private int ReceiveRaw()
{
if (handle == IntPtr.Zero)
{
return(-2);
}
HIDapi.hid_set_nonblocking(handle, 0);
byte[] raw_buf = new byte[report_len];
int ret = HIDapi.hid_read(handle, raw_buf, new UIntPtr(report_len));
if (ret > 0)
{
// Process packets as soon as they come
for (int n = 0; n < 3; n++)
{
ExtractIMUValues(raw_buf, n);
byte lag = (byte)Math.Max(0, raw_buf[1] - ts_en - 3);
if (n == 0)
{
Timestamp += (ulong)lag * 5000; // add lag once
ProcessButtonsAndStick(raw_buf);
int newbat = battery;
battery = (raw_buf[2] >> 4) / 2;
if (newbat != battery)
{
BatteryChanged();
}
}
Timestamp += 5000; // 5ms difference
packetCounter++;
if (Program.server != null)
{
Program.server.NewReportIncoming(this);
}
if (xin != null)
{
xin.SendReport(report);
}
}
if (ts_en == raw_buf[1])
{
form.AppendTextBox("Duplicate timestamp enqueued.\r\n");
DebugPrint(string.Format("Duplicate timestamp enqueued. TS: {0:X2}", ts_en), DebugType.THREADING);
}
ts_en = raw_buf[1];
DebugPrint(string.Format("Enqueue. Bytes read: {0:D}. Timestamp: {1:X2}", ret, raw_buf[1]), DebugType.THREADING);
}
return(ret);
}
private int ReceiveRaw()
{
if (handle == IntPtr.Zero)
{
return(-2);
}
HIDapi.hid_set_nonblocking(handle, 0);
var raw_buf = new byte[report_len];
var ret = HIDapi.hid_read(handle, raw_buf, new UIntPtr(report_len));
if (ret <= 0)
{
return(ret);
}
// Process packets as soon as they come
for (var n = 0; n < 3; n++)
{
ExtractIMUValues(raw_buf, n);
if (n == 0)
{
var lag = (byte)Math.Max(0, raw_buf[1] - ts_en - 3);
Timestamp += (ulong)lag * 5000; // add lag once
ProcessButtonsAndStick(raw_buf);
}
Timestamp += 5000; // 5ms difference
packetCounter++;
if (Program.server != null)
{
Program.server.NewReportIncoming(this);
}
xin?.SendReport(report);
}
if (ts_en == raw_buf[1])
{
form.AppendTextBox("Duplicate timestamp enqueued.\r\n");
DebugPrint($"Duplicate timestamp enqueued. TS: {ts_en:X2}", DebugType.THREADING);
}
ts_en = raw_buf[1];
DebugPrint($"Enqueue. Bytes read: {ret:D}. Timestamp: {raw_buf[1]:X2}",
DebugType.THREADING);
return(ret);
}
public int Attach(byte leds_ = 0x0)
{
state = state_.ATTACHED;
// Make sure command is received
HIDapi.hid_set_nonblocking(handle, 0);
byte[] a = { 0x0 };
// Connect
if (!isUSB)
{
// Input report mode
Subcommand(0x03, new byte[] { 0x30 }, 1, false);
a[0] = 0x1;
dump_calibration_data();
}
else
{
Subcommand(0x03, new byte[] { 0x3f }, 1, false);
a = Enumerable.Repeat((byte)0, 64).ToArray();
Console.WriteLine("Using USB.");
a[0] = 0x80;
a[1] = 0x01;
HIDapi.hid_write(handle, a, new UIntPtr(2));
HIDapi.hid_read(handle, a, new UIntPtr(64));
if (a[2] != 0x3)
{
PadMacAddress = new PhysicalAddress(new byte[] { a[9], a[8], a[7], a[6], a[5], a[4] });
}
// USB Pairing
a = Enumerable.Repeat((byte)0, 64).ToArray();
a[0] = 0x80; a[1] = 0x02; // Handshake
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x03; // 3Mbit baud rate
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x02; // Handshake at new baud rate
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x04; // Prevent HID timeout
HIDapi.hid_write(handle, a, new UIntPtr(2));
dump_calibration_data();
}
a[0] = leds_;
Subcommand(0x30, a, 1);
Subcommand(0x40, new byte[] { (imu_enabled ? (byte)0x1 : (byte)0x0) }, 1, true);
Subcommand(0x3, new byte[] { 0x30 }, 1, true);
Subcommand(0x48, new byte[] { 0x1 }, 1, true);
Subcommand(0x41, new byte[] { 0x03, 0x00, 0x00, 0x01 }, 4, false); // higher gyro performance rate
DebugPrint("Done with init.", DebugType.COMMS);
HIDapi.hid_set_nonblocking(handle, 1);
return(0);
}
