Improved UART Timeout

Major:
- Improved UART Timeout: Apparently, the UART data Rx/Tx is quite unreliable (especially under motor load) leading to very often out-of-sync issues. This change allows to reset the DMA more often, leading to a faster re-sync of the UART transmission and thus avoiding UART timeout

Minor:
- added #define MPU_SENSOR_ENABLE to allow to enable/disable the MPU6050 sensor and save code size if the sensors is not needed
- fixed the orientation in the Processing sketch
- updated ReadMe

Inc/config.h

@@ -42,6 +42,7 @@
 
 
 /* ==================================== SETTINGS MPU-6050 ==================================== */
+#define MPU_SENSOR_ENABLE                     // [-] Enable flag for MPU-6050 sensor. Comment-out this flag to Disable the MPU sensor and reduce code size.
 #define MPU_DMP_ENABLE												// [-] Enable flag for MPU-6050 DMP (Digital Motion Processing) functionality.
 #define MPU_DEFAULT_HZ  					20 					// [Hz] Default MPU frequecy: must be between 1Hz and 200Hz.
 #define TEMP_READ_MS    					500					// [ms] Temperature read time interval
@@ -68,7 +69,7 @@
 #endif
 #define USART_MAIN_BAUD						38400				// [bit/s] MAIN Serial Tx/Rx baud rate
 #define SERIAL_START_FRAME   			0xABCD     	// [-] Start frame definition for reliable serial communication
-#define SERIAL_TIMEOUT          	500         // [-] Numer of wrong received data for Serial timeout detection
+#define SERIAL_TIMEOUT          	800         // [-] Numer of wrong received data for Serial timeout detection
 
 
 /* ==================================== SETTINGS AUX ==================================== */

Inc/mpu6050.h

@@ -23,6 +23,7 @@
 // Define to prevent recursive inclusion
 #ifndef MPU6050_H
 #define MPU6050_H
+#ifdef  MPU_SENSOR_ENABLE
 
 #include <stdint.h>
 #include "defines.h"
@@ -142,5 +143,5 @@ void mpu_android_orient_func(unsigned char orientation);
 void mpu_handle_input(char c);
 void mpu_print_to_console(void);
 
-
-#endif
+#endif // MPU_SENSOR_ENABLE
+#endif // MPU6050_H

Inc/mpu6050_dmp.h

@@ -23,6 +23,7 @@
 // Define to prevent recursive inclusion
 #ifndef MPU6050_DMP_H
 #define MPU6050_DMP_H
+#ifdef  MPU_SENSOR_ENABLE
 
 #include <stdint.h>
 
@@ -102,6 +103,6 @@ int dmp_enable_gyro_cal(unsigned char enable);
 int dmp_read_fifo(short *gyro, short *accel, long *quat,
     unsigned long *timestamp, short *sensors, unsigned char *more);
 
-
-#endif
+#endif // MPU_SENSOR_ENABLE
+#endif // MPU6050_DMP_H
 

Inc/mpu6050_dmpKey.h

@@ -5,6 +5,7 @@
  */
 #ifndef DMPKEY_H__
 #define DMPKEY_H__
+#ifdef  MPU_SENSOR_ENABLE
 
 
 #define KEY_CFG_25                  (0)
@@ -491,5 +492,5 @@ typedef struct {
 #define DINBC6 0xc6
 
 
-
+#endif // MPU_SENSOR_ENABLE
 #endif // DMPKEY_H__

Inc/mpu6050_dmpmap.h

@@ -5,6 +5,7 @@
  */
 #ifndef DMPMAP_H
 #define DMPMAP_H
+#ifdef  MPU_SENSOR_ENABLE
 
 #ifdef __cplusplus
 extern "C"
@@ -261,4 +262,6 @@ extern "C"
 #ifdef __cplusplus
 }
 #endif
+
+#endif // MPU_SENSOR_ENABLE
 #endif // DMPMAP_H