mirror of
https://github.com/cemu-project/DS4Windows.git
synced 2024-12-27 09:01:48 +01:00
260 lines
11 KiB
C#
260 lines
11 KiB
C#
using System;
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namespace DS4Windows
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{
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public delegate void SixAxisHandler<TEventArgs>(DS4SixAxis sender, TEventArgs args);
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public class SixAxisEventArgs : EventArgs
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{
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public readonly SixAxis sixAxis;
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public readonly DateTime timeStamp;
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public SixAxisEventArgs(DateTime utcTimestamp, SixAxis sa)
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{
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sixAxis = sa;
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timeStamp = utcTimestamp;
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}
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}
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public class SixAxis
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{
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public const int ACC_RES_PER_G = 8192;
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private const float F_ACC_RES_PER_G = ACC_RES_PER_G;
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public const int GYRO_RES_IN_DEG_SEC = 16;
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private const float F_GYRO_RES_IN_DEG_SEC = GYRO_RES_IN_DEG_SEC;
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public int gyroYaw, gyroPitch, gyroRoll, accelX, accelY, accelZ;
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public int outputAccelX, outputAccelY, outputAccelZ;
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public double accelXG, accelYG, accelZG;
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public double angVelYaw, angVelPitch, angVelRoll;
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public int gyroYawFull, gyroPitchFull, gyroRollFull;
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public int accelXFull, accelYFull, accelZFull;
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public double elapsed;
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public SixAxis previousAxis = null;
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private double tempDouble = 0d;
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public SixAxis(int X, int Y, int Z,
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int aX, int aY, int aZ,
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double elapsedDelta, SixAxis prevAxis = null)
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{
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populate(X, Y, Z, aX, aY, aZ, elapsedDelta, prevAxis);
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}
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public void copy(SixAxis src)
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{
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gyroYaw = src.gyroYaw;
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gyroPitch = src.gyroPitch;
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gyroRoll = src.gyroRoll;
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gyroYawFull = src.gyroYawFull;
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accelXFull = src.accelXFull; accelYFull = src.accelYFull; accelZFull = src.accelZFull;
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angVelYaw = src.angVelYaw;
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angVelPitch = src.angVelPitch;
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angVelRoll = src.angVelRoll;
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accelXG = src.accelXG;
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accelYG = src.accelYG;
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accelZG = src.accelZG;
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// Put accel ranges between 0 - 128 abs
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accelX = src.accelX;
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accelY = src.accelY;
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accelZ = src.accelZ;
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outputAccelX = accelX;
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outputAccelY = accelY;
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outputAccelZ = accelZ;
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elapsed = src.elapsed;
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previousAxis = src.previousAxis;
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}
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public void populate(int X, int Y, int Z,
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int aX, int aY, int aZ,
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double elapsedDelta, SixAxis prevAxis = null)
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{
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gyroYaw = -X / 256;
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gyroPitch = Y / 256;
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gyroRoll = -Z / 256;
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gyroYawFull = -X; gyroPitchFull = Y; gyroRollFull = -Z;
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accelXFull = -aX; accelYFull = -aY; accelZFull = aZ;
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angVelYaw = gyroYawFull / F_GYRO_RES_IN_DEG_SEC;
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angVelPitch = gyroPitchFull / F_GYRO_RES_IN_DEG_SEC;
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angVelRoll = gyroRollFull / F_GYRO_RES_IN_DEG_SEC;
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accelXG = tempDouble = accelXFull / F_ACC_RES_PER_G;
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accelYG = tempDouble = accelYFull / F_ACC_RES_PER_G;
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accelZG = tempDouble = accelZFull / F_ACC_RES_PER_G;
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// Put accel ranges between 0 - 128 abs
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accelX = -aX / 64;
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accelY = -aY / 64;
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accelZ = aZ / 64;
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outputAccelX = accelX;
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outputAccelY = accelY;
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outputAccelZ = accelZ;
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elapsed = elapsedDelta;
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previousAxis = prevAxis;
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}
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}
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internal class CalibData
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{
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public int bias;
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public int sensNumer;
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public int sensDenom;
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public const int GyroPitchIdx = 0, GyroYawIdx = 1, GyroRollIdx = 2,
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AccelXIdx = 3, AccelYIdx = 4, AccelZIdx = 5;
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}
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public class DS4SixAxis
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{
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//public event EventHandler<SixAxisEventArgs> SixAccelMoved = null;
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public event SixAxisHandler<SixAxisEventArgs> SixAccelMoved = null;
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private SixAxis sPrev = null, now = null;
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private CalibData[] calibrationData = new CalibData[6] { new CalibData(), new CalibData(),
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new CalibData(), new CalibData(), new CalibData(), new CalibData()
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};
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private bool calibrationDone = false;
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public DS4SixAxis()
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{
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sPrev = new SixAxis(0, 0, 0, 0, 0, 0, 0.0);
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now = new SixAxis(0, 0, 0, 0, 0, 0, 0.0);
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}
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int temInt = 0;
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public void setCalibrationData(ref byte[] calibData, bool fromUSB)
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{
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int pitchPlus, pitchMinus, yawPlus, yawMinus, rollPlus, rollMinus,
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accelXPlus, accelXMinus, accelYPlus, accelYMinus, accelZPlus, accelZMinus,
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gyroSpeedPlus, gyroSpeedMinus;
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calibrationData[0].bias = (short)((ushort)(calibData[2] << 8) | calibData[1]);
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calibrationData[1].bias = (short)((ushort)(calibData[4] << 8) | calibData[3]);
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calibrationData[2].bias = (short)((ushort)(calibData[6] << 8) | calibData[5]);
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if (!fromUSB)
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{
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pitchPlus = temInt = (short)((ushort)(calibData[8] << 8) | calibData[7]);
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yawPlus = temInt = (short)((ushort)(calibData[10] << 8) | calibData[9]);
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rollPlus = temInt = (short)((ushort)(calibData[12] << 8) | calibData[11]);
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pitchMinus = temInt = (short)((ushort)(calibData[14] << 8) | calibData[13]);
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yawMinus = temInt = (short)((ushort)(calibData[16] << 8) | calibData[15]);
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rollMinus = temInt = (short)((ushort)(calibData[18] << 8) | calibData[17]);
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}
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else
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{
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pitchPlus = temInt = (short)((ushort)(calibData[8] << 8) | calibData[7]);
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pitchMinus = temInt = (short)((ushort)(calibData[10] << 8) | calibData[9]);
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yawPlus = temInt = (short)((ushort)(calibData[12] << 8) | calibData[11]);
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yawMinus = temInt = (short)((ushort)(calibData[14] << 8) | calibData[13]);
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rollPlus = temInt = (short)((ushort)(calibData[16] << 8) | calibData[15]);
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rollMinus = temInt = (short)((ushort)(calibData[18] << 8) | calibData[17]);
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}
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gyroSpeedPlus = temInt = (short)((ushort)(calibData[20] << 8) | calibData[19]);
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gyroSpeedMinus = temInt = (short)((ushort)(calibData[22] << 8) | calibData[21]);
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accelXPlus = temInt = (short)((ushort)(calibData[24] << 8) | calibData[23]);
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accelXMinus = temInt = (short)((ushort)(calibData[26] << 8) | calibData[25]);
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accelYPlus = temInt = (short)((ushort)(calibData[28] << 8) | calibData[27]);
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accelYMinus = temInt = (short)((ushort)(calibData[30] << 8) | calibData[29]);
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accelZPlus = temInt = (short)((ushort)(calibData[32] << 8) | calibData[31]);
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accelZMinus = temInt = (short)((ushort)(calibData[34] << 8) | calibData[33]);
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int gyroSpeed2x = temInt = (gyroSpeedPlus + gyroSpeedMinus);
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calibrationData[0].sensNumer = gyroSpeed2x* SixAxis.GYRO_RES_IN_DEG_SEC;
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calibrationData[0].sensDenom = pitchPlus - pitchMinus;
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calibrationData[1].sensNumer = gyroSpeed2x* SixAxis.GYRO_RES_IN_DEG_SEC;
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calibrationData[1].sensDenom = yawPlus - yawMinus;
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calibrationData[2].sensNumer = gyroSpeed2x* SixAxis.GYRO_RES_IN_DEG_SEC;
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calibrationData[2].sensDenom = rollPlus - rollMinus;
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int accelRange = temInt = accelXPlus - accelXMinus;
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calibrationData[3].bias = accelXPlus - accelRange / 2;
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calibrationData[3].sensNumer = 2 * SixAxis.ACC_RES_PER_G;
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calibrationData[3].sensDenom = accelRange;
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accelRange = temInt = accelYPlus - accelYMinus;
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calibrationData[4].bias = accelYPlus - accelRange / 2;
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calibrationData[4].sensNumer = 2 * SixAxis.ACC_RES_PER_G;
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calibrationData[4].sensDenom = accelRange;
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accelRange = temInt = accelZPlus - accelZMinus;
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calibrationData[5].bias = accelZPlus - accelRange / 2;
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calibrationData[5].sensNumer = 2 * SixAxis.ACC_RES_PER_G;
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calibrationData[5].sensDenom = accelRange;
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// Check that denom will not be zero.
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calibrationDone = calibrationData[0].sensDenom != 0 &&
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calibrationData[1].sensDenom != 0 &&
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calibrationData[2].sensDenom != 0 &&
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accelRange != 0;
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}
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private void applyCalibs(ref int yaw, ref int pitch, ref int roll,
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ref int accelX, ref int accelY, ref int accelZ)
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{
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CalibData current = calibrationData[0];
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temInt = pitch - current.bias;
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pitch = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
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current = calibrationData[1];
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temInt = yaw - current.bias;
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yaw = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
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current = calibrationData[2];
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temInt = roll - current.bias;
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roll = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
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current = calibrationData[3];
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temInt = accelX - current.bias;
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accelX = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
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current = calibrationData[4];
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temInt = accelY - current.bias;
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accelY = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
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current = calibrationData[5];
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temInt = accelZ - current.bias;
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accelZ = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
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}
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public unsafe void handleSixaxis(byte* gyro, byte* accel, DS4State state,
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double elapsedDelta)
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{
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int currentYaw = (short)((ushort)(gyro[3] << 8) | gyro[2]);
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int currentPitch = (short)((ushort)(gyro[1] << 8) | gyro[0]);
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int currentRoll = (short)((ushort)(gyro[5] << 8) | gyro[4]);
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int AccelX = (short)((ushort)(accel[1] << 8) | accel[0]);
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int AccelY = (short)((ushort)(accel[3] << 8) | accel[2]);
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int AccelZ = (short)((ushort)(accel[5] << 8) | accel[4]);
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if (calibrationDone)
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applyCalibs(ref currentYaw, ref currentPitch, ref currentRoll, ref AccelX, ref AccelY, ref AccelZ);
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SixAxisEventArgs args = null;
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if (AccelX != 0 || AccelY != 0 || AccelZ != 0)
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{
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if (SixAccelMoved != null)
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{
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sPrev.copy(now);
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now.populate(currentYaw, currentPitch, currentRoll,
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AccelX, AccelY, AccelZ, elapsedDelta, sPrev);
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args = new SixAxisEventArgs(state.ReportTimeStamp, now);
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state.Motion = now;
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SixAccelMoved(this, args);
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}
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}
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}
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}
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}
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