public static int decodeQuaternionUpdate(byte[] buffer, int offset, int length,
QuaternionUpdate u)
{
if (length < QUATERNION_UPDATE_MESSAGE_LENGTH)
{
return(0);
}
if ((buffer[offset + 0] == PACKET_START_CHAR) && (buffer[offset + 1] == MSGID_QUATERNION_UPDATE))
{
if (!verifyChecksum(buffer, offset, QUATERNION_UPDATE_CHECKSUM_INDEX))
{
return(0);
}
u.q1 = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_QUAT1_VALUE_INDEX);
u.q2 = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_QUAT2_VALUE_INDEX);
u.q3 = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_QUAT3_VALUE_INDEX);
u.q4 = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_QUAT4_VALUE_INDEX);
u.accel_x = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_ACCEL_X_VALUE_INDEX);
u.accel_y = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_ACCEL_Y_VALUE_INDEX);
u.accel_z = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_ACCEL_Z_VALUE_INDEX);
u.mag_x = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_MAG_X_VALUE_INDEX);
u.mag_y = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_MAG_Y_VALUE_INDEX);
u.mag_z = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_MAG_Z_VALUE_INDEX);
u.temp_c = decodeProtocolFloat(buffer, offset + QUATERNION_UPDATE_TEMP_VALUE_INDEX);
return(QUATERNION_UPDATE_MESSAGE_LENGTH);
}
return(0);
}
public static int decodeQuaternionUpdate(byte[] buffer, int offset, int length,
QuaternionUpdate u)
{
if (length < QUATERNION_UPDATE_MESSAGE_LENGTH)
{
return 0;
}
if ((buffer[offset + 0] == PACKET_START_CHAR) && (buffer[offset + 1] == MSGID_QUATERNION_UPDATE))
{
if (!verifyChecksum(buffer, offset, QUATERNION_UPDATE_CHECKSUM_INDEX))
{
return 0;
}
u.q1 = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_QUAT1_VALUE_INDEX);
u.q2 = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_QUAT2_VALUE_INDEX);
u.q3 = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_QUAT3_VALUE_INDEX);
u.q4 = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_QUAT4_VALUE_INDEX);
u.accel_x = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_ACCEL_X_VALUE_INDEX);
u.accel_y = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_ACCEL_Y_VALUE_INDEX);
u.accel_z = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_ACCEL_Z_VALUE_INDEX);
u.mag_x = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_MAG_X_VALUE_INDEX);
u.mag_y = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_MAG_Y_VALUE_INDEX);
u.mag_z = decodeProtocolUint16(buffer, offset + QUATERNION_UPDATE_MAG_Z_VALUE_INDEX);
u.temp_c = decodeProtocolFloat(buffer, offset + QUATERNION_UPDATE_TEMP_VALUE_INDEX);
return QUATERNION_UPDATE_MESSAGE_LENGTH;
}
return 0;
}
