Send BNO08X reset reason to the server

src/bno080sensor.cpp

@@ -36,6 +36,10 @@ namespace {
             digitalWrite(LOADING_LED, HIGH);
         }
     }
+    
+    void sendResetReason(uint8_t reason) {
+        sendByte(reason, PACKET_RESET_REASON);
+    }
 }
 
 void BNO080Sensor::motionSetup(DeviceConfig * config)
@@ -67,19 +71,30 @@ void BNO080Sensor::motionSetup(DeviceConfig * config)
         imu.enableARVRStabilizedGameRotationVector(10);
     else
         imu.enableGameRotationVector(10);
+    uint8_t lastReset = imu.resetReason();
+    sendResetReason(lastReset);
 }
 
+unsigned long lastData = 0;
+
 void BNO080Sensor::motionLoop()
 {
     //Look for reports from the IMU
     if (imu.dataAvailable())
     {
+        lastData = millis();
         quaternion.x = imu.getQuatI();
         quaternion.y = imu.getQuatJ();
         quaternion.z = imu.getQuatK();
         quaternion.w = imu.getQuatReal();
         quaternion *= sensorOffset;
         newData = true;
+    } else {
+        if(lastData + 5000 < millis()) {
+            lastData = millis();
+            uint8_t lastReset = imu.resetReason();
+            sendResetReason(lastReset);
+        }
     }
 }
 

src/defines.h

@@ -75,4 +75,6 @@
 #define useFullCalibrationMatrix true
 
 #define sensorIdTime 1000
-#define sensorIdInterval 100
+#define sensorIdInterval 100
+
+#define batteryADCMultiplier 1.0 / 1024.0 * 5.0

src/main.cpp

@@ -148,7 +148,7 @@ void loop()
         }
         if(now_ms - last_battery_sample >= batterySampleRate) {
             last_battery_sample = now_ms;
-            float battery = ((float) analogRead(A0)) / 1024.0 * 6.0;
+            float battery = ((float) analogRead(A0)) * batteryADCMultiplier;
             sendFloat(battery, PACKET_BATTERY_LEVEL);
         }
     }

src/udpclient.h

@@ -43,6 +43,7 @@
 #define PACKET_SERIAL 11
 #define PACKET_BATTERY_LEVEL 12
 #define PACKET_TAP 13
+#define PACKET_RESET_REASON 14
 
 #define PACKET_RECIEVE_HEARTBEAT 1
 #define PACKET_RECIEVE_VIBRATE 2
@@ -67,6 +68,7 @@ void sendByte(char const value, int type);
 void sendRawCalibrationData(int * const data, int type);
 void setConfigRecievedCallback(configRecievedCallback);
 void setCommandRecievedCallback(commandRecievedCallback);
+void sendSerial(uint8_t *const data, int length, int type);
 void setUpWiFi(DeviceConfig * const config);
 bool isConnected();