UDP.write Delay


I am trying to put together a data acquisition system and am fairly new to Arduino’s/coding. I’m sending 10-1000 Hz data via ethernet UDP to Matlab on my computer and plotting realtime. However, each packet has about a 6ms gap in data (please see images plotted in Matlab).

Have been googling for days without luck…

Here are the details and code:

  1. See images for plot details
  2. Board: DFRobot W5500 Ethernet with POE Control Board (equivalent to Leonardo Ethernet)
  3. Tried changing SPI_CSR_DLYBCT(1) to SPI_CSR_DLYBCT(0) in SPI.h and SPI.cpp
  4. Tried w5500.setRetransmissionCount(1); and w5500.setRetransmissionTime(1000);

Any tips or tricks would be greatly appreciated. Thanks!

#include <SPI.h>         // needed for Arduino versions later than 0018
#include <Ethernet2.h>
#include <EthernetUdp2.h>         // UDP library from: bjoern@cs.stanford.edu 12/30/2008
#define SS     10U    //D10 ---- SS 
#define RST    11U    //D11 -----Reset

// in setup() after Ethernet.begin(), call this function.
int tempRead16;

typedef struct {
  uint16_t timestamp; //make double
  uint8_t temp;
  uint8_t weight;
  uint16_t pres[50];
  uint16_t thrust[50];
  uint16_t endtime;
  uint16_t sendPacketTime;
} Packet;

//Include potentiometer inputs
int potPin = 1;
int tempPin = 2;

// Enter a MAC address and IP address for your controller below.
// The IP address will be dependent on your local network:
byte mac[] = {
  0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED
IPAddress local(192, 168, 1, 177);
IPAddress remote(192, 168, 1, 5);
Packet pkt;

unsigned int port = 8888;      // local port to listen on
const int sampleCount = 50;
const int sensorCount = 2;

// An EthernetUDP instance to let us send and receive packets over UDP
EthernetUDP Udp;

void setup() {
  pinMode(SS, OUTPUT);
  pinMode(RST, OUTPUT);
  digitalWrite(SS, LOW);
  digitalWrite(RST, HIGH); //Reset
  digitalWrite(RST, LOW);
  digitalWrite(RST, HIGH);
  delay(200);              //Wait W5500

  // start the Ethernet and UDP:
  Ethernet.begin(mac, local);
  pinMode(4, OUTPUT);
  digitalWrite(4, HIGH);

void loop() {

  pkt.timestamp = millis();
  pkt.temp = analogRead(tempPin) / 4; // Converts to 8 bytes
  pkt.weight = analogRead(potPin) / 4; // Converts to 8 bytes
  for (int i = 0; i < sampleCount; i++) {
    pkt.pres[i] = analogRead(potPin);
    pkt.thrust[i] = analogRead(potPin) / 2;


  pkt.endtime = millis();
  Udp.beginPacket(remote, port);
  Udp.write((char*)&pkt, sizeof(pkt));
  pkt.sendPacketTime = millis() - pkt.endtime;


Any tips or tricks would be greatly appreciated.

Develop some realistic expectations. You are using an inherently asynchronous deliver-this-whenever-you-can-if-you-can mechanism to get the data from point A to point B. You can not, then, expect instantaneously delivery.

XBees would provide for the delivery of the data from the Arduino to the PC in nearly real-time.