M5Atom lite F9P MovingBase Output and trasmit by ESP-NOW to PC connected another M5Atom

M5Atom-F9P_MovingBaseSend_Serial2_ESP-NOW_Add_Serial1_rev01.ino

//M5Atom-F9P_MovingBaseSend_Serial2_ESP-NOW_Add_Serial1_rev01.ino
#include <M5StickC.h>
 
#include <BluetoothSerial.h>
#include <esp_now.h>
#include <WiFi.h>
 
int startPin=19;
int t,t_1;
int x=1;
int i=0;
int j,k;
int stime;
int rt1;
uint8_t  f9pHead[4];
uint8_t  f9pdata[172];
int count,ci ;
String sdata;
String pdata;//NAV-PVT data
//============================================================================================
//=========================ESP-NOW Functions==================================================
//==============slave:PC master:SCP,AD7194=================================================================
// マルチキャスト用 MAC登録 
// PC  M5ATOM COM7=D8:A0:1D:50:54:E8
// SCP 1ch  M5Stick COM13=D8:A0:1D:58:56:CC
// AD7194  M5ATOM  COM9=24:0A:C4:A5:30:DC
 
esp_now_peer_info_t slave; //slave　peer定義
uint8_t  data[100];//12byte  4*value0,value1,value2,value3 //送信データ配列
char cdata[100];
//char  *cdata;//シリアル受信したstring　
//uint8_t  *data;//シリアル受信stiringを文字列配列にしてそれをuint8_t配列に変換する、ポインタで定義しておく　配列数が決まってからnewで再定義
 
int  dnum;//data配列の要素数
volatile int comst=0;
volatile int comtr=0;
// 送信コールバック
void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
  char macStr[18];
  snprintf(macStr, sizeof(macStr), "%02X:%02X:%02X:%02X:%02X:%02X",
           mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
  //Serial.print("Last Packet Sent to: ");
  //Serial.println(macStr);
  //Serial.print("Last Packet Send Status: ");
  //Serial.println(status == ESP_NOW_SEND_SUCCESS ? "Delivery Success" : "Delivery Fail");
}

// 受信コールバック
void OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len) {
  char macStr[18];
  snprintf(macStr, sizeof(macStr), "%02X:%02X:%02X:%02X:%02X:%02X",
           mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
/*
  if (data[0] == 0x73 && data[1] == 0x74) //when data="ST" data_sending_STart
  {
             comst=1;
             stime=data[3]|data[4]<<8|data[5]<<16|data[6]<<24; //Left Shift  OR
             rt1=millis();
              //Serial.print("********stRcv=");
              //Serial.println(millis());
  }
  if (data[0] == 0x54 && data[1] == 0x52) //when data="TR" TimerReset
  {
       comtr=1;
  }
  */
  Serial.print( macStr);
    Serial.print(",");
    Serial.print(data_len);
    for ( int i = 0 ; i < data_len ; i++ ) {
    Serial.print(data[i]);
    Serial.print(" ");
   }
   Serial.println("");
   
}
//+++++++++++++++i_to_char+++++++++++++++++
// i=IntegerValueData,*d=Array pointer, n=Array start No
void  i_to_char(int i, uint8_t *d, int n)
{
  d[n] = i & 0x000000ff;
  d[n + 1] = (i & 0x0000ff00) >> 8;
  d[n + 2] = (i & 0x00ff0000) >> 16;
  d[n + 3] = (i & 0xff000000) >> 24;
}

//========================================================================

void setup() {
  M5.begin();
  pinMode(startPin,OUTPUT);//startPin Start DataSending
  Serial2.begin(115200,SERIAL_8N1,25,21);//*******M5 Atom1-Atom2 EXT(baudrate,config,RX25,TX21)*******
  Serial2.begin(115200,SERIAL_8N1,33,23);//*******M5 Atom lite-F9P EXT(baudrate,config,RX33,TX23)*******
  t_1=millis();
  //------------------------------------------------
//--------- ESP-NOW初期化--------------------------
//------------------------------------------------
  WiFi.mode(WIFI_STA);
  WiFi.disconnect();
  if (esp_now_init() == ESP_OK) {
    //Serial.println("ESPNow Init Success");
   
  } else {
    //Serial.println("ESPNow Init Failed");
   
    ESP.restart();
  }
   // マルチキャスト用Slave＜pnのM5ATOM＞ address 50:02:91:86:9B:CC
  memset(&slave, 0, sizeof(slave));
  //============M5Stack Slave AP Mac======================
  slave.peer_addr[0] = (uint8_t)0x50;
  slave.peer_addr[1] = (uint8_t)0x02;
  slave.peer_addr[2] = (uint8_t)0x91;
  slave.peer_addr[3] = (uint8_t)0x87;
  slave.peer_addr[4] = (uint8_t)0x21;
  slave.peer_addr[5] = (uint8_t)0x84;
  
  esp_err_t addStatus = esp_now_add_peer(&slave);
  
 
  // ESP-NOWコールバック登録 
  esp_now_register_send_cb(OnDataSent);
  esp_now_register_recv_cb(OnDataRecv);

//--------------------------------------------------
//--------------------------------------------------
 
}
void loop()
{
          t=millis();
   
         
      //===============Serial2 REceiving==================================
          if(Serial2.available()>0)
          {
              for (j=0;j<4;j++)
              {
                 f9pdata[j]= Serial2.read();
              }
              if (f9pdata[0]==0xB5 &&  f9pdata[1]==0x62 &&  f9pdata[2]==0x01 &&  f9pdata[3]==0x07)
               {
                 //for (j=4;j<172;j++)
                 // {
                    k=4;
                    while(k<172)
                    {
                        if(Serial2.available()>0  )
                        {
                            f9pdata[k]=Serial2.read();
                        //Serial.printf("f9pdata[%d]=%x\n\r",k,f9pdata[k]);
                          k++;
                        }
                  }
                  /*
               if(Serial1.available()>0)//Recieving NAV-PVT from M5Atom1 
               {
                  Serial.print("Serial-1_Recive:");
                    for(i=0;i<172;i++)
                    {
                        pdata=Serial1.read();
                 
                        Serial.print(pdata);
                        Serial.print(",");
                     }
                     */
                     Serial.println();
            }
            if (k>171)
            {
              k=0;
              Serial.print(t-t_1,DEC);
              Serial.print("msec-");
              esp_err_t result = esp_now_send(slave.peer_addr, f9pdata, 172);  
                  for (ci=0;ci<172;ci++)
                  {
                      Serial.print(f9pdata[ci],HEX);
                      Serial.print(',');  
                      // Serial1.print(f9pdata[ci],HEX);
                    //  Serial1.print(',');  
                  }
                    Serial.println();
                      //Serial1.println();
                    t_1=t;
           }
         
      }
}