We are using the official esp-idf sdk, once installed, you can run the alias to get everything setup.
get_idf
you can then build the project with make build run make upload assuming you are in ./firmware
The esp32 car's firmware can be broken down into 3 core parts.
This firmware hosts a network Access Point with DHCP.
Access Point configuration (SSID, PASS) can be found in wifi_cred.h, feel free to edit it.
Listen for Websockets connections under the /ws endpoint expecting buffer data and send a response.
All other endpoints are ignored.
NOTE: The firmware does not support encrypted websockets (wss) yet, which makes it impossible to use it from a https client. You would need to run oxenode from a local instance or upgrade the firmware to support wss.
Parse incoming websocket buffers into commands & arguments.
Execute desired tasks on the esp32s3 device.
Some of the instructions bind simple esp-idf operations while other bind calls from motor.c or ultrasound.c
Op code information can be found here