From 5f17327c0d9d5bd2da69139a324434d461519403 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 27 Nov 2013 01:33:53 +0100 Subject: initial import of hatire by Furax49 Signed-off-by: Stanislaw Halik --- facetracknoir/clientfiles/HAT_100/README | 35 ++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100644 facetracknoir/clientfiles/HAT_100/README (limited to 'facetracknoir/clientfiles/HAT_100/README') diff --git a/facetracknoir/clientfiles/HAT_100/README b/facetracknoir/clientfiles/HAT_100/README new file mode 100644 index 00000000..1e4f2926 --- /dev/null +++ b/facetracknoir/clientfiles/HAT_100/README @@ -0,0 +1,35 @@ + 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); +} + -- cgit v1.2.3