public static int decodeGyroUpdate(byte[] buffer, int offset, int length, GyroUpdate u) { if (length < GYRO_UPDATE_MESSAGE_LENGTH) { return(0); } if ((buffer[offset + 0] == PACKET_START_CHAR) && (buffer[offset + 1] == MSGID_GYRO_UPDATE)) { if (!verifyChecksum(buffer, offset, GYRO_UPDATE_CHECKSUM_INDEX)) { return(0); } u.gyro_x = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_GYRO_X_VALUE_INDEX); u.gyro_y = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_GYRO_Y_VALUE_INDEX); u.gyro_z = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_GYRO_Z_VALUE_INDEX); u.accel_x = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_ACCEL_X_VALUE_INDEX); u.accel_y = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_ACCEL_Y_VALUE_INDEX); u.accel_z = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_ACCEL_Z_VALUE_INDEX); u.mag_x = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_MAG_X_VALUE_INDEX); u.mag_y = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_MAG_Y_VALUE_INDEX); u.mag_z = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_MAG_Z_VALUE_INDEX); u.temp_c = decodeProtocolUnsignedHundredthsFloat(buffer, offset + GYRO_UPDATE_TEMP_VALUE_INDEX); return(GYRO_UPDATE_MESSAGE_LENGTH); } return(0); }
public static int decodeGyroUpdate(byte[] buffer, int offset, int length, GyroUpdate u) { if (length < GYRO_UPDATE_MESSAGE_LENGTH) { return 0; } if ((buffer[offset + 0] == PACKET_START_CHAR) && (buffer[offset + 1] == MSGID_GYRO_UPDATE)) { if (!verifyChecksum(buffer, offset, GYRO_UPDATE_CHECKSUM_INDEX)) { return 0; } u.gyro_x = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_GYRO_X_VALUE_INDEX); u.gyro_y = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_GYRO_Y_VALUE_INDEX); u.gyro_z = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_GYRO_Z_VALUE_INDEX); u.accel_x = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_ACCEL_X_VALUE_INDEX); u.accel_y = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_ACCEL_Y_VALUE_INDEX); u.accel_z = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_ACCEL_Z_VALUE_INDEX); u.mag_x = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_MAG_X_VALUE_INDEX); u.mag_y = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_MAG_Y_VALUE_INDEX); u.mag_z = decodeProtocolUint16(buffer, offset + GYRO_UPDATE_MAG_Z_VALUE_INDEX); u.temp_c = decodeProtocolUnsignedHundredthsFloat(buffer, offset + GYRO_UPDATE_TEMP_VALUE_INDEX); return GYRO_UPDATE_MESSAGE_LENGTH; } return 0; }