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imu and adc work, but not at the same time x.x

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ggw
2026-04-29 11:18:49 -05:00
parent 4e4ea8f15e
commit 9e84f39fb1
7 changed files with 83 additions and 41 deletions
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code/l452_code/packet_parser.py
+31 -11
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@@ -48,12 +48,15 @@ ser.timeout = 5
ys = []
imu_readings = {}
for i in range(1000):
ser.write(b'R')
data = ser.read(1024)
index = 0
while (index < 1024):
packet_type = (data[index + 1]<<8) + data[index]
#print(packet_type)
ind = [i for i,t in enumerate(types) if t['type_code'] == packet_type]
if len(ind) != 1:
break
@@ -62,17 +65,34 @@ for i in range(1000):
for e in t['elements']:
block = d[e['offset']:e['offset'] + e['size']]
element_size = int(len(block) / e['n_elements'])
if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
chunked = [int.from_bytes(block[i:i + element_size - 1], byteorder='little', signed = True) for i in range(0, len(block), element_size)]
#BB = [block[i:i + element_size] for i in range(0, len(block), element_size)]
#if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
ys += chunked
plt.clf()
dat = np.array(ys[-1000:])
plt.plot(dat, 'k.', linestyle = '--')#signal.filtfilt(b, a, dat))
plt.pause(0.01)
##print(BB)
e['readings'].append(chunked)
# if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
# chunked = [(2.4 / (1<<24)) * int.from_bytes(block[i:i + element_size], byteorder='little', signed = True) for i in range(0, len(block), element_size)]
# #BB = [block[i:i + element_size] for i in range(0, len(block), element_size)]
# #if t['type_name'] == b'packet_ekg' and e['name'] == b'readings_cnts[50]':
# ys += chunked
# plt.clf()
# dat = np.array(ys[-1000:])
# plt.plot(dat, 'k.', linestyle = '--')#signal.filtfilt(b, a, dat))
# plt.pause(0.01)
# ##print(BB)
# e['readings'].append(chunked)
if t['type_name'] == b'packet_imu' and e['name'] == b'readings_cnts[4]':
imu_reading_type = block[0] >> 3
imu_reading_tag_cnt = (block[0] >> 1) & 3 # tag count is sensor time slow
reading_xyz = [int.from_bytes(block[2:4], byteorder = 'big', signed = True),
int.from_bytes(block[4:6], byteorder = 'big', signed = True),
int.from_bytes(block[6:8], byteorder = 'big', signed = True)]
if imu_reading_type == 1:
#print("{:02x} {:d}".format(imu_reading_type, imu_reading_tag_cnt))
print("Gyro: {:f} {:f} {:f}".format(*[250 * e / (1<<16) for e in reading_xyz]))
elif imu_reading_type == 2:
print("Acc: {:f} {:f} {:f}".format(*[4 * e / (1<<16) for e in reading_xyz]))
else:
print("ERR")
#chunked = [int.from_bytes(block[i:i + element_size], byteorder='little', signed = True) for i in range(0, len(block), element_size)]
#print(chunked)
#print(t['type_name'])
index += 2 + t['size']
#for t in types: