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Python3/Logger/Serial/basic_seriallogger_v5.py

@@ -0,0 +1,72 @@
+import serial
+import struct
+import datetime
+import csv
+
+PORT = 'COM3'
+BAUD = 921600
+
+MAGIC = 0xABCD
+FRAME_FMT = '<HI6h6hH'
+FRAME_SIZE = struct.calcsize(FRAME_FMT)
+
+def crc16(data: bytes) -> int:
+    c = 0
+    for b in data:
+        c ^= b
+    return c
+
+ser = serial.Serial(PORT, BAUD, timeout=1)
+buffer = bytearray()
+
+start_ts = None
+start_time = None
+
+csv_file = open('imu_log.csv', 'w', newline='')
+writer = csv.writer(csv_file)
+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'
+])
+
+print("Listening...")
+
+try:
+    while True:
+        buffer += ser.read(512)
+
+        while len(buffer) >= FRAME_SIZE:
+            if buffer[0:2] != MAGIC.to_bytes(2, 'little'):
+                buffer.pop(0)
+                continue
+
+            frame = buffer[:FRAME_SIZE]
+            buffer = buffer[FRAME_SIZE:]
+
+            unpacked = struct.unpack(FRAME_FMT, frame)
+            crc_rx = unpacked[-1]
+            crc_calc = crc16(frame[:-2])
+
+            if crc_rx != crc_calc:
+                continue  # frame corrotto
+
+            ts_us = unpacked[1]
+
+            if start_ts is None:
+                start_ts = ts_us
+                start_time = datetime.datetime.now()
+
+            abs_time = start_time + datetime.timedelta(
+                microseconds=(ts_us - start_ts)
+            )
+
+            writer.writerow([
+                abs_time.strftime('%Y-%m-%d %H:%M:%S.%f')[:-3],
+                *unpacked[2:14]
+            ])
+
+except KeyboardInterrupt:
+    csv_file.close()
+    ser.close()
+    print("Stopped")