Applications-LidarBot/LidarBot-X2/Master

X2 LidarBot

Init detail

  setLcd();

  espnow.Init();
  if (!M5.BtnC.isPressed()){
    readAddressFromRom();
  } 
  
  httpServer.init();
  

  espnow.setRecvCallBack(&OnDataRecv);
  // espnow.setSendCallBack(&OnDataSent);
  xTaskCreatePinnedToCore(dis_task, "lidar", 10 * 1024, NULL, 1, NULL, 1); 

• lcd of M5Core will be init with the title of "X2 lidarBot".
• reset to the broadcast mode if the button C is pressed at the system initialization.
• register the callback function.
• create the task to display the map data.
• init http server.

Function List in .ino

• setLcd(void): print title to the screen.
• disPlay(void): display the map when the data is ready.
• sendMap(void): send map data to slave when the data is ready.
• dis_task(void *arg): check if the data is ready and call the disPlay() function and sendMap function.
• OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status): call back when the data was sent.
• OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len): call back when system receive data.
• printPeerList(void) print the mac address if the peerlist of espnow was update.
• readAddressFromRom: check whether the slave mac address is already have, if not, the system will initialize to broadcast itseft to the slave device.
• loop(void): code here is use to select mac address of slave and receive lidar package from the serial.