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Improve ESP-NOW connection

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Implement auto-pairing.
Make key optional.
Remove re-sends.
Add command for uploading proxy to makefile.
This commit is contained in:
Oleg Kalachev
2026-05-21 00:06:10 +03:00
parent 9ac57b246b
commit b316cc423a
5 changed files with 77 additions and 31 deletions
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Makefile
+4
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@@ -18,6 +18,10 @@ dependencies .dependencies:
arduino-cli lib install "MAVLink"@2.0.25
touch .dependencies
upload_proxy: .dependencies
arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy
gazebo/build cmake: gazebo/CMakeLists.txt
mkdir -p gazebo/build
cd gazebo/build && cmake ..
flix/cli.ino
+1 -1
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@@ -46,7 +46,7 @@ const char* motd =
"wifi - show Wi-Fi info\n"
"ap <ssid> <password> - setup Wi-Fi access point\n"
"sta <ssid> <password> - setup Wi-Fi client mode\n"
"espnow <mac> - setup ESP-NOW peer\n"
"espnow <mac> [<key>] - setup ESP-NOW peer\n"
"mot - show motor output\n"
"log [dump] - print log header [and data]\n"
"cr - calibrate RC\n"
flix/util.h
+11
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@@ -6,6 +6,7 @@
#pragma once
#include <math.h>
#include <ESP32_NOW_Serial.h>
const float ONE_G = 9.80665;
extern float t;
@@ -46,6 +47,16 @@ void splitString(String& str, String& token0, String& token1, String& token2) {
if (token2.c_str() == NULL) token2 = "";
}
// Simplified ESP-NOW Serial without tx buffering and resends
class ESPNOWSerial : public ESP_NOW_Serial_Class {
public:
using ESP_NOW_Serial_Class::ESP_NOW_Serial_Class;
void onSent(bool success) override {} // disable resends
size_t write(const uint8_t *data, size_t len) override {
return ESP_NOW_Peer::send(data, len); // pure send without buffering
}
};
// Rate limiter
class Rate {
public:
flix/wifi.ino
+22 -7
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@@ -9,19 +9,22 @@
#include <MacAddress.h>
#include <ESP32_NOW_Serial.h>
#include "Preferences.h"
#include "util.h"
extern Preferences storage; // use the main preferences storage
const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
int wifiMode = W_AP;
int wifiLongRange = 0;
int udpLocalPort = 14550;
int udpRemotePort = 14550;
int espnowChannel = 6;
IPAddress udpRemoteIP = "255.255.255.255";
WiFiUDP udp;
ESP_NOW_Serial_Class espnow(NULL, 0, WIFI_IF_AP);
ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP);
ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP);
int espnowChannel = 6;
void setupWiFi() {
print("Setup Wi-Fi\n");
@@ -37,8 +40,12 @@ void setupWiFi() {
WiFi.mode(WIFI_AP);
WiFi.setChannel(espnowChannel);
espnow.setChannel(espnowChannel);
espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "").c_str()));
espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str()));
String key = storage.getString("ESPNOW_PEER_KEY", "");
espnow.setKey(key.isEmpty() ? nullptr : (const uint8_t *)key.c_str());
espnow.begin();
espnowBroadcast.setChannel(espnowChannel);
espnowBroadcast.begin();
}
WiFi.setSleep(false); // disable power save
@@ -47,6 +54,8 @@ void setupWiFi() {
void sendWiFi(const uint8_t *buf, int len) {
if (espnow) {
espnow.write(buf, len);
static Rate discovery(2);
if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
return;
}
@@ -76,6 +85,7 @@ void printWiFiInfo() {
print("Max packet size: %d\n", ESP_NOW.getMaxDataLen());
print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str());
print("Encrypted: %d\n", espnow.isEncrypted());
print("Channel: %d\n", espnow.getChannel());
} else if (WiFi.getMode() == WIFI_MODE_AP) {
print("Mode: Access Point (AP)\n");
@@ -103,14 +113,19 @@ void printWiFiInfo() {
}
void configWiFi(int mode, const char *first, const char *second) {
if (mode == W_AP) {
MacAddress mac;
if (mode == W_AP && strlen(first) > 0 && strlen(second) >= 8) {
storage.putString("WIFI_AP_SSID", first);
storage.putString("WIFI_AP_PASS", second);
} else if (mode == W_STA) {
} else if (mode == W_STA && strlen(first) > 0 && strlen(second) >= 8) {
storage.putString("WIFI_STA_SSID", first);
storage.putString("WIFI_STA_PASS", second);
} else if (mode == W_ESPNOW) {
} else if (mode == W_ESPNOW && mac.fromString(first)) {
storage.putString("ESPNOW_PEER_MAC", first);
storage.putString("ESPNOW_PEER_KEY", strlen(second) == ESP_NOW_KEY_LEN ? second : "");
} else {
print("Invalid configuration\n");
return;
}
print("✓ Reboot to apply new settings\n");
}
tools/espnow-proxy/espnow-proxy.ino
+37 -21
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@@ -7,16 +7,25 @@
#include <ESP32_NOW_Serial.h>
#include <MacAddress.h>
#include <MAVLink.h>
#include <Preferences.h>
#include "../../flix/util.h"
#include <vector>
const int CHANNEL = 6;
char key[ESP_NOW_KEY_LEN + 1] = {0}; // with trailing null
ESP_NOW_Serial_Class espnow(NULL, CHANNEL, WIFI_IF_AP);
MacAddress peerMac;
volatile bool peerFound = false;
Preferences storage;
std::vector<ESPNOWSerial *> peers;
void onNewPeer(const esp_now_recv_info_t *info, const uint8_t *data, int len, void *arg) {
peerMac = info->src_addr;
peerFound = true;
if (len != 4 || memcmp(data, "flix", 4) != 0) return; // check if discovery message
Serial.printf("New peer: " MACSTR "\n", MAC2STR(info->src_addr));
ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, CHANNEL, WIFI_IF_AP);
link->begin();
link->setKey((const uint8_t *)key);
peers.push_back(link);
}
void setup() {
@@ -25,22 +34,28 @@ void setup() {
WiFi.setSleep(false);
WiFi.setChannel(CHANNEL);
// while (!WiFi.AP.started()) {
// delay(100);
// }
ESP_NOW.onNewPeer(onNewPeer, NULL);
ESP_NOW.begin();
while (!peerFound) {
Serial.printf("MAC: %s, waiting for peer...\n", WiFi.softAPmacAddress().c_str());
delay(1000);
storage.begin("espnow-proxy");
if (!storage.isKey("key")) {
generateRandomKey();
storage.putString("key", key);
}
Serial.printf("Peer found: %s\n", peerMac.toString().c_str());
strcpy(key, storage.getString("key").c_str());
espnow.addr(peerMac);
espnow.setChannel(CHANNEL);
espnow.begin();
// Discover the first peer
while (peers.empty()) {
Serial.printf("espnow %s %s\n", WiFi.softAPmacAddress().c_str(), key);
delay(500);
}
}
void generateRandomKey() {
const char chars[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789!@#$%^&*-_+=";
for (int i = 0; i < ESP_NOW_KEY_LEN; i++) {
key[i] = chars[random(0, strlen(chars))];
}
}
void loop() {
@@ -57,16 +72,17 @@ void loop() {
mavlink_status_t status;
if (mavlink_parse_char(MAVLINK_COMM_0, (uint8_t)b, &msg, &status)) {
int len = mavlink_msg_to_send_buffer(buf, &msg);
// ESP_NOW.write(buf, len);
espnow.write(buf, len);
// espnow.send(buf, len);
// esp_now_send(peerMac, buf, len);
for (ESPNOWSerial *link : peers) {
link->write(buf, len);
}
}
}
// Send from ESP-NOW to serial
int len = espnow.read(buf, sizeof(buf));
for (ESPNOWSerial *link : peers) {
int len = link->read(buf, sizeof(buf));
if (len > 0) {
Serial.write(buf, len);
}
}
}