fd6893f684
Replace hardcoded NUM_ANCHORS with dynamic discovery table. Tag probes IDs 0..7 via standard DS-TWR POLL frames at startup and after every DISC_RESCAN_MS (10 s); anchors that respond are added to the active table, stale ones removed after ANCHOR_MISS_LIMIT misses or ANCHOR_TIMEOUT_MS silence. Key changes ----------- - AnchorEntry table (8 slots): present/active flags, range_mm, rssi, last_ok_ms, miss_count - DISC_SCAN → DISC_RANGE state machine - range_and_update(): ranges, updates table, emits +DISC:FOUND / +DISC:LOST on serial and MSG_DISC (0x40) on ESP-NOW - disc_scan_step(): advances cursor one probe per ranging slot, skips already-active IDs - New OLED screens: ANCHOR SCAN progress bar, NO ANCHOR rescan countdown, active anchor count badge on normal screen - platformio.ini: switch to MaUWB_DW3000 lib, remove NUM_ANCHORS build flag (discovery is now dynamic) - No anchor firmware changes required Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>