clean up

Author: hathach

libraries/BLEAdafruitService/src/services/BLEAdafruitQuaternion.cpp

@@ -137,10 +137,13 @@ void BLEAdafruitQuaternion::_measure_handler(void)
 
   // TODO multiple connections
   _measurement.notify(quater, sizeof(quater));
+
+//  Serial.printf("Orientation: %.02f, %.02f, %.02f\n", _filter->getYaw(), _filter->getPitch(), _filter->getRoll());
+//  Serial.printf("Quaternion: %.04f, %.04f, %.04f, %.04f\n", quater[0], quater[1], quater[2], quater[3]);
 }
 
 // Fusion Filter update
-// This function take ~ 6ms to get all sensor data and computing
+// This function take ~ 6ms to get all sensor data (computing time is not much)
 void BLEAdafruitQuaternion::_fitler_update(void)
 {
   // get sensor events
@@ -152,8 +155,6 @@ void BLEAdafruitQuaternion::_fitler_update(void)
   _accel->getEvent(&accel_evt);
   _gyro->getEvent(&gyro_evt);
 
-  start_ms = millis() - start_ms;
-
   // calibrate sensor if available
   if (_calib)
   {
@@ -172,6 +173,7 @@ void BLEAdafruitQuaternion::_fitler_update(void)
                   accel_evt.acceleration.x, accel_evt.acceleration.y, accel_evt.acceleration.z,
                   mag_evt.magnetic.x, mag_evt.magnetic.y, mag_evt.magnetic.z);
 
+//  start_ms = millis() - start_ms;
 //  PRINT_INT(start_ms);
 }
 

libraries/BLEAdafruitService/src/services/BLEAdafruitQuaternion.h

@@ -59,7 +59,7 @@ class BLEAdafruitQuaternion : public BLEAdafruitSensor
     // filter timer callback, 10x faster than period timer
     static void quaternion_filter_timer_cb(TimerHandle_t xTimer);
 
-    // filter update deferred to adacallback since it takes lots of computing time (6 ms)
+    // filter update deferred to ada callback since it takes lots of time to get 3 sensor data
     static void quaternion_filter_update_dfr(BLEAdafruitQuaternion* svc);
 };
 

libraries/Bluefruit52Lib/examples/Peripheral/bluefruit_playground/bluefruit_playground.ino

@@ -249,7 +249,6 @@ void setup()
   blebas.write(100);
 
   //------------- Adafruit Service -------------//
-  bleAccel.begin(accel_sensor);
   bleLight.begin(measure_light);
 
   bleButton.begin(measure_button, 100);
@@ -260,6 +259,8 @@ void setup()
   strip.begin();
   blePixel.begin(&strip);
 
+  bleAccel.begin(accel_sensor);
+
   // CPB doesn't support these on-board sensor
 #ifdef ARDUINO_NRF52840_CIRCUITPLAY
   bleTemp.begin(measure_temperature);
@@ -270,7 +271,6 @@ void setup()
   bleBaro.begin(bmp280.getPressureSensor());
 
   // Quaternion with sensor calibration
-//  PRINT_HEX(lsm6ds33.getGyroSensor());
   bleQuater.begin(&filter, accel_sensor, lsm6ds33.getGyroSensor(), &lis3mdl);
   bleQuater.setCalibration(&cal);
 #endif