Use Synthiam ARC with opencr

[qddxl]

After loading the EZ-OpenCR firmware from Synthiam onto OpenCR, I added the following code, but I'm still unable to read the data in ARC. Is there any way to resolve this?

#define CmdGetIMUAngleData 250
cIMU IMU;

void setup() {
COMMUNICATION_PORT.begin(_BAUD_RATE);
IMU.begin();
}

void loop() {
IMU.update();
UpdateBuffer3();
doEZProtocol();
}

void doEZProtocol() {
if (IsAvail()) {
byte cmd = ReadByte();

if (cmd == CmdPing) {
  // Return as a "Capability Controller"
  COMMUNICATION_PORT.write(222);
} else if (cmd == CmdGetFirmwareID) {
  Write32(_FIRMWARE_ID);
} else if (cmd is CmdGetIMUAngleData) {
  IMU.update();
  // [Your IMU angle data handling code here]
}

}
}