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I am trying to make a 10 digit cricket scoreboard for which, I want to use P10 LED modules as digits.

My objective is to change the score from Mobile Phone via BLE.

ESP32 microcontroller suits best for my application as it has WiFi and BLE both.

However, the only problem is that I am unable to find any library for ESP32 (I prefer ESP-IDF based library, not Arduino based) which can be used to control the P10 displays.

Can someone please help?

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You can use Arduino libraries with ESP-IDF fairly easily by including arduino-esp32 as a component of ESP-IDF. After all, arduino-esp32 is based on ESP-IDF.

If you really, really don’t want to touch anything remotely to do with Arduino then I would suggest you peruse the code of one of the libraries for P10 (such as this) and extract the Arduino independent parts.

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