private void SerialConnection_StatusFrameReceived(VMU931_Status statusFrame)
{
_firstStatusUpdateReceived = true;
DeviceStatus = statusFrame;
DeviceStatusReceived?.Invoke(statusFrame);
}
internal static VMU931_Status ParseStatusFrame(byte[] frame)
{
VMU931_Status status = new VMU931_Status();
if (frame.Length != 7)
{
return(status);
}
var sensors = frame[0];
var resolutions = frame[1];
var outputRate = frame[2];
var messageTypes = frame[6];
if ((sensors & (1 << 0)) != 0)
{
status.AccelerometerEnabled = true;
}
if ((sensors & (1 << 1)) != 0)
{
status.GyroscopeEnabled = true;
}
if ((sensors & (1 << 2)) != 0)
{
status.MagnetometerEnabled = true;
}
for (int i = 0; i < 8; i++)
{
if (i < 4)
{
// accelerometer resolution
if ((resolutions & (1 << i)) != 0)
{
status.AccelerometerResolution = (AccelerometerResolution)i;
}
}
else
{
// gyroresolution
if ((resolutions & (1 << i)) != 0)
{
status.AccelerometerResolution = (AccelerometerResolution)i + 4;
}
}
}
if ((outputRate & (1 << 0)) != 0)
{
status.OutputRate = OutputRate.Low;
}
else
{
status.OutputRate = OutputRate.Low;
}
if ((messageTypes & (1 << 0)) != 0)
{
status.AccelerometerStreamingEnabled = true;
}
if ((messageTypes & (1 << 1)) != 0)
{
status.GyroscopeStreamingEnabled = true;
}
if ((messageTypes & (1 << 2)) != 0)
{
status.QuaternionStreamingEnabled = true;
}
if ((messageTypes & (1 << 3)) != 0)
{
status.MagnetometerStreamingEnabled = true;
}
if ((messageTypes & (1 << 4)) != 0)
{
status.EulerAngleStreamingEnabled = true;
}
if ((messageTypes & (1 << 5)) != 0)
{
status.HeadingStreamingEnabled = true;
}
return(status);
}
private static void VMU932_DeviceStatusReceived(VMU931_Status status)
{
Console.WriteLine(status.ToString());
}
