add time info to accel msg
parent
7c93796221
commit
f0a3c9df44
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@ -58,6 +58,7 @@ uint8_t devStatus; // return status after each device operation (0 = succes
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uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
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uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
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uint16_t fifoCount; // count of all bytes currently in FIFO
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uint16_t fifoCount; // count of all bytes currently in FIFO
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uint8_t fifoBuffer[64]; // FIFO storage buffer
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uint8_t fifoBuffer[64]; // FIFO storage buffer
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uint32_t time = 0;
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// orientation/motion vars
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// orientation/motion vars
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Quaternion q; // [w, x, y, z] quaternion container
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Quaternion q; // [w, x, y, z] quaternion container
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@ -173,12 +174,7 @@ void loop() {
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qmsg.add(q.x);
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qmsg.add(q.x);
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qmsg.add(q.y);
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qmsg.add(q.y);
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qmsg.add(q.z);
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qmsg.add(q.z);
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qmsg.add(diff.w);
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qmsg.add(diff.x);
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qmsg.add(diff.y);
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qmsg.add(diff.z);
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SLIPBTSerial.beginPacket();
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SLIPBTSerial.beginPacket();
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qmsg.send(SLIPBTSerial);
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qmsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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SLIPBTSerial.endPacket();
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@ -237,10 +233,14 @@ void loop() {
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#endif
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#endif
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// Send (accel) over serial
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// Send (accel) and time elapsed over serial
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int prevTime = time;
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time = millis();
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msg.add(AcX);
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msg.add(AcX);
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msg.add(AcY);
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msg.add(AcY);
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msg.add(AcZ);
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msg.add(AcZ);
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msg.add(time - prevTime);
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SLIPSerial.beginPacket();
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SLIPSerial.beginPacket();
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msg.send(SLIPSerial);
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msg.send(SLIPSerial);
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