Add IMU timeout detection to SoftFusionSensor
#376
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I've been getting random timeouts of both sensors at the same time every once in a while, which makes sense considering that |
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Not sure if it fixes it, everything is an uint, so it will wrap around when you subtract. Personally I'd switch to millis instead of micros, that has a wraparound of about 50 days, and it's not like you need the accuracy of micros. |
This reverts commit f4c2835.
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Should be good now |
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Would it not better to fix that here https://github.com/SlimeVR/SlimeVR-Tracker-ESP/blob/main/src/sensors/softfusion/softfusionsensor.h#L231 ? edit: nvm. A different case. It may take longer every turnover (~1.1h) to drop 1 sending of data. |
| @@ -67,4 +67,8 @@ | |||
| #define PACKET_INSPECTION_DATATYPE_INT 1 | |||
| #define PACKET_INSPECTION_DATATYPE_FLOAT 2 | |||
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| enum class PacketErrorCode : uint8_t { | |||
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That seems not to be defined till now. On BNO it sends the following.
https://github.com/SlimeVR/SlimeVR-Tracker-ESP/blob/main/src/sensors/bno080sensor.cpp#L220-L223
//Get the reason for the last reset
//1 = POR, 2 = Internal reset, 3 = Watchdog, 4 = External reset, 5 = Other
Adds IMU timeout detection: sends an error and changes status if no data received for more than 2 seconds. Copypasted from ICM20948 code, tested with LSM6DSO.