解决办法Error compiling for board ESP32 Dev Module with PS4Controller library

I got the same error as you did. Looks like a version compatibility issue.
To be able to compile the code to the current version some changes have to be done to the library. for program src/ps4_spp.c comment out the lines 86, 87, 88 and 90. they are just there for compatability on older versions. So you will have

//#if CONFIG_IDF_COMPATIBILITY >= IDF_COMPATIBILITY_MASTER_D9CE0BB
// esp_bt_gap_set_scan_mode(ESP_BT_CONNECTABLE, ESP_BT_NON_DISCOVERABLE);
//#elif CONFIG_IDF_COMPATIBILITY >= IDF_COMPATIBILITY_MASTER_21AF1D7
esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE);
//#endif

After this you will encounter another error. This time for src/PS4Controller.cpp
The quick fix for this is to modify the program by adding on line 44

#define ESP_BD_ADDR_STR “%02hhx:%02hhx:%02hhx:%02hhx:%02hhx:%02hhx”

#include “esp_bt.h”
#include “esp_bt_device.h”
#include “esp_bt_main.h”
#include “esp_gap_bt_api.h”
#include “esp_log.h”
#include “esp_spp_api.h”
#include “ps4.h”
#include “ps4_int.h”

#define PS4_TAG “PS4_SPP”

/********************************************************************************/
/* L O C A L F U N C T I O N P R O T O T Y P E S */
/********************************************************************************/
static void sppCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t* param);

/********************************************************************************/
/* P U B L I C F U N C T I O N S */
/********************************************************************************/

/*******************************************************************************
**
** Function sppInit
**
** Description Initialise the SPP server to allow to be connected to
**
** Returns void
**
*******************************************************************************/
void sppInit() {
esp_err_t ret;

#ifndef ARDUINO_ARCH_ESP32
esp_bt_controller_config_t bt_cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT();
if ((ret = esp_bt_controller_init(&bt_cfg)) != ESP_OK) {
ESP_LOGE(PS4_TAG, “%s initialize controller failed: %s\n”, __func__, esp_err_to_name(ret));
return;
}

if ((ret = esp_bt_controller_enable(BT_MODE)) != ESP_OK) {
ESP_LOGE(PS4_TAG, “%s enable controller failed: %s\n”, __func__, esp_err_to_name(ret));
return;
}

if ((ret = esp_bluedroid_init()) != ESP_OK) {
ESP_LOGE(PS4_TAG, “%s initialize bluedroid failed: %s\n”, __func__, esp_err_to_name(ret));
return;
}

if ((ret = esp_bluedroid_enable()) != ESP_OK) {
ESP_LOGE(PS4_TAG, “%s enable bluedroid failed: %s\n”, __func__, esp_err_to_name(ret));
return;
}
#endif

if ((ret = esp_spp_register_callback(sppCallback)) != ESP_OK) {
ESP_LOGE(PS4_TAG, “%s spp register failed: %s\n”, __func__, esp_err_to_name(ret));
return;
}

if ((ret = esp_spp_init(ESP_SPP_MODE_CB)) != ESP_OK) {
ESP_LOGE(PS4_TAG, “%s spp init failed: %s\n”, __func__, esp_err_to_name(ret));
return;
}
}

/********************************************************************************/
/* L O C A L F U N C T I O N S */
/********************************************************************************/

/*******************************************************************************
**
** Function sppCallback
**
** Description Callback for SPP events, only used for the init event to
** configure the SPP server
**
** Returns void
**
*******************************************************************************/
static void sppCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t* param) {
if (event == ESP_SPP_INIT_EVT) {
ESP_LOGI(PS4_TAG, “ESP_SPP_INIT_EVT”);
esp_bt_dev_set_device_name(“ESP Host”);

//#if CONFIG_IDF_COMPATIBILITY >= IDF_COMPATIBILITY_MASTER_D9CE0BB
// esp_bt_gap_set_scan_mode(ESP_BT_CONNECTABLE, ESP_BT_NON_DISCOVERABLE);
//#elif CONFIG_IDF_COMPATIBILITY >= IDF_COMPATIBILITY_MASTER_21AF1D7
esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE);
//#endif

esp_spp_start_srv(ESP_SPP_SEC_NONE, ESP_SPP_ROLE_SLAVE, 0, “ESP SERVER”);
}
}