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Lower IMU reporting frequency

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Nik Rozman
2026-03-01 10:54:03 +01:00
parent 64b414c07a
commit 664cfb78a5
1 changed files with 18 additions and 26 deletions
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air-mouse.ino
+18 -26
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@@ -211,6 +211,9 @@ const unsigned long TELEMETRY_MS = 1000;
const unsigned long HEARTBEAT_MS = 2000; const unsigned long HEARTBEAT_MS = 2000;
const int HEARTBEAT_DUR = 30; const int HEARTBEAT_DUR = 30;
const unsigned long BOOT_SAFE_MS = 5000; const unsigned long BOOT_SAFE_MS = 5000;
#ifdef FEATURE_IMU_STREAM
const unsigned long IMU_STREAM_RATE_MS = 50; // 20 Hz max — 100 Hz overwhelms BLE conn interval
#endif
const float BATT_FULL = 4.20f; const float BATT_FULL = 4.20f;
const float BATT_EMPTY = 3.00f; const float BATT_EMPTY = 3.00f;
const float BATT_CRITICAL = 3.10f; const float BATT_CRITICAL = 3.10f;
@@ -259,6 +262,9 @@ unsigned long lastBattTime = 0;
unsigned long lastHeartbeat = 0; unsigned long lastHeartbeat = 0;
unsigned long lastTelemetry = 0; unsigned long lastTelemetry = 0;
unsigned long bootStartMs = 0; unsigned long bootStartMs = 0;
#ifdef FEATURE_IMU_STREAM
unsigned long lastImuStream = 0;
#endif
#ifdef FEATURE_TELEMETRY #ifdef FEATURE_TELEMETRY
uint16_t statRecalCount = 0; uint16_t statRecalCount = 0;
@@ -601,7 +607,7 @@ void setup() {
Bluefruit.begin(1, 0); Bluefruit.begin(1, 0);
Bluefruit.setTxPower(4); Bluefruit.setTxPower(4);
Bluefruit.setName(safeMode ? "IMU Mouse (safe)" : "IMU Mouse"); Bluefruit.setName(safeMode ? "IMU Mouse (safe)" : "IMU Mouse");
Bluefruit.Periph.setConnInterval(6, 12); Bluefruit.Periph.setConnInterval(12, 24); // 15-30ms — less aggressive, prevents stream disconnect
Wire1.begin(); // LSM6DS3 is on internal I2C bus (Wire1), must init before imu.begin() Wire1.begin(); // LSM6DS3 is on internal I2C bus (Wire1), must init before imu.begin()
if (imu.begin() != 0) { if (imu.begin() != 0) {
@@ -643,30 +649,14 @@ void setup() {
startAdvertising(); startAdvertising();
Serial.print("[OK] Advertising — features:"); Serial.print("[OK] Advertising — features:");
#ifdef FEATURE_CONFIG_SERVICE #ifdef FEATURE_CONFIG_SERVICE Serial.print(" CFG"); #endif
Serial.print(" CFG"); #ifdef FEATURE_TELEMETRY Serial.print(" TELEM"); #endif
#endif #ifdef FEATURE_IMU_STREAM Serial.print(" STREAM"); #endif
#ifdef FEATURE_TELEMETRY #ifdef FEATURE_TAP_DETECTION Serial.print(" TAP"); #endif
Serial.print(" TELEM"); #ifdef FEATURE_TEMP_COMPENSATION Serial.print(" TEMPCOMP"); #endif
#endif #ifdef FEATURE_AUTO_RECAL Serial.print(" AUTORECAL"); #endif
#ifdef FEATURE_IMU_STREAM #ifdef FEATURE_BATTERY_MONITOR Serial.print(" BATT"); #endif
Serial.print(" STREAM"); #ifdef FEATURE_BOOT_LOOP_DETECT Serial.print(" BOOTDET"); #endif
#endif
#ifdef FEATURE_TAP_DETECTION
Serial.print(" TAP");
#endif
#ifdef FEATURE_TEMP_COMPENSATION
Serial.print(" TEMPCOMP");
#endif
#ifdef FEATURE_AUTO_RECAL
Serial.print(" AUTORECAL");
#endif
#ifdef FEATURE_BATTERY_MONITOR
Serial.print(" BATT");
#endif
#ifdef FEATURE_BOOT_LOOP_DETECT
Serial.print(" BOOTDET");
#endif
Serial.println(); Serial.println();
bootStartMs = millis(); bootStartMs = millis();
@@ -771,7 +761,9 @@ void loop() {
} }
#ifdef FEATURE_IMU_STREAM #ifdef FEATURE_IMU_STREAM
if (!safeMode && imuStreamEnabled && Bluefruit.connected()) { if (!safeMode && imuStreamEnabled && Bluefruit.connected()
&& (now - lastImuStream >= IMU_STREAM_RATE_MS)) {
lastImuStream = now;
ImuPacket pkt; ImuPacket pkt;
pkt.gyroY_mDPS = (int16_t)constrain(gy*(180.f/PI)*1000.f, -32000, 32000); pkt.gyroY_mDPS = (int16_t)constrain(gy*(180.f/PI)*1000.f, -32000, 32000);
pkt.gyroZ_mDPS = (int16_t)constrain(gz*(180.f/PI)*1000.f, -32000, 32000); pkt.gyroZ_mDPS = (int16_t)constrain(gz*(180.f/PI)*1000.f, -32000, 32000);