public static MovementData CalculateGyroData(byte[] rawData, double scale = 1.0)
{
MovementData result = new MovementData();
result.X = BitConverter.ToUInt16(rawData, 0) * (500.0 / 65536.0) * -1 * scale;
result.Y = BitConverter.ToUInt16(rawData, 2) * (500.0 / 65536.0) * scale;
result.Z = BitConverter.ToUInt16(rawData, 4) * (500.0 / 65536.0) * scale;
return result;
}
public static MovementData CalculateMagData(byte[] rawData)
{
MovementData result = new MovementData();
result.X = BitConverter.ToUInt16(rawData, 12) * (2000.0 / 65536.0) * -1;
result.Y = BitConverter.ToUInt16(rawData, 14) * (2000.0 / 65536.0) * -1;
result.Z = BitConverter.ToUInt16(rawData, 16) * (2000.0 / 65536.0);
return result;
}
public static MovementData CalculateAccelerometerData(byte[] rawData)
{
MovementData result = new MovementData();
result.X = BitConverter.ToUInt16(rawData, 6) / 64.0;
result.Y = BitConverter.ToUInt16(rawData, 8) / 64.0;
result.Z = BitConverter.ToUInt16(rawData, 10) * -1 / 64.0;
return result;
}
