I was wondering if there is a documentation of the implemented BLE protocol.
I am struggling with the connection and streaming of several MMS sensors at once. It just won't get reliable enough.
There are always some "Segmentation Fault", "failed to write characteristic..." or just the good old " *** buffer overflow *** " errors.
So I am planning on implementing the communication for configuration of the MMS sensor for streaming Quat data in Python.
(using a different Bluetooth backend). This should give me the opportunity to manage the BLE interface and the errors better.
The steps I would need to configure:
1. Change Connection interval to 7.5ms --> should be something like that: 0x11 0x09 0x06 0x00 0x06 0x00 0x00 0x00 0x58 0x02 (MODULE_SETTINGS, CONNECTION_PARAMS, minInterval_low, minInterval_high, maxInterval_low, maxInterval_high, latency_low, latency_high, timeout_low, timeout_high)
2. Set fusion mode: NDOF
3. Set acc range: 8G or 4G
4. set gyro range 2000dps
5. enable fusion
6. start fusion
And afterwards for cleanup:
1. fusion stop
2. reset board
Is there any documentation or easy way to spit out the commands I need to send to the device?
Additonally: is there a way to reduce the quat datarate to just send each 3rd or 4th sample? Can I use the internal signal processor for that?