public IMUConfiguration GetIMUConfiguration(ConfigurationType type)
{
SPIStream stream = spi.GetStream();
int offset;
switch (type)
{
case ConfigurationType.Factory:
offset = 0x6020;
break;
case ConfigurationType.User:
offset = 0x8028;
break;
default:
goto case ConfigurationType.Factory;
}
stream.Seek(offset, SeekOrigin.Begin);
int[] data = stream.Read(0x18).ToInt16();
IMUConfiguration config = new IMUConfiguration();
config.xAcc.origin = data[0];
config.yAcc.origin = data[1];
config.zAcc.origin = data[2];
config.xAcc.sensitivity = data[3];
config.yAcc.sensitivity = data[4];
config.zAcc.sensitivity = data[5];
config.xGyro.origin = data[6];
config.yGyro.origin = data[7];
config.zGyro.origin = data[8];
config.xGyro.sensitivity = data[9];
config.yGyro.sensitivity = data[10];
config.zGyro.sensitivity = data[11];
return(config);
}
public IMUInterface(NintendoController controller) : base(controller)
{
config = controller.GetConfig().GetIMUConfiguration(ConfigurationType.Factory);
}
