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fix: move anchor arrays before ESP-NOW RX callback

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salty 2026-03-14 13:26:26 -04:00
parent d687ef5242
commit 6807f418ee
1 changed files with 8 additions and 4 deletions
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12
esp32/uwb_tag/src/main.cpp
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@ -95,6 +95,12 @@ struct EspNowPacket {
};
#pragma pack(pop)
/* ── Anchor tracking (declared early for ESP-NOW RX callback) ──── */
static int32_t g_anchor_range_mm[NUM_ANCHORS];
static float g_anchor_rssi[NUM_ANCHORS];
static uint32_t g_anchor_last_ok[NUM_ANCHORS];
/* ── ESP-NOW RX: receive range data from anchors ────────────────── */
static void IRAM_ATTR espnow_rx_cb(const esp_now_recv_info_t *info,
@ -131,16 +137,14 @@ static void espnow_send(uint8_t msg_type, uint8_t anchor_id,
esp_now_send(broadcast_mac, (uint8_t *)&pkt, sizeof(pkt));
}
/* ── Anchor tracking ────────────────────────────────────────────── */
/* ── Anchor tracking (DW1000 address mapping) ──────────────────── */
/*
* DW1000Ranging gives us callbacks with a device short address.
* We map the first 2 unique addresses we see to anchor 0 and 1.
* g_anchor_range_mm/rssi/last_ok declared above (before ESP-NOW RX callback).
*/
static uint16_t g_anchor_addrs[NUM_ANCHORS] = {0, 0};
static int32_t g_anchor_range_mm[NUM_ANCHORS];
static float g_anchor_rssi[NUM_ANCHORS];
static uint32_t g_anchor_last_ok[NUM_ANCHORS];
static int g_num_known_anchors = 0;
static int anchor_index(uint16_t addr) {