Have gotten most of the algorithm done and are now working on getting it implemented on our product. The first batch of prototypes are due shortly. Unfortunately there are some problems with the current firmware on our box. More specifically the way we can use the I2C bus to communicate to the acc/gyro chip is waaaaaaay to slow at the moment. roughly 3 byte per second. And one reading consists of 2 byte for each of the axis (3 for the accelerometer and 3 for the gyro) plus 1 for temperature. so that's 13 byte per reading; we need minimum 30 readings pr. second! The firmware is created in China and this creates a quite significant language and culture barrier. So it's going to be interesting to see when (if ever) we can get this bug fixed...
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