hatire Files

Sketch for Arduino (http://arduino.cc/)
Using I2C device libraries https://github.com/jrowberg/i2cdevlib/tree/master/Arduino


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
} hat;
_hat hat;


void setup() {
  Serial.begin(115200);
  // header frame
  hat.Begin=0xAAAA;
  // Frame Number or Error code
  hat.Cpt=0;
  // footer frame
  hat.End=0x5555;
  mpu.init();
}

 
 void loop() {
   mpu.dmpGetYawPitchRoll(hahattire.gyro);
   mpu.dmpAccXYZ(hat.acc);
   // Send HAT  Trame to  PC
   Serial.write((byte*)&hat,30);
   hat.Cpt++;
   if (hat.Cpt>999) {
       hat.Cpt=0;
   }
   delay(1);      
}