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Code backup
2026-05-10 16:59:01 +02:00
commit 368d6fafea
796 changed files with 315310 additions and 0 deletions
@@ -0,0 +1,82 @@
+import serial
+import struct
+import csv
+from datetime import datetime, timedelta
+
+# ================= CONFIG =================
+PORT = "COM3"          # <-- cambia
+BAUD = 921600
+OUT_CSV = "imu_log.csv"
+
+FRAME_FMT = "<H I 6h 6h H"   # little-endian
+FRAME_SIZE = struct.calcsize(FRAME_FMT)
+MAGIC = 0xABCD
+
+# ================= CRC ====================
+def crc16_xor(data: bytes) -> int:
+    c = 0
+    for b in data:
+        c ^= b
+    return c & 0xFFFF
+
+# ================= SERIAL =================
+ser = serial.Serial(PORT, BAUD, timeout=1)
+
+buffer = bytearray()
+
+start_wall_time = None
+start_ts_us = None
+
+print("Listening...")
+
+try:
+    with open(OUT_CSV, "w", newline="") as f:
+        writer = csv.writer(f)
+        writer.writerow([
+            "timestamp",
+            "imu1_ax","imu1_ay","imu1_az","imu1_gx","imu1_gy","imu1_gz",
+            "imu2_ax","imu2_ay","imu2_az","imu2_gx","imu2_gy","imu2_gz"
+        ])
+
+        while True:
+            buffer += ser.read(1024)
+
+            while len(buffer) >= FRAME_SIZE:
+                # cerca MAGIC
+                if buffer[0] != 0xCD or buffer[1] != 0xAB:
+                    buffer.pop(0)
+                    continue
+
+                frame = buffer[:FRAME_SIZE]
+                buffer = buffer[FRAME_SIZE:]
+
+                # unpack
+                magic, ts_us, *imu, crc = struct.unpack(FRAME_FMT, frame)
+
+                # CRC check
+                if crc16_xor(frame[:-2]) != crc:
+                    continue
+
+                # inizializza tempo base
+                if start_wall_time is None:
+                    start_wall_time = datetime.now()
+                    start_ts_us = ts_us
+
+                # timestamp assoluto coerente con ESP
+                delta_us = ts_us - start_ts_us
+                ts = start_wall_time + timedelta(microseconds=delta_us)
+
+                writer.writerow([
+                    ts.strftime("%Y-%m-%d %H:%M:%S.%f")[:-3],
+                    *imu
+                ])
+
+                # logging si può escludere
+                print(
+                    ts.strftime("%H:%M:%S.%f")[:-3],
+                    "| 1:", tuple(imu[:6]),
+                    "| 2:", tuple(imu[6:])
+                )
+except KeyboardInterrupt:
+    ser.close()
+    print("Stopped")
@@ -0,0 +1,69 @@
+import serial
+import struct
+from datetime import datetime, timedelta
+
+# ================= CONFIG =================
+PORT = "COM17"       # <-- cambia
+BAUD = 2000000
+OUT_FILE = "imu_log.txt"
+
+FRAME_FMT = "<H I 6f 6f H"
+# FRAME_FMT = "<H I 6h 6h H"
+FRAME_SIZE = struct.calcsize(FRAME_FMT)
+MAGIC = 0xABCD
+
+# ================= CRC ====================
+def crc16_xor(data: bytes) -> int:
+    c = 0
+    for b in data:
+        c ^= b
+    return c & 0xFFFF
+
+# ================= SERIAL =================
+ser = serial.Serial(PORT, BAUD, timeout=1)
+buffer = bytearray()
+
+start_wall_time = None
+start_ts_us = None
+
+print("Listening...")
+
+with open(OUT_FILE, "w", encoding="utf-8") as f:
+    while True:
+        buffer += ser.read(1024)
+
+        while len(buffer) >= FRAME_SIZE:
+            # ricerca MAGIC (0xABCD little-endian)
+            if buffer[0] != 0xCD or buffer[1] != 0xAB:
+                buffer.pop(0)
+                continue
+
+            frame = buffer[:FRAME_SIZE]
+            buffer = buffer[FRAME_SIZE:]
+
+            magic, ts_us, *imu, crc = struct.unpack(FRAME_FMT, frame)
+
+            if crc16_xor(frame[:-2]) != crc:
+                continue
+
+            # tempo base
+            if start_wall_time is None:
+                start_wall_time = datetime.now()
+                start_ts_us = ts_us
+
+            delta_us = ts_us - start_ts_us
+            ts = start_wall_time + timedelta(microseconds=delta_us)
+
+            imu1 = imu[:6]
+            imu2 = imu[6:]
+
+            line = (
+                f"{ts.strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]}"
+                f"|1:{','.join(map(str, imu1))}"
+                f"|2:{','.join(map(str, imu2))}\n"
+            )
+
+            f.write(line)
+            f.flush()   # rimuovi se vuoi più performance
+
+            print(line.strip())
@@ -0,0 +1,92 @@
+import serial
+import struct
+from datetime import datetime, timedelta
+
+# ================= CONFIG =================
+PORT = "COM17"       # <-- cambia
+BAUD = 2000000
+OUT_FILE = "imu_log.txt"
+
+# Formato frame ESP32 (raw)
+FRAME_FMT = "<H I 6h 6h H"   # magic, ts_us, imu1 6x int16, imu2 6x int16, crc
+FRAME_SIZE = struct.calcsize(FRAME_FMT)
+MAGIC_BYTES = b'\xCD\xAB'
+
+# Conversione accelerometro e giroscopio
+ACC_LSB_PER_G = 2048.0
+G_CONST = 9.80665
+GYRO_LSB_PER_DPS = 16.4
+DEG2RAD = 0.017453292519943295
+
+# ================= CRC ====================
+def crc16_xor(data: bytes) -> int:
+    c = 0
+    for b in data:
+        c ^= b
+    return c & 0xFFFF
+
+# ================= SERIAL =================
+ser = serial.Serial(PORT, BAUD, timeout=1)
+buffer = bytearray()
+
+start_wall_time = None
+start_ts_us = None
+
+print("Listening...")
+
+def convert_acc(raw):
+    return round(((raw / ACC_LSB_PER_G) * G_CONST)/10, 2)
+
+def convert_gyro(raw):
+    return round((raw / GYRO_LSB_PER_DPS) * DEG2RAD, 2)
+
+with open(OUT_FILE, "w", encoding="utf-8") as f:
+    while True:
+        buffer += ser.read(1024)
+
+        while True:
+            idx = buffer.find(MAGIC_BYTES)
+            if idx == -1:
+                buffer.clear()
+                break
+            if idx > 0:
+                buffer = buffer[idx:]
+            if len(buffer) < FRAME_SIZE:
+                break
+
+            frame = buffer[:FRAME_SIZE]
+            buffer = buffer[FRAME_SIZE:]
+
+            magic, ts_us, *imu_raw, crc = struct.unpack(FRAME_FMT, frame)
+
+            if crc16_xor(frame[:-2]) != crc:
+                print("CRC error (resync)")
+                continue
+
+            # Base timestamp
+            if start_wall_time is None:
+                start_wall_time = datetime.now()
+                start_ts_us = ts_us
+
+            delta_us = ts_us - start_ts_us
+            ts = start_wall_time + timedelta(microseconds=delta_us)
+
+            # Split raw dati
+            imu1_raw = imu_raw[:6]
+            imu2_raw = imu_raw[6:]
+
+            # Conversione in m/s² e rad/s
+            imu1 = [convert_acc(imu1_raw[0]), convert_acc(imu1_raw[1]), convert_acc(imu1_raw[2]),
+                    convert_gyro(imu1_raw[3]), convert_gyro(imu1_raw[4]), convert_gyro(imu1_raw[5])]
+            imu2 = [convert_acc(imu2_raw[0]), convert_acc(imu2_raw[1]), convert_acc(imu2_raw[2]),
+                    convert_gyro(imu2_raw[3]), convert_gyro(imu2_raw[4]), convert_gyro(imu2_raw[5])]
+
+            line = (
+                f"{ts.strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]}"
+                f"|1,{','.join(f'{v:.2f}' for v in imu1)}"
+                f"|2,{','.join(f'{v:.2f}' for v in imu2)}\n"
+            )
+
+            f.write(line)
+            f.flush()
+            print(line.strip())