Debugging... debugging...

lib/bno080/BNO080.cpp

@@ -1339,7 +1339,7 @@ void BNO080::saveCalibration()
 //Returns false if failed
 boolean BNO080::waitForI2C()
 {
-	for (uint8_t counter = 0; counter < 100; counter++) //Don't got more than 255
+	for (uint8_t counter = 0; counter < 255; counter++) //Don't got more than 255
 	{
 		if (_i2cPort->available() > 0)
 			return (true);

src/bno080sensor.cpp

@@ -42,6 +42,9 @@ namespace {
     }
 }
 
+unsigned long lastData = 0;
+int8_t lastReset = 0;
+
 void BNO080Sensor::motionSetup(DeviceConfig * config)
 {
     delay(500);
@@ -66,20 +69,19 @@ void BNO080Sensor::motionSetup(DeviceConfig * config)
     }
     Serial.print("Connected to ");
     Serial.println(IMU_NAME);
-    Wire.setClock(400000);
-    if(BNO_HASARVR_STABILIZATION)
-        imu.enableARVRStabilizedGameRotationVector(10);
-    else
-        imu.enableGameRotationVector(10);
+    #if defined(BNO_HAS_ARVR_STABILIZATION) && BNO_HAS_ARVR_STABILIZATION
+        imu.enableARVRStabilizedGameRotationVector(13);
+    #else
+        imu.enableGameRotationVector(13);
+    #endif
+    lastReset = imu.resetReason();
+    lastData = millis();
 }
 
-unsigned long lastData = 0;
-int8_t lastReset = -1;
-
 void BNO080Sensor::motionLoop()
 {
     //Look for reports from the IMU
-    if (imu.dataAvailable())
+    if(imu.dataAvailable())
     {
         lastReset = -1;
         lastData = millis();
@@ -89,15 +91,14 @@ void BNO080Sensor::motionLoop()
         quaternion.w = imu.getQuatReal();
         quaternion *= sensorOffset;
         newData = true;
-    } else {
-        if(lastData + 5000 < millis()) {
-            lastData = millis();
-            uint8_t rr = imu.resetReason();
-            if(rr != lastReset) {
-                lastReset = rr;
-                sendResetReason(rr);
-                digitalWrite(LOADING_LED, LOW);
-            }
+    }
+    if(lastData + 1000 < millis()) {
+        lastData = millis();
+        uint8_t rr = imu.resetReason();
+        if(rr != lastReset) {
+            lastReset = rr;
+            sendResetReason(rr);
+            digitalWrite(LOADING_LED, LOW);
         }
     }
 }

src/defines.h

@@ -35,19 +35,19 @@
   #define IMU_HAS_ACCELL true
   #define IMU_HAS_GYRO true
   #define IMU_HAS_MAG true
-  #define BNO_HASARVR_STABILIZATION true
+  #define BNO_HAS_ARVR_STABILIZATION true
 #elif IMU == IMU_BNO080
   #define IMU_NAME "BNO080"
   #define IMU_HAS_ACCELL true
   #define IMU_HAS_GYRO true
   #define IMU_HAS_MAG true
-  #define BNO_HASARVR_STABILIZATION false
+  #define BNO_HAS_ARVR_STABILIZATION false
 #elif IMU == IMU_BNO055
   #define IMU_NAME "BNO055"
   #define IMU_HAS_ACCELL true
   #define IMU_HAS_GYRO true
   #define IMU_HAS_MAG true
-  #define BNO_HASARVR_STABILIZATION false
+  #define BNO_HAS_ARVR_STABILIZATION false
 #elif IMU == IMU_MPU9250
   #define IMU_NAME "MPU9250"
   #define IMU_HAS_ACCELL true

src/main.cpp

@@ -75,6 +75,7 @@ void processBlinking();
 
 void setup()
 {
+    //wifi_set_sleep_type(NONE_SLEEP_T);
     // Glow diode while loading
     pinMode(LOADING_LED, OUTPUT);
     pinMode(CALIBRATING_LED, OUTPUT);
@@ -85,6 +86,7 @@ void setup()
     Wire.flush();
     Wire.begin(D2, D1);
     Wire.setClockStretchLimit(4000);
+    Wire.setClock(100000);
     Serial.begin(serialBaudRate);
     while (!Serial)
         ; // wait for connection

src/udpclient.cpp

@@ -415,7 +415,7 @@ bool startWPSPBC() {
 void setUpWiFi(DeviceConfig * const config) {
     Serial.print("Connecting to wifi ");
     WiFi.mode(WIFI_STA);
-
+    WiFi.hostname("SlimeVR");
     WiFi.begin(WiFi.SSID().c_str(), WiFi.psk().c_str());
 }
 
@@ -488,7 +488,9 @@ void connectClient()
                 port = Udp.remotePort();
                 lastPacketMs = now;
                 connected = true;
+#ifndef SEND_UPDATES_UNCONNECTED
                 digitalWrite(LOADING_LED, HIGH);
+#endif
                 Serial.printf("[Handshake] Handshale sucessful, server is %s:%d\n", Udp.remoteIP().toString().c_str(), + Udp.remotePort());
                 return;
             default:
@@ -518,11 +520,14 @@ void connectClient()
             Serial.print("Write error: ");
             Serial.println(Udp.getWriteError());
         }
-        
+#ifndef SEND_UPDATES_UNCONNECTED
         digitalWrite(LOADING_LED, LOW);
+#endif
     }
+#ifndef SEND_UPDATES_UNCONNECTED
     else if(lastConnectionAttemptMs + 20 < now)
     {
         digitalWrite(LOADING_LED, HIGH);
     }
+#endif
 }