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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
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+import serial
+import struct
+import math
+
+# --- impostazioni ---
+G = 9.80665
+ACC_LSB = 2048.0
+GYRO_LSB = 16.4
+
+def acc_raw_to_ms2(raw):
+    return (raw / ACC_LSB) * G
+
+def gyro_raw_to_rad(raw):
+    return (raw / GYRO_LSB) * (math.pi / 180.0)
+
+# apri seriale
+ser = serial.Serial('COM8', 2000000)
+
+frame_format = '<HIhhhhhhHH'  # magic, ts, imu1(ax..gz), imu2(ax..gz), crc
+frame_size = struct.calcsize(frame_format)
+
+while True:
+    buf = ser.read(frame_size)
+    if len(buf) != frame_size:
+        continue
+
+    unpacked = struct.unpack(frame_format, buf)
+    magic, ts = unpacked[0], unpacked[1]
+    imu1_raw = unpacked[2:8]
+    imu2_raw = unpacked[8:14]
+
+    # conversione accelerometro e giroscopio
+    imu1 = [round(acc_raw_to_ms2(imu1_raw[0]), 2),
+            round(acc_raw_to_ms2(imu1_raw[1]), 2),
+            round(acc_raw_to_ms2(imu1_raw[2]), 2),
+            round(gyro_raw_to_rad(imu1_raw[3]), 2),
+            round(gyro_raw_to_rad(imu1_raw[4]), 2),
+            round(gyro_raw_to_rad(imu1_raw[5]), 2)]
+
+    imu2 = [round(acc_raw_to_ms2(imu2_raw[0]), 2),
+            round(acc_raw_to_ms2(imu2_raw[1]), 2),
+            round(acc_raw_to_ms2(imu2_raw[2]), 2),
+            round(gyro_raw_to_rad(imu2_raw[3]), 2),
+            round(gyro_raw_to_rad(imu2_raw[4]), 2),
+            round(gyro_raw_to_rad(imu2_raw[5]), 2)]
+
+    print(f"t={ts} imu1={imu1} imu2={imu2}")