address of Robot
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uint8_t transmitter_mac[ESP_NOW_ETH_ALEN] = {0x34, 0xB7, 0xDA, 0xF9, 0x33, 0x8D}; // MAC address of Remote Control
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// Function to delete peer (i.e. when communication error occurs)
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void deleteDev (void) {
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uint8_t delStatus = esp_now_del_peer(receiver_mac);
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if (delStatus != 0) {
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ESP_LOGE("ESP-NOW", "Could not delete peer");
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}
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}
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// Function to delete peer (i.e. when communication error occurs)
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void deletePeer (void) {
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uint8_t delStatus = esp_now_del_peer(receiver_mac);
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if (delStatus != 0) {
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ESP_LOGE("ESP-NOW", "Could not delete peer");
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}
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}
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int convert_axis_to_pwm(int axis_value) {
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// Convert the joystick axis value to a PWM value
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// Assuming axis_value is in the range of 0-4095 for a 12-bit ADC
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// and we want to map it to a PWM range of 0-255
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return (axis_value * 255) / 4095;
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}
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void get_joystick_xy_axis(int *x_axis, int *y_axis) {
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ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_0, x_axis));
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ESP_ERROR_CHECK(adc_oneshot_read(adc_xy_handle, ADC_CHANNEL_1, y_axis));
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}
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void sendRawData(void) {
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buffer.crc = 0;
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buffer.x_axis = 240;
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buffer.y_axis = 256;
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buffer.nav_bttn = 0;
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buffer.motor1_rpm_pcm = 0;
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buffer.motor2_rpm_pcm = 0;
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buffer.motor3_rpm_pcm = 0;
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buffer.motor4_rpm_pcm = 0;
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get_joystick_xy_axis(&x, &y);
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buffer.x_axis = x;
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buffer.y_axis = y;
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// Display brief summary of data being sent.
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ESP_LOGI("ESP-NOW", "Joystick (x,y) position ( %d, %d )", buffer.x_axis, buffer.y_axis);
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ESP_LOGI("ESP-NOW", "pcm 1, pcm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor1_rpm_pcm, (uint8_t)buffer.motor2_rpm_pcm);
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ESP_LOGI("ESP-NOW", "pcm 3, pcm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor3_rpm_pcm, (uint8_t)buffer.motor4_rpm_pcm);
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// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length)
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uint8_t result = esp_now_send(receiver_mac, (uint8_t *)&buffer, sizeof(buffer));
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// If status is NOT OK, display error message and error code (in hexadecimal).
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if (result != 0) {
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ESP_LOGE("sendData()", "Error sending data! Error code: 0x%04X", result);
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ESP_LOGE("sendData()", "esp_now_send() failed: %s", esp_err_to_name(result));
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ESP_LOGE("sendData()", "Ensure that receiver is powered-on.");
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ESP_LOGE("sendData()", "Ensure that received MAC is: %02X:%02X:%02X:%02X:%02X:%02X",
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receiver_mac[0], receiver_mac[1], receiver_mac[2],
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receiver_mac[3], receiver_mac[4], receiver_mac[5]);
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deleteDev();
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}
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} |