Initialize in better order to avoid errors

components/sx127x_driver/sx127x_driver.c

@@ -63,6 +63,7 @@ esp_err_t sx127x_init(const sx127x_config_t *config, sx127x_t **handle_ptr) {
   SX127X_CHECK(hndl != NULL, "malloc error", ESP_ERR_NO_MEM);
   *handle_ptr = hndl;
 
+  hndl->spi_mutex = xSemaphoreCreateMutex();
   hndl->task_handle = NULL;
   atomic_init(&hndl->task_state, SX127X_TASK_STOPPED);
   memcpy(&hndl->config, config, sizeof(sx127x_config_t));
@@ -76,8 +77,6 @@ esp_err_t sx127x_init(const sx127x_config_t *config, sx127x_t **handle_ptr) {
   gpio_set_level(config->rst_io_num, 1);
   vTaskDelay(SX127X_RESET_DELAY);
 
-  hndl->spi_mutex = xSemaphoreCreateMutex();
-
   spi_bus_config_t bus_config = {
       .mosi_io_num     = config->mosi_io_num,
       .miso_io_num     = config->miso_io_num,

main/ugv_comms.c

@@ -21,6 +21,8 @@ static void ugv_comms_handle_command(ugv_comms_state_t *    st,
 void ugv_comms_init() {
   ugv_comms_state_t *st = &ugv_comms_state;
 
+  st->mutex = xSemaphoreCreateMutex();
+
   sx127x_config_t lora_config  = SX127X_CONFIG_DEFAULT;
   lora_config.sck_io_num       = LORA_SCK;
   lora_config.miso_io_num      = LORA_MISO;
@@ -35,9 +37,7 @@ void ugv_comms_init() {
   lora_config.sync_word        = 0x34;
   lora_config.crc              = SX127X_CRC_ENABLED;
 
-  esp_err_t ret;
-
-  st->mutex            = xSemaphoreCreateMutex();
+  esp_err_t        ret;
   uas_ugv_Location loc = uas_ugv_Location_init_default;
   memcpy(&st->location, &loc, sizeof(loc));
   st->ugv_state        = uas_ugv_UGV_State_IDLE;

main/ugv_io_gps.cc

@@ -47,6 +47,9 @@ UART_GPS::~UART_GPS() {}
 void UART_GPS::Init() {
   esp_err_t ret;
 
+  mutex_ = xSemaphoreCreateMutex();
+  data_  = GpsData{};
+
   uart_config_t gps_uart_config;
   gps_uart_config.baud_rate           = GPS_UART_BAUD;
   gps_uart_config.data_bits           = UART_DATA_8_BITS;
@@ -70,9 +73,6 @@ void UART_GPS::Init() {
   }
   ESP_LOGI(TAG, "gps uart configured");
 
-  mutex_ = xSemaphoreCreateMutex();
-  data_  = GpsData{};
-
   BaseType_t xRet = xTaskCreate(UART_GPS::GPS_Task, "ugv_io_gps", 2 * 1024,
                                 this, 1, &this->task_);
   if (xRet != pdTRUE) {

main/ugv_io_mpu.cc

@@ -25,6 +25,9 @@ MPU::MPU() { mpu_ = new mpud::MPU(); }
 MPU::~MPU() { delete mpu_; }
 
 void MPU::Init() {
+  mutex_    = xSemaphoreCreateMutex();
+  mpu_data_ = MpuData{};
+
   esp_err_t ret;
   ret = mpu_->testConnection();
   if (ret != ESP_OK) {
@@ -39,9 +42,6 @@ void MPU::Init() {
   mpu_->setAccelFullScale(MPU_ACCEL_FS);
   mpu_->setGyroFullScale(MPU_GYRO_FS);
 
-  mutex_    = xSemaphoreCreateMutex();
-  mpu_data_ = MpuData{};
-
   BaseType_t xRet =
       xTaskCreate(MPU::MPU_Task, "ugv_io_mpu", 2 * 1024, this, 3, &this->task_);
   if (xRet != pdTRUE) {