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Python3/Logger/Binary/imu_logger_binario_v1.py

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+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")