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fix: UWB anchor — filter POLL by destination ID (Issue #544)

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Both anchors were responding to every POLL frame regardless of which
anchor the tag addressed, causing RF collisions. Anchor 0 was
consistently losing the collision, appearing completely silent.

Add g_rx_buf[2] != ANCHOR_ID check so each anchor only responds to
POLLs addressed to it.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Sebastien Vayrette 2026-04-04 12:45:53 -04:00
parent c297d24a48
commit 75b706c1dc
1 changed files with 1 additions and 0 deletions
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esp32/uwb_anchor/src/main.cpp
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@ -393,6 +393,7 @@ static void twr_cycle(void) {
/* validate POLL */ /* validate POLL */
if (g_rx_buf[0] != FTYPE_POLL) return; if (g_rx_buf[0] != FTYPE_POLL) return;
if (g_rx_buf[2] != ANCHOR_ID) return; /* only respond to our ID */
uint8_t tag_id = g_rx_buf[1]; uint8_t tag_id = g_rx_buf[1];
if (g_paired_tag_id != 0 && tag_id != g_paired_tag_id) return; if (g_paired_tag_id != 0 && tag_id != g_paired_tag_id) return;