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It would be nice to be able to use raspberry wifi to receive ESP-NOW messages directly and eliminate another ESP-to-PI device to manage.

I think this is where @ Alexandr Zarubkin was going but I don't have the "status" here to ask/comment on his post: https://iot.stackexchange.com/questions/2345/802-11-action-frames-send-and-receive-in-software

Jeff Tapia
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We are making progress in the Linux-ESP project: https://hackaday.io/project/161896-linux-espnow

The code should compatible with a Raspberry Pi as it uses raw socket to send/receive packets. You will have to set your wireless interface in monitoring mode first.

Please report raspberry pi compatibility if you can test this.

Thomasfla
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