static PSVRSensorReport()
{
BMI055Integrator.Init(BMI055Integrator.AScale.AFS_2G, BMI055Integrator.Gscale.GFS_2000DPS);
}
public static PSVRSensorReport parseSensor(byte[] data)
{
PSVRSensorReport sensor = new PSVRSensorReport();
if (data == null)
{
return(sensor);
}
sensor.Buttons = (HeadsetButtons)data[0];
sensor.Volume = data[2];
sensor.Worn = (data[8] & 0x1) == 0x1 ? true : false; //confirmed
sensor.DisplayActive = (data[8] & 0x2) == 0x2 ? false : true;
sensor.Muted = (data[8] & 0x8) == 0x8 ? true : false; //confirmed
sensor.EarphonesConnected = (data[8] & 0x10) == 0x10 ? true : false; //confirmed
sensor.Timestamp1 = getUIntFromUInt32(data, 16);
sensor.RawGyroYaw1 = getIntFromInt16(data, 20);
sensor.RawGyroPitch1 = getIntFromInt16(data, 22);
sensor.RawGyroRoll1 = getIntFromInt16(data, 24);
sensor.RawMotionX1 = getAccelShort(data, 26);
sensor.RawMotionY1 = getAccelShort(data, 28);
sensor.RawMotionZ1 = getAccelShort(data, 30);
sensor.Timestamp2 = getUIntFromUInt32(data, 32);
sensor.RawGyroYaw2 = getIntFromInt16(data, 36);
sensor.RawGyroPitch2 = getIntFromInt16(data, 38);
sensor.RawGyroRoll2 = getIntFromInt16(data, 40);
sensor.RawMotionX2 = getAccelShort(data, 42);
sensor.RawMotionY2 = getAccelShort(data, 44);
sensor.RawMotionZ2 = getAccelShort(data, 46);
sensor.CalStatus = data[48];
sensor.Ready = data[49];
sensor.A = data[50];
sensor.B = data[51];
sensor.C = data[52];
sensor.VoltageValue = data[53];
sensor.VoltageReference = data[54];
sensor.IRSensor = getIntFromInt16(data, 55);
sensor.D = data[58];
sensor.E = data[59];
sensor.F = data[60];
sensor.G = data[61];
sensor.H = data[62];
sensor.PacketSequence = data[63];
//BMI055Integrator.Parse(data, 26, 20, sensor.Timestamp1);
//sensor.Pose = BMI055Integrator.Parse(data, 42, 36, sensor.Timestamp2);
BMI055Integrator.Parse(sensor);
return(sensor);
}