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Frame exchange protocol fixed size of 30 bytes like this :
typedef struct {
int16_t Begin ; // 2 Debut
uint16_t Cpt ; // 2 Compteur trame or Code
float gyro[3]; // 12 [Y, P, R] gyro
float acc[3]; // 12 [x, y, z] Acc
int16_t End ; // 2 Fin
} _hatire;
_hat hat;
void setup() {
Serial.begin(115200);
// header frame
hatire.Begin=0xAAAA;
// Frame Number or Error code
hat.Cpt=0;
// footer frame
hat.End=0x5555;
}
void loop() {
mpu.dmpGetYawPitchRoll(hatire.gyro);
mpu.dmpAccXYZ(hatire.acc);
// Send Trame to HATIRE PC
Serial.write((byte*)&hatire,30);
hatire.Cpt++;
if (hatire.Cpt>999) {
hatire.Cpt=0;
}
delay(1);
}
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