From 6807f418eeff8b176900952cb91717ba105cd6d8 Mon Sep 17 00:00:00 2001
From: salty <salty@saltylab.local>
Date: Sat, 14 Mar 2026 13:26:26 -0400
Subject: [PATCH] fix: move anchor arrays before ESP-NOW RX callback

---
 esp32/uwb_tag/src/main.cpp | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/esp32/uwb_tag/src/main.cpp b/esp32/uwb_tag/src/main.cpp
index 1dd6a93..50c280a 100644
--- a/esp32/uwb_tag/src/main.cpp
+++ b/esp32/uwb_tag/src/main.cpp
@@ -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) {