Use Gyroscope in BallChallange

[DavidFederl]

Add Gyroscope measurement with 1.6kHz and publish to different topic.

ToDo

• [ ] Rename topic from g-value to acceleration
  • [ ] es-ude/elastic-ai.runtime.cloud#125
  • [ ] es-ude/BallChallenge#22
• [ ] Implement Gyroscope Usage read with 400Hz
  • Implement read from gyroscope and Publish Data to topic .../gyroscope
  • Make CSV Service store publish to gyroscope
• [ ] Implement Gyroscope Usage read with 1600Hz
  • Update read data implementation
  • Make CSV Service store publish to gyroscope

Remarks

[!CAUTION] When reading with 1600Hz the internal RAM of the RP2040 (260KB) is to small to store all data! Amounts to around (only one topic):

\#_{\text{Bytes per sample}} \cdot \omega_{\text{measurements}} \cdot \Delta_{\text{recording}} = 14 \cdot 1600Hz \cdot 5s = 112000B \approx 110KiB

Solutions:

• Intermediately store data on Flash Chip (512B per page / 256KiB)
• Publish data in chunks (~1000 samples)

[DavidFederl]

waiting for https://github.com/es-ude/elastic-ai.runtime.enV5/issues/282#issue-2529441686 to be merged

[DavidFederl]

To overcome memory shortage on the ESP32 side we will split up the measurement into groups of around 800 samples. With a measurement frequency of about 1.6kHz this would lead to 6 published batches for one cycle of 3 seconds.

This can be accomplished by providing a ID for the measurement request under which the data will be published.

sequenceDiagram
    participant S as CSV-Service 
    participant E as enV5
    Note over E: sub[.../DO/measurement]
    S ->> E: pub[.../DO/measurement , <ID>]
    Note over S: sub[.../DATA/gyroscope/<ID>]
    Note over S: sub[.../DATA/accelerometer/<ID>]
    Note over S: sub[.../DONE/measurement]
    Note over S,E: show countdown
    loop for 3 seconds
        par gyroscope
            Note over E: measure with 1600Hz
            E ->> S: pub[.../DATA/gyroscope/<ID> , batch (~800 samples)]
        and accelerometer
            Note over E: measure with 800Hz
            E ->> S: pub[.../DATA/accelerometer/<ID> , batch (~800 sampkes)]
        end
    end
    E ->> S: pub[.../DONE/measurement , <ID>]
    Note over S: unsub[.../DATA/gyroscope/<ID>]
    Note over S: unsub[.../DATA/accelerometer/<ID>]
    Note over S: unsub[.../DONE/measurement]