mirror of
https://github.com/ConjureETS/MTI860_VR_Multi_Controller.git
synced 2026-03-24 12:31:15 +00:00
660 lines
22 KiB
C#
660 lines
22 KiB
C#
#define DEBUG
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using System.Collections;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using System;
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using System.Threading;
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using UnityEngine;
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public class Joycon
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{
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public enum DebugType : int
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{
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NONE,
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ALL,
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COMMS,
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THREADING,
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IMU,
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RUMBLE,
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};
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public DebugType debug_type = DebugType.NONE;
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public bool isLeft;
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public enum state_ : uint
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{
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NOT_ATTACHED,
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DROPPED,
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NO_JOYCONS,
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ATTACHED,
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INPUT_MODE_0x30,
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IMU_DATA_OK,
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};
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public state_ state;
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public enum Button : int
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{
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DPAD_DOWN = 0,
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DPAD_RIGHT = 1,
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DPAD_LEFT = 2,
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DPAD_UP = 3,
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SL = 4,
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SR = 5,
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MINUS = 6,
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HOME = 7,
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PLUS = 8,
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CAPTURE = 9,
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STICK = 10,
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SHOULDER_1 = 11,
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SHOULDER_2 = 12
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};
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private bool[] buttons_down = new bool[13];
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private bool[] buttons_up = new bool[13];
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private bool[] buttons = new bool[13];
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private bool[] down_ = new bool[13];
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private float[] stick = { 0, 0 };
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private
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IntPtr handle;
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byte[] default_buf = { 0x0, 0x1, 0x40, 0x40, 0x0, 0x1, 0x40, 0x40 };
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private byte[] stick_raw = { 0, 0, 0 };
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private UInt16[] stick_cal = { 0, 0, 0, 0, 0, 0 };
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private UInt16 deadzone;
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private UInt16[] stick_precal = { 0, 0 };
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private bool stop_polling = false;
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private int timestamp;
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private bool first_imu_packet = true;
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private bool imu_enabled = false;
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private Int16[] acc_r = { 0, 0, 0 };
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private Vector3 acc_g;
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private Int16[] gyr_r = { 0, 0, 0 };
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private Int16[] gyr_neutral = { 0, 0, 0 };
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private Vector3 gyr_g;
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private bool do_localize;
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private float filterweight;
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private const uint report_len = 49;
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private struct Report
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{
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byte[] r;
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System.DateTime t;
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public Report(byte[] report, System.DateTime time)
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{
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r = report;
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t = time;
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}
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public System.DateTime GetTime()
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{
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return t;
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}
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public void CopyBuffer(byte[] b)
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{
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for (int i = 0; i < report_len; ++i)
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{
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b[i] = r[i];
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}
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}
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};
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private struct Rumble
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{
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private float h_f, amp, l_f;
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public float t;
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public bool timed_rumble;
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public void set_vals(float low_freq, float high_freq, float amplitude, int time = 0)
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{
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h_f = high_freq;
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amp = amplitude;
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l_f = low_freq;
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timed_rumble = false;
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t = 0;
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if (time != 0)
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{
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t = time / 1000f;
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timed_rumble = true;
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}
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}
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public Rumble(float low_freq, float high_freq, float amplitude, int time = 0)
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{
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h_f = high_freq;
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amp = amplitude;
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l_f = low_freq;
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timed_rumble = false;
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t = 0;
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if (time != 0)
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{
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t = time / 1000f;
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timed_rumble = true;
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}
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}
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private float clamp(float x, float min, float max)
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{
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if (x < min) return min;
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if (x > max) return max;
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return x;
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}
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public byte[] GetData()
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{
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byte[] rumble_data = new byte[8];
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l_f = clamp(l_f, 40.875885f, 626.286133f);
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amp = clamp(amp, 0.0f, 1.0f);
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h_f = clamp(h_f, 81.75177f, 1252.572266f);
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UInt16 hf = (UInt16)((Mathf.Round(32f * Mathf.Log(h_f * 0.1f, 2)) - 0x60) * 4);
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byte lf = (byte)(Mathf.Round(32f * Mathf.Log(l_f * 0.1f, 2)) - 0x40);
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byte hf_amp;
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if (amp == 0) hf_amp = 0;
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else if (amp < 0.117) hf_amp = (byte)(((Mathf.Log(amp * 1000, 2) * 32) - 0x60) / (5 - Mathf.Pow(amp, 2)) - 1);
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else if (amp < 0.23) hf_amp = (byte)(((Mathf.Log(amp * 1000, 2) * 32) - 0x60) - 0x5c);
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else hf_amp = (byte)((((Mathf.Log(amp * 1000, 2) * 32) - 0x60) * 2) - 0xf6);
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UInt16 lf_amp = (UInt16)(Mathf.Round(hf_amp) * .5);
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byte parity = (byte)(lf_amp % 2);
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if (parity > 0)
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{
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--lf_amp;
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}
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lf_amp = (UInt16)(lf_amp >> 1);
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lf_amp += 0x40;
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if (parity > 0) lf_amp |= 0x8000;
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rumble_data = new byte[8];
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rumble_data[0] = (byte)(hf & 0xff);
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rumble_data[1] = (byte)((hf >> 8) & 0xff);
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rumble_data[2] = lf;
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rumble_data[1] += hf_amp;
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rumble_data[2] += (byte)((lf_amp >> 8) & 0xff);
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rumble_data[3] += (byte)(lf_amp & 0xff);
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for (int i = 0; i < 4; ++i)
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{
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rumble_data[4 + i] = rumble_data[i];
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}
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//Debug.Log(string.Format("Encoded hex freq: {0:X2}", encoded_hex_freq));
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//Debug.Log(string.Format("lf_amp: {0:X4}", lf_amp));
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//Debug.Log(string.Format("hf_amp: {0:X2}", hf_amp));
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//Debug.Log(string.Format("l_f: {0:F}", l_f));
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//Debug.Log(string.Format("hf: {0:X4}", hf));
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//Debug.Log(string.Format("lf: {0:X2}", lf));
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return rumble_data;
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}
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}
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private Queue<Report> reports = new Queue<Report>();
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private Rumble rumble_obj;
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private byte global_count = 0;
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private string debug_str;
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public Joycon(IntPtr handle_, bool imu, bool localize, float alpha, bool left)
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{
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handle = handle_;
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imu_enabled = imu;
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do_localize = localize;
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rumble_obj = new Rumble(160, 320, 0);
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filterweight = alpha;
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isLeft = left;
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}
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public void DebugPrint(String s, DebugType d)
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{
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if (debug_type == DebugType.NONE) return;
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if (d == DebugType.ALL || d == debug_type || debug_type == DebugType.ALL)
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{
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Debug.Log(s);
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}
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}
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public bool GetButtonDown(Button b)
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{
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bool value = buttons_down[(int) b];
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buttons_down[(int) b] = false;
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return value;
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}
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public bool GetButton(Button b)
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{
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return buttons[(int)b];
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}
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public bool GetButtonUp(Button b)
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{
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return buttons_up[(int)b];
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}
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public float[] GetStick()
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{
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return stick;
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}
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public Vector3 GetGyro()
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{
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return gyr_g;
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}
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public Vector3 GetAccel()
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{
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return acc_g;
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}
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public Quaternion GetVector()
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{
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Vector3 v1 = new Vector3(j_b.x, -k_b.x, i_b.x);
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Vector3 v2 = new Vector3(j_b.z, -k_b.z, i_b.z);
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if (v2 != Vector3.zero){
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return Quaternion.LookRotation(v1, v2);
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}else{
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return Quaternion.identity;
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}
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}
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public int Attach(byte leds_ = 0x0)
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{
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state = state_.ATTACHED;
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byte[] a = { 0x0 };
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// Input report mode
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Subcommand(0x3, new byte[] { 0x3f }, 1, false);
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a[0] = 0x1;
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dump_calibration_data();
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// Connect
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a[0] = 0x01;
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Subcommand(0x1, a, 1);
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a[0] = 0x02;
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Subcommand(0x1, a, 1);
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a[0] = 0x03;
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Subcommand(0x1, a, 1);
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a[0] = leds_;
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Subcommand(0x30, a, 1);
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Subcommand(0x40, new byte[] { (imu_enabled ? (byte)0x1 : (byte)0x0) }, 1, true);
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Subcommand(0x3, new byte[] { 0x30 }, 1, true);
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Subcommand(0x48, new byte[] { 0x1 }, 1, true);
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DebugPrint("Done with init.", DebugType.COMMS);
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return 0;
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}
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public void SetFilterCoeff(float a)
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{
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filterweight = a;
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}
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public void Detach()
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{
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stop_polling = true;
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PrintArray(max, format: "Max {0:S}", d: DebugType.IMU);
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PrintArray(sum, format: "Sum {0:S}", d: DebugType.IMU);
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if (state > state_.NO_JOYCONS)
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{
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Subcommand(0x30, new byte[] { 0x0 }, 1);
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Subcommand(0x40, new byte[] { 0x0 }, 1);
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Subcommand(0x48, new byte[] { 0x0 }, 1);
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Subcommand(0x3, new byte[] { 0x3f }, 1);
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}
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if (state > state_.DROPPED)
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{
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HIDapi.hid_close(handle);
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}
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state = state_.NOT_ATTACHED;
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}
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private byte ts_en;
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private byte ts_de;
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private System.DateTime ts_prev;
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private int ReceiveRaw()
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{
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if (handle == IntPtr.Zero) return -2;
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HIDapi.hid_set_nonblocking(handle, 0);
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byte[] raw_buf = new byte[report_len];
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int ret = HIDapi.hid_read(handle, raw_buf, new UIntPtr(report_len));
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if (ret > 0)
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{
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lock (reports)
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{
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reports.Enqueue(new Report(raw_buf, System.DateTime.Now));
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}
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if (ts_en == raw_buf[1])
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{
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DebugPrint(string.Format("Duplicate timestamp enqueued. TS: {0:X2}", ts_en), DebugType.THREADING);
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}
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ts_en = raw_buf[1];
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DebugPrint(string.Format("Enqueue. Bytes read: {0:D}. Timestamp: {1:X2}", ret, raw_buf[1]), DebugType.THREADING);
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}
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return ret;
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}
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private Thread PollThreadObj;
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private void Poll()
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{
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int attempts = 0;
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while (!stop_polling & state > state_.NO_JOYCONS)
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{
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SendRumble(rumble_obj.GetData());
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int a = ReceiveRaw();
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a = ReceiveRaw();
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if (a > 0)
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{
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state = state_.IMU_DATA_OK;
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attempts = 0;
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}
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else if (attempts > 1000)
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{
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state = state_.DROPPED;
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DebugPrint("Connection lost. Is the Joy-Con connected?", DebugType.ALL);
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break;
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}
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else
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{
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DebugPrint("Pause 5ms", DebugType.THREADING);
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Thread.Sleep((Int32)5);
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}
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++attempts;
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}
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DebugPrint("End poll loop.", DebugType.THREADING);
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}
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float[] max = { 0, 0, 0 };
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float[] sum = { 0, 0, 0 };
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public void Update()
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{
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if (state > state_.NO_JOYCONS)
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{
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byte[] report_buf = new byte[report_len];
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while (reports.Count > 0)
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{
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Report rep;
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lock (reports)
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{
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rep = reports.Dequeue();
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rep.CopyBuffer(report_buf);
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}
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if (imu_enabled)
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{
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if (do_localize)
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{
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ProcessIMU(report_buf);
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}
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else
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{
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ExtractIMUValues(report_buf, 0);
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}
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}
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if (ts_de == report_buf[1])
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{
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DebugPrint(string.Format("Duplicate timestamp dequeued. TS: {0:X2}", ts_de), DebugType.THREADING);
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}
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ts_de = report_buf[1];
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//DebugPrint(string.Format("Dequeue. Queue length: {0:d}. Packet ID: {1:X2}. Timestamp: {2:X2}. Lag to dequeue: {3:s}. Lag between packets (expect 15ms): {4:s}",
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// reports.Count, report_buf[0], report_buf[1], System.DateTime.Now.Subtract(rep.GetTime()), rep.GetTime().Subtract(ts_prev)), DebugType.THREADING);
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ts_prev = rep.GetTime();
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}
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ProcessButtonsAndStick(report_buf);
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if (rumble_obj.timed_rumble) {
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if (rumble_obj.t < 0) {
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rumble_obj.set_vals (160, 320, 0, 0);
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} else {
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rumble_obj.t -= Time.deltaTime;
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}
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}
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}
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}
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private int ProcessButtonsAndStick(byte[] report_buf)
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{
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if (report_buf[0] == 0x00) return -1;
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stick_raw[0] = report_buf[6 + (isLeft ? 0 : 3)];
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stick_raw[1] = report_buf[7 + (isLeft ? 0 : 3)];
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stick_raw[2] = report_buf[8 + (isLeft ? 0 : 3)];
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stick_precal[0] = (UInt16)(stick_raw[0] | ((stick_raw[1] & 0xf) << 8));
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stick_precal[1] = (UInt16)((stick_raw[1] >> 4) | (stick_raw[2] << 4));
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stick = CenterSticks(stick_precal);
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lock (buttons)
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{
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lock (down_)
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{
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for (int i = 0; i < buttons.Length; ++i)
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{
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down_[i] = buttons[i];
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}
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}
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buttons[(int)Button.DPAD_DOWN] = (report_buf[3 + (isLeft ? 2 : 0)] & (isLeft ? 0x01 : 0x04)) != 0;
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buttons[(int)Button.DPAD_RIGHT] = (report_buf[3 + (isLeft ? 2 : 0)] & (isLeft ? 0x04 : 0x08)) != 0;
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buttons[(int)Button.DPAD_UP] = (report_buf[3 + (isLeft ? 2 : 0)] & (isLeft ? 0x02 : 0x02)) != 0;
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buttons[(int)Button.DPAD_LEFT] = (report_buf[3 + (isLeft ? 2 : 0)] & (isLeft ? 0x08 : 0x01)) != 0;
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buttons[(int)Button.HOME] = ((report_buf[4] & 0x10) != 0);
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buttons[(int)Button.MINUS] = ((report_buf[4] & 0x01) != 0);
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buttons[(int)Button.PLUS] = ((report_buf[4] & 0x02) != 0);
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buttons[(int)Button.STICK] = ((report_buf[4] & (isLeft ? 0x08 : 0x04)) != 0);
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buttons[(int)Button.SHOULDER_1] = (report_buf[3 + (isLeft ? 2 : 0)] & 0x40) != 0;
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buttons[(int)Button.SHOULDER_2] = (report_buf[3 + (isLeft ? 2 : 0)] & 0x80) != 0;
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buttons[(int)Button.SR] = (report_buf[3 + (isLeft ? 2 : 0)] & 0x10) != 0;
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buttons[(int)Button.SL] = (report_buf[3 + (isLeft ? 2 : 0)] & 0x20) != 0;
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lock (buttons_up)
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{
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lock (buttons_down)
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{
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for (int i = 0; i < buttons.Length; ++i)
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{
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buttons_up[i] = (down_[i] & !buttons[i]);
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buttons_down[i] = (!down_[i] & buttons[i]);
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}
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}
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}
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}
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return 0;
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}
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private void ExtractIMUValues(byte[] report_buf, int n = 0)
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{
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gyr_r[0] = (Int16)(report_buf[19 + n * 12] | ((report_buf[20 + n * 12] << 8) & 0xff00));
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gyr_r[1] = (Int16)(report_buf[21 + n * 12] | ((report_buf[22 + n * 12] << 8) & 0xff00));
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gyr_r[2] = (Int16)(report_buf[23 + n * 12] | ((report_buf[24 + n * 12] << 8) & 0xff00));
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acc_r[0] = (Int16)(report_buf[13 + n * 12] | ((report_buf[14 + n * 12] << 8) & 0xff00));
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acc_r[1] = (Int16)(report_buf[15 + n * 12] | ((report_buf[16 + n * 12] << 8) & 0xff00));
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acc_r[2] = (Int16)(report_buf[17 + n * 12] | ((report_buf[18 + n * 12] << 8) & 0xff00));
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for (int i = 0; i < 3; ++i)
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{
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acc_g[i] = acc_r[i] * 0.00025f;
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gyr_g[i] = (gyr_r[i] - gyr_neutral[i]) * 0.00122187695f;
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if (Math.Abs(acc_g[i]) > Math.Abs(max[i]))
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max[i] = acc_g[i];
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}
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}
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private float err;
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public Vector3 i_b, j_b, k_b, k_acc;
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private Vector3 d_theta;
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private Vector3 i_b_;
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private Vector3 w_a, w_g;
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private Quaternion vec;
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private int ProcessIMU(byte[] report_buf)
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{
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// Direction Cosine Matrix method
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// http://www.starlino.com/dcm_tutorial.html
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if (!imu_enabled | state < state_.IMU_DATA_OK)
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return -1;
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if (report_buf[0] != 0x30) return -1; // no gyro data
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// read raw IMU values
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int dt = (report_buf[1] - timestamp);
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if (report_buf[1] < timestamp) dt += 0x100;
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for (int n = 0; n < 3; ++n)
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{
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ExtractIMUValues(report_buf, n);
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float dt_sec = 0.005f * dt;
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sum[0] += gyr_g.x * dt_sec;
|
|
sum[1] += gyr_g.y * dt_sec;
|
|
sum[2] += gyr_g.z * dt_sec;
|
|
|
|
if (isLeft)
|
|
{
|
|
gyr_g.y *= -1;
|
|
gyr_g.z *= -1;
|
|
acc_g.y *= -1;
|
|
acc_g.z *= -1;
|
|
}
|
|
|
|
if (first_imu_packet)
|
|
{
|
|
i_b = new Vector3(1, 0, 0);
|
|
j_b = new Vector3(0, 1, 0);
|
|
k_b = new Vector3(0, 0, 1);
|
|
first_imu_packet = false;
|
|
}
|
|
else
|
|
{
|
|
k_acc = -Vector3.Normalize(acc_g);
|
|
w_a = Vector3.Cross(k_b, k_acc);
|
|
w_g = -gyr_g * dt_sec;
|
|
d_theta = (filterweight * w_a + w_g) / (1f + filterweight);
|
|
k_b += Vector3.Cross(d_theta, k_b);
|
|
i_b += Vector3.Cross(d_theta, i_b);
|
|
j_b += Vector3.Cross(d_theta, j_b);
|
|
//Correction, ensure new axes are orthogonal
|
|
err = Vector3.Dot(i_b, j_b) * 0.5f;
|
|
i_b_ = Vector3.Normalize(i_b - err * j_b);
|
|
j_b = Vector3.Normalize(j_b - err * i_b);
|
|
i_b = i_b_;
|
|
k_b = Vector3.Cross(i_b, j_b);
|
|
}
|
|
dt = 1;
|
|
}
|
|
timestamp = report_buf[1] + 2;
|
|
return 0;
|
|
}
|
|
public void Begin()
|
|
{
|
|
if (PollThreadObj == null)
|
|
{
|
|
PollThreadObj = new Thread(new ThreadStart(Poll));
|
|
PollThreadObj.Start();
|
|
}
|
|
}
|
|
public void Recenter()
|
|
{
|
|
first_imu_packet = true;
|
|
}
|
|
private float[] CenterSticks(UInt16[] vals)
|
|
{
|
|
|
|
float[] s = { 0, 0 };
|
|
for (uint i = 0; i < 2; ++i)
|
|
{
|
|
float diff = vals[i] - stick_cal[2 + i];
|
|
if (Math.Abs(diff) < deadzone) vals[i] = 0;
|
|
else if (diff > 0) // if axis is above center
|
|
{
|
|
s[i] = diff / stick_cal[i];
|
|
}
|
|
else
|
|
{
|
|
s[i] = diff / stick_cal[4 + i];
|
|
}
|
|
}
|
|
return s;
|
|
}
|
|
public void SetRumble(float low_freq, float high_freq, float amp, int time = 0)
|
|
{
|
|
if (state <= Joycon.state_.ATTACHED) return;
|
|
if (rumble_obj.timed_rumble == false || rumble_obj.t < 0)
|
|
{
|
|
rumble_obj = new Rumble(low_freq, high_freq, amp, time);
|
|
}
|
|
}
|
|
private void SendRumble(byte[] buf)
|
|
{
|
|
byte[] buf_ = new byte[report_len];
|
|
buf_[0] = 0x10;
|
|
buf_[1] = global_count;
|
|
if (global_count == 0xf) global_count = 0;
|
|
else ++global_count;
|
|
Array.Copy(buf, 0, buf_, 2, 8);
|
|
PrintArray(buf_, DebugType.RUMBLE, format: "Rumble data sent: {0:S}");
|
|
HIDapi.hid_write(handle, buf_, new UIntPtr(report_len));
|
|
}
|
|
private byte[] Subcommand(byte sc, byte[] buf, uint len, bool print = true)
|
|
{
|
|
byte[] buf_ = new byte[report_len];
|
|
byte[] response = new byte[report_len];
|
|
Array.Copy(default_buf, 0, buf_, 2, 8);
|
|
Array.Copy(buf, 0, buf_, 11, len);
|
|
buf_[10] = sc;
|
|
buf_[1] = global_count;
|
|
buf_[0] = 0x1;
|
|
if (global_count == 0xf) global_count = 0;
|
|
else ++global_count;
|
|
if (print) { PrintArray(buf_, DebugType.COMMS, len, 11, "Subcommand 0x" + string.Format("{0:X2}", sc) + " sent. Data: 0x{0:S}"); };
|
|
HIDapi.hid_write(handle, buf_, new UIntPtr(len + 11));
|
|
int res = HIDapi.hid_read_timeout(handle, response, new UIntPtr(report_len), 50);
|
|
if (res < 1) DebugPrint("No response.", DebugType.COMMS);
|
|
else if (print) { PrintArray(response, DebugType.COMMS, report_len - 1, 1, "Response ID 0x" + string.Format("{0:X2}", response[0]) + ". Data: 0x{0:S}"); }
|
|
return response;
|
|
}
|
|
private void dump_calibration_data()
|
|
{
|
|
byte[] buf_ = ReadSPI(0x80, (isLeft ? (byte)0x12 : (byte)0x1d), 9); // get user calibration data if possible
|
|
bool found = false;
|
|
for (int i = 0; i < 9; ++i)
|
|
{
|
|
if (buf_[i] != 0xff)
|
|
{
|
|
Debug.Log("Using user stick calibration data.");
|
|
found = true;
|
|
break;
|
|
}
|
|
}
|
|
if (!found)
|
|
{
|
|
Debug.Log("Using factory stick calibration data.");
|
|
buf_ = ReadSPI(0x60, (isLeft ? (byte)0x3d : (byte)0x46), 9); // get user calibration data if possible
|
|
}
|
|
stick_cal[isLeft ? 0 : 2] = (UInt16)((buf_[1] << 8) & 0xF00 | buf_[0]); // X Axis Max above center
|
|
stick_cal[isLeft ? 1 : 3] = (UInt16)((buf_[2] << 4) | (buf_[1] >> 4)); // Y Axis Max above center
|
|
stick_cal[isLeft ? 2 : 4] = (UInt16)((buf_[4] << 8) & 0xF00 | buf_[3]); // X Axis Center
|
|
stick_cal[isLeft ? 3 : 5] = (UInt16)((buf_[5] << 4) | (buf_[4] >> 4)); // Y Axis Center
|
|
stick_cal[isLeft ? 4 : 0] = (UInt16)((buf_[7] << 8) & 0xF00 | buf_[6]); // X Axis Min below center
|
|
stick_cal[isLeft ? 5 : 1] = (UInt16)((buf_[8] << 4) | (buf_[7] >> 4)); // Y Axis Min below center
|
|
|
|
PrintArray(stick_cal, len: 6, start: 0, format: "Stick calibration data: {0:S}");
|
|
|
|
buf_ = ReadSPI(0x60, (isLeft ? (byte)0x86 : (byte)0x98), 16);
|
|
deadzone = (UInt16)((buf_[4] << 8) & 0xF00 | buf_[3]);
|
|
|
|
buf_ = ReadSPI(0x80, 0x34, 10);
|
|
gyr_neutral[0] = (Int16)(buf_[0] | ((buf_[1] << 8) & 0xff00));
|
|
gyr_neutral[1] = (Int16)(buf_[2] | ((buf_[3] << 8) & 0xff00));
|
|
gyr_neutral[2] = (Int16)(buf_[4] | ((buf_[5] << 8) & 0xff00));
|
|
PrintArray(gyr_neutral, len: 3, d: DebugType.IMU, format: "User gyro neutral position: {0:S}");
|
|
|
|
// This is an extremely messy way of checking to see whether there is user stick calibration data present, but I've seen conflicting user calibration data on blank Joy-Cons. Worth another look eventually.
|
|
if (gyr_neutral[0] + gyr_neutral[1] + gyr_neutral[2] == -3 || Math.Abs(gyr_neutral[0]) > 100 || Math.Abs(gyr_neutral[1]) > 100 || Math.Abs(gyr_neutral[2]) > 100)
|
|
{
|
|
buf_ = ReadSPI(0x60, 0x29, 10);
|
|
gyr_neutral[0] = (Int16)(buf_[3] | ((buf_[4] << 8) & 0xff00));
|
|
gyr_neutral[1] = (Int16)(buf_[5] | ((buf_[6] << 8) & 0xff00));
|
|
gyr_neutral[2] = (Int16)(buf_[7] | ((buf_[8] << 8) & 0xff00));
|
|
PrintArray(gyr_neutral, len: 3, d: DebugType.IMU, format: "Factory gyro neutral position: {0:S}");
|
|
}
|
|
}
|
|
private byte[] ReadSPI(byte addr1, byte addr2, uint len, bool print = false)
|
|
{
|
|
byte[] buf = { addr2, addr1, 0x00, 0x00, (byte)len };
|
|
byte[] read_buf = new byte[len];
|
|
byte[] buf_ = new byte[len + 20];
|
|
|
|
for (int i = 0; i < 100; ++i)
|
|
{
|
|
buf_ = Subcommand(0x10, buf, 5, false);
|
|
if (buf_[15] == addr2 && buf_[16] == addr1)
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
Array.Copy(buf_, 20, read_buf, 0, len);
|
|
if (print) PrintArray(read_buf, DebugType.COMMS, len);
|
|
return read_buf;
|
|
}
|
|
private void PrintArray<T>(T[] arr, DebugType d = DebugType.NONE, uint len = 0, uint start = 0, string format = "{0:S}")
|
|
{
|
|
if (d != debug_type && debug_type != DebugType.ALL) return;
|
|
if (len == 0) len = (uint)arr.Length;
|
|
string tostr = "";
|
|
for (int i = 0; i < len; ++i)
|
|
{
|
|
tostr += string.Format((arr[0] is byte) ? "{0:X2} " : ((arr[0] is float) ? "{0:F} " : "{0:D} "), arr[i + start]);
|
|
}
|
|
DebugPrint(string.Format(format, tostr), d);
|
|
}
|
|
}
|