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Python3/Logger/Binary/imu_logger_binario_v2.py

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+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())