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Commit 4474e3f0 authored by Philémon Prévot's avatar Philémon Prévot
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CLOCK.CFG deleted 100755 → 0
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//System Configuration File
CLOCKTIME= 01/12/2020 14:30:00;
\ No newline at end of file
JConfig.CFG deleted 100755 → 0
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//System Configuration File
Sampling_Resolution=16; // 16 = Resolution in bits (8 or 16)
Sampling_Freq=256000; // 256000 = Sampling frequency(in sample //per sec). Possibles values are //512000,256000, 128000,64000 With WidBand //Filters, or 512000, //128000,32000,8000 With Low Latency //filter
Filter_Selection=1; // = 1 ; filter selection. Possibles //values are:
//0->Wideband1 (0.45 to0.55)×fDATA
//1->Wideband2 (0.40 to0.50)×fDATA
//2->LowLatency
AutoStart=true; // = true = Auto record at boot
FILE_Size_Limit=150000000;//File Size limitation (in bytes) = //150000000 for 5 minutes
Record_Use_TimeInterval=true; //Set or unset the discrete recording
Shutdown_Duration=5; //Time period of wait time between each record (in seconds)
Preparing_Duration=5; //Time to boot and prepare Pic 32 (SD Card or HDD is not the same)
Recording_Duration=5; //Time period of record (in seconds)
Stopping_Duration=5; //Time to stop Pic 32 (SD Card or HDD is not the same)
Channel_Count=2; //Number of channels to record
Storage_Target=SD; //Storage target (SD for SD card, HDD for hard disk drive or USB for Device mode)
CNN_Detection_Timeout_Duration=30;
GSM_Data_Send_Timeout_Duration=3;
Nb_Remontes_Par_Jour=10;
Rapport2wavs.py deleted 100644 → 0
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import numpy as np
import soundfile as sf
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('filename')
args = parser.parse_args()
RORQUAL_HOPSIZE, RORQUAL_WINSIZE, RORQUAL_FE, RORQUAL_SAMPLEPERSAMPLE, RORQUAL_LENSIG = 256, 4096, 4000, 25600, 60
CACHA_HOPSIZE, CACHA_WINSIZE, CACHA_FE, CACHA_SAMPLEPERSAMPLE, CACHA_LENSIG = 256, 512, 64000, 12800, 60
CACHA_RAPPORT_FE, RORQUAL_RAPPORT_FE, RAPPORT_N_CHANNELS = 128_000, 128_00, 5
CACHA_NUM_DETEC, RORQUAL_NUM_DETEC = 10, 3
rorqual_predPos = lambda p: int(((p * RORQUAL_HOPSIZE + (RORQUAL_WINSIZE/2 + RORQUAL_HOPSIZE * 13) / 2) / RORQUAL_FE - 1) * RORQUAL_RAPPORT_FE)
cacha_predPos = lambda p: int(((p * CACHA_HOPSIZE * 8 + (CACHA_WINSIZE + CACHA_HOPSIZE * 7 * 6) / 4 ) / CACHA_FE - 0.05) * CACHA_RAPPORT_FE)
file = open(args.filename, 'r')
lines = iter(file.readlines())
for l in lines:
if l == ' rorqual predPeaks\n':
l = next(lines)
if ',' in l:
sig = np.zeros((RORQUAL_LENSIG * RORQUAL_RAPPORT_FE, RAPPORT_N_CHANNELS), dtype='int16')
peaks = np.array(l[:-2].split(',')).astype(int)
l = next(lines)
for p in peaks[:RORQUAL_NUM_DETEC]:
l = next(lines)
samples = np.array(l[:-2].split(',')).astype('int16').reshape(-1, RAPPORT_N_CHANNELS)
sig[rorqual_predPos(p):rorqual_predPos(p)+RORQUAL_SAMPLEPERSAMPLE] = samples[:min(rorqual_predPos(p)+RORQUAL_SAMPLEPERSAMPLE, len(sig))-rorqual_predPos(p)]
sf.write(f'{args.filename[:-8]}_rorqual.wav', sig, RORQUAL_RAPPORT_FE)
if l == ' cacha predPeaks\n':
l = next(lines)
if ',' in l:
sig = np.zeros((CACHA_LENSIG * CACHA_RAPPORT_FE, RAPPORT_N_CHANNELS), dtype='int16')
peaks = np.array(l[:-2].split(',')).astype(int)
l = next(lines)
for p in peaks[:CACHA_NUM_DETEC]:
l = next(lines)
samples = np.array(l[:-2].split(',')).astype('int16').reshape(-1, RAPPORT_N_CHANNELS)
sig[cacha_predPos(p):cacha_predPos(p)+CACHA_SAMPLEPERSAMPLE] = samples
sf.write(f'{args.filename[:-8]}_cacha.wav', sig, CACHA_RAPPORT_FE)
file.close()
RapportIMU2txt deleted 100755 → 0
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RapportIMU2txt.c deleted 100755 → 0
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// by paul
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <math.h>
#define NTOAS_MAX 200
#define RORQUAL_SAMPLE_RATE 4000
#define RORQUAL_LENSIG RORQUAL_SAMPLE_RATE*60 // load 60sec
#define RORQUAL_WINSIZE 4096
#define RORQUAL_LENSPEC (RORQUAL_LENSIG - RORQUAL_WINSIZE)/RORQUAL_HOPSIZE
#define RORQUAL_HOPSIZE 256
#define RORQUAL_LENPRED RORQUAL_LENSPEC - (5-1)*3 //3 layers of kernel size 5
#define RORQUAL_RAPPORT_NSAMPLESTOSEND 3 // see cacha
#define RORQUAL_RAPPORT_SAMPLE_RATE 12800
#define RORQUAL_RAPPORT_SAMPLESPERSAMPLE 25600 // see cacha
#define CACHA_SAMPLE_RATE 64000
#define CACHA_LENSIG CACHA_SAMPLE_RATE*60 // load 10sec
#define CACHA_WINSIZE 512
#define CACHA_LENSPEC (CACHA_LENSIG - CACHA_WINSIZE)/CACHA_HOPSIZE
#define CACHA_HOPSIZE 256
#define CACHA_LENPRED (((CACHA_LENSPEC - 6)/2 - 6)/2 -6)/2 // 3 layers hopsize 2 kernel 7
#define CACHA_RAPPORT_NSAMPLESTOSEND 10 // a sample is positionned at a high pred from the cnn, we extract the audio signal arround to send back via network
#define CACHA_RAPPORT_SAMPLE_RATE 128000
#define CACHA_RAPPORT_SAMPLESPERSAMPLE 12800// number of audio samples per high pred sample to send back
#define RAPPORT_CHANNELS 5 // number of channels recorded to include in the report
#define ADDITIONNAL_DATA_SIZE 736
#define trameSize 31
typedef struct{
float predsC[CACHA_LENPRED]; //len of preds for 10sec signal
short numDetectionsCachalot;
float predsR[RORQUAL_LENPRED]; //len of preds for 60sec signal
short numDetectionsRorqual;
char fileName[50]; //Nom du fichier concerne
// int ToAs_cacha[NTOAS_MAX];
// unsigned char hydros_ToAs_cacha[NTOAS_MAX];
short predPeaksR[RORQUAL_RAPPORT_NSAMPLESTOSEND]; //indices of predPeaks for rorqual
short predPeaksC[CACHA_RAPPORT_NSAMPLESTOSEND]; //indices of predPeaks for cachalot
unsigned char imuR[RORQUAL_RAPPORT_NSAMPLESTOSEND][ADDITIONNAL_DATA_SIZE];
unsigned char imuC[RORQUAL_RAPPORT_NSAMPLESTOSEND][ADDITIONNAL_DATA_SIZE];
int16_t samplesR[RORQUAL_RAPPORT_NSAMPLESTOSEND][RORQUAL_RAPPORT_SAMPLESPERSAMPLE][RAPPORT_CHANNELS]; // samples to send back for rorqual
int16_t samplesC[CACHA_RAPPORT_NSAMPLESTOSEND][CACHA_RAPPORT_SAMPLESPERSAMPLE][RAPPORT_CHANNELS]; // samples to send back for cachalot
}RAPPORT;
int main(int argc, char* argv[]){
// printf("Have you checked rorqual and cacha lensigs and config ?? (needs to match with pic32\'s)");
FILE* infile = fopen(argv[1], "rb");
if(infile==NULL){
printf("Failed to open input file\n");
return 0;
}
static RAPPORT rapport;
int i, j, timestamp;
unsigned char* curData;
short int val;
fread(&rapport, sizeof(RAPPORT), 1, infile);
printf("%d cacha and %d rorqual", rapport.numDetectionsCachalot, rapport.numDetectionsRorqual);
strcpy(argv[1] + strlen(argv[1])-5, "_imuC.txt\0");
FILE* outfile = fopen(argv[1], "w+");
if(outfile==NULL){
printf("Failed to open output file\n");
return 0;
}
for(j=0; j<rapport.numDetectionsCachalot; j++){
curData = rapport.imuC[j] + 6;
while(curData + trameSize + 6 < rapport.imuC[j] + ADDITIONNAL_DATA_SIZE){
if(!(curData[0]==0xFE && curData[1]==0x0A && curData[2]==0x0A && curData[5]==0x08)){
// skip trame if header is incorrect
curData += trameSize + 6;
continue;
}
curData += 3 + 2; // skip trame header, trame length
timestamp = *((int*) (curData + 9));
timestamp = ((timestamp & 0xFF000000)>>24) | ((timestamp & 0x00FF0000)>>8) | ((timestamp & 0x0000FF00)<<8) | ((timestamp & 0x000000FF)<<24);
fprintf(outfile, "%d,", timestamp);
for(i=13; i<31; i+=2){
val = *((short int*) (curData + i));
val = ((val & 0x00FF)<<8) | ((val & 0xFF00)>>8);
if(i<29){
fprintf(outfile, "%hd,", val);
}else{
fprintf(outfile, "%hd\n", val);
}
}
curData += trameSize + 1;
}
fprintf(outfile, "\n");
}
fclose(outfile);
strcpy(argv[1] + strlen(argv[1])-5, "R.txt\0");
outfile = fopen(argv[1], "w+");
if(outfile==NULL){
printf("Failed to open output file\n");
return 0;
}
for(j=0; j<rapport.numDetectionsRorqual; j++){
curData = rapport.imuR[j] + 6;
while(curData + trameSize + 6 < rapport.imuR[j] + ADDITIONNAL_DATA_SIZE){
if(!(curData[0]==0xFE && curData[1]==0x0A && curData[2]==0x0A && curData[5]==0x08)){
// skip trame if header is incorrect
curData += trameSize + 6;
continue;
}
curData += 3 + 2; // skip trame header, trame length
timestamp = *((int*) (curData + 9));
timestamp = ((timestamp & 0xFF000000)>>24) | ((timestamp & 0x00FF0000)>>8) | ((timestamp & 0x0000FF00)<<8) | ((timestamp & 0x000000FF)<<24);
fprintf(outfile, "%d,", timestamp);
for(i=13; i<31; i+=2){
val = *((short int*) (curData + i));
val = ((val & 0x00FF)<<8) | ((val & 0xFF00)>>8);
if(i<29){
fprintf(outfile, "%hd,", val);
}else{
fprintf(outfile, "%hd\n", val);
}
}
curData += trameSize + 1;
}
fprintf(outfile, "\n");
}
fclose(outfile);
fclose(infile);
return 0;
}
RapportInfo2txt deleted 100755 → 0
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RapportInfo2txt.c deleted 100755 → 0
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// by paul
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <math.h>
#define NTOAS_MAX 200
#define RORQUAL_SAMPLE_RATE 4000
#define RORQUAL_LENSIG RORQUAL_SAMPLE_RATE*60 // load 60sec
#define RORQUAL_WINSIZE 4096
#define RORQUAL_LENSPEC (RORQUAL_LENSIG - RORQUAL_WINSIZE)/RORQUAL_HOPSIZE
#define RORQUAL_HOPSIZE 256
#define RORQUAL_LENPRED RORQUAL_LENSPEC - (5-1)*3 //3 layers of kernel size 5
#define RORQUAL_RAPPORT_NSAMPLESTOSEND 3 // see cacha
#define RORQUAL_RAPPORT_SAMPLE_RATE 12800
#define RORQUAL_RAPPORT_SAMPLESPERSAMPLE 25600 // see cacha
#define CACHA_SAMPLE_RATE 64000
#define CACHA_LENSIG CACHA_SAMPLE_RATE*60 // load 10sec
#define CACHA_WINSIZE 512
#define CACHA_LENSPEC (CACHA_LENSIG - CACHA_WINSIZE)/CACHA_HOPSIZE
#define CACHA_HOPSIZE 256
#define CACHA_LENPRED (((CACHA_LENSPEC - 6)/2 - 6)/2 -6)/2 // 3 layers hopsize 2 kernel 7
#define CACHA_RAPPORT_NSAMPLESTOSEND 10 // a sample is positionned at a high pred from the cnn, we extract the audio signal arround to send back via network
#define CACHA_RAPPORT_SAMPLE_RATE 128000
#define CACHA_RAPPORT_SAMPLESPERSAMPLE 12800// number of audio samples per high pred sample to send back
#define RAPPORT_CHANNELS 5 // number of channels recorded to include in the report
#define ADDITIONNAL_DATA_SIZE 736
typedef struct{
float predsC[CACHA_LENPRED]; //len of preds for 10sec signal
short numDetectionsCachalot;
float predsR[RORQUAL_LENPRED]; //len of preds for 60sec signal
short numDetectionsRorqual;
char fileName[50]; //Nom du fichier concerne
// int ToAs_cacha[NTOAS_MAX];
// unsigned char hydros_ToAs_cacha[NTOAS_MAX];
short predPeaksR[RORQUAL_RAPPORT_NSAMPLESTOSEND]; //indices of predPeaks for rorqual
short predPeaksC[CACHA_RAPPORT_NSAMPLESTOSEND]; //indices of predPeaks for cachalot
unsigned char imuR[RORQUAL_RAPPORT_NSAMPLESTOSEND][ADDITIONNAL_DATA_SIZE];
unsigned char imuC[CACHA_RAPPORT_NSAMPLESTOSEND][ADDITIONNAL_DATA_SIZE];
int16_t samplesR[RORQUAL_RAPPORT_NSAMPLESTOSEND][RORQUAL_RAPPORT_SAMPLESPERSAMPLE][RAPPORT_CHANNELS]; // samples to send back for rorqual
int16_t samplesC[CACHA_RAPPORT_NSAMPLESTOSEND][CACHA_RAPPORT_SAMPLESPERSAMPLE][RAPPORT_CHANNELS]; // samples to send back for cachalot
}RAPPORT;
int main(int argc, char* argv[]){
// printf("Have you checked rorqual and cacha lensigs and config ?? (needs to match with pic32\'s)");
FILE* infile = fopen(argv[1], "rb");
if(infile==NULL){
printf("Failed to open input file\n");
return 0;
}
strcpy(argv[1] + strlen(argv[1])-4, "txt\0");
FILE* outfile = fopen(argv[1], "w+");
if(outfile==NULL){
printf("Failed to open output file\n");
return 0;
}
static RAPPORT rapport;
fread(&rapport, sizeof(RAPPORT), 1, infile);
printf("Writing into %s with %d fin whale pulses and %d sperm whale clicks \n", argv[1], rapport.numDetectionsRorqual, rapport.numDetectionsCachalot);
int i, j, k;
fprintf(outfile, "Filename : %s \n", rapport.fileName);
fprintf(outfile, "\n rorqual preds\n");
for(i=0; i<RORQUAL_LENPRED; i++){
fprintf(outfile, "%f,", rapport.predsR[i]);
}
fprintf(outfile, "\n rorqual predPeaks\n");
for(i=0; i<rapport.numDetectionsRorqual; i++){
fprintf(outfile, "%hd,", rapport.predPeaksR[i]);
printf("%f ", rapport.predsR[rapport.predPeaksR[i]]);
}
if(rapport.numDetectionsRorqual > 0){
printf("\n");
}
fprintf(outfile, "\n rorqual samples\n");
for(i=0; i<rapport.numDetectionsRorqual; i++){
for(j=0; j<RORQUAL_RAPPORT_SAMPLESPERSAMPLE; j++){
for(k=0; k<RAPPORT_CHANNELS; k++){
fprintf(outfile, "%hd,", rapport.samplesR[i][j][k]);
}
}
fprintf(outfile, "\n");
}
fprintf(outfile, "cacha preds\n");
for(i=0; i<CACHA_LENPRED; i++){
fprintf(outfile, "%f,", rapport.predsC[i]);
}
fprintf(outfile, "\n cacha predPeaks\n");
for(i=0; i<rapport.numDetectionsCachalot; i++){
fprintf(outfile, "%hd,", rapport.predPeaksC[i]);
printf("%f ", rapport.predsC[rapport.predPeaksC[i]]);
}
if(rapport.numDetectionsCachalot > 0){
printf("\n");
}
fprintf(outfile, "\n cacha samples\n");
for(i=0; i < fmin(rapport.numDetectionsCachalot, CACHA_RAPPORT_NSAMPLESTOSEND); i++){
for(j=0; j<CACHA_RAPPORT_SAMPLESPERSAMPLE; j++){
for(k=0; k<RAPPORT_CHANNELS; k++){
fprintf(outfile, "%hd,", rapport.samplesC[i][j][k]);
}
}
fprintf(outfile, "\n");
}
fclose(infile);
fclose(outfile);
return 0;
}
log2wav deleted 100755 → 0
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log2wav.c deleted 100755 → 0
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// Jan. 2021
// by paul, inspired / recycled from microchip code by SMIOT
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <math.h>
#define MAX_PERIPHERAL 5 //Nombre max de peripheriques externes
typedef struct{
char Type; //type du peripherique (0x01 accel, 0x02 gyro, 0x03 magneto, 0x04 temperature, 0x05 pressure, 0x06 light,...)
char ID; //ID du peripherique
char Range; //Range de la mesure (ex: 2G, 4G, 6G, 8G, 16G pour un accel)
char Resolution; //Resolution de mesure du peripherique
short Frequency; //Frequence d'echantillonage du peripherique
}PERIPHERAL_CONFIGURATION;
typedef struct{
int headerSize; //Taille du header ce champ exclu
int versionNumber;
char numberOfChan;
char resolutionBits;
int samplingFrequency;
int dmaBlockSize;
int sizeOfAdditionnalDataBuffer;
char numberOfExternalPeripheral;
int timeStampOfStart;
PERIPHERAL_CONFIGURATION periphConfig[MAX_PERIPHERAL];
}HighBlueHeader;
struct WaveHeader_s {
char chunkId[4]; // Riff Wave Header
int chunkSize;
char format[4];
char subChunk1Id[4]; // Format Subchunk
int subChunk1Size;
short int audioFormat;
short int numChannels;
int sampleRate;
int byteRate;
short int blockAlign;
short int bitsPerSample;
//short int extraParamSize;
char subChunk2Id[4]; // Data Subchunk
int subChunk2Size;
} WaveHeader_default = {{'R','I','F','F'}, 36, {'W','A','V','E'}, {'f','m','t',' '}, 16, 1, 0, 0, 0, 0, 0, {'d','a','t','a'}, 0};
typedef struct WaveHeader_s WaveHeader;
void parseLogFileHeader(FILE* logfile, HighBlueHeader* hdr, int verbose){
// header parse
fread(&hdr->headerSize, 4, 1, logfile);
fread(&hdr->versionNumber, 2, 1, logfile);
fread(&hdr->numberOfChan, 1, 1, logfile);
fread(&hdr->resolutionBits, 1, 1, logfile);
fread(&hdr->samplingFrequency, 4, 1, logfile);
fread(&hdr->dmaBlockSize, 4, 1, logfile);
fread(&hdr->sizeOfAdditionnalDataBuffer, 4, 1, logfile);
fread(&hdr->numberOfExternalPeripheral, 1, 1, logfile);
fread(&hdr->timeStampOfStart, 4, 1, logfile);
if(verbose){
printf("header size : %d\n", hdr->headerSize);
printf("version number : %d\n", hdr->versionNumber);
printf("number of chans : %d\n", hdr->numberOfChan);
printf("resolutionBits : %d\n", hdr->resolutionBits);
printf("samplingFrequency : %d\n", hdr->samplingFrequency);
printf("dmaBlockSize : %d\n", hdr->dmaBlockSize);
printf("sizeOfAdditionnalDataBuffer : %d\n", hdr->sizeOfAdditionnalDataBuffer);
printf("numberOfExternalPeripheral : %d\n", hdr->numberOfExternalPeripheral);
printf("timeStampOfStart : %d\n", hdr->timeStampOfStart);
}
// load external periph config
for(int i=0; i<hdr->numberOfExternalPeripheral; i++){
fread(&hdr->periphConfig[i].Type, 1, 1, logfile);
fread(&hdr->periphConfig[i].ID, 1, 1, logfile);
fread(&hdr->periphConfig[i].Range, 1, 1, logfile);
fread(&hdr->periphConfig[i].Resolution, 1, 1, logfile);
fread(&hdr->periphConfig[i].Frequency, 2, 1, logfile);
}
return;
}
short int toLittleEndian(short int val){
return val = ((val & 0x00FF)<<8) | ((val & 0xFF00)>>8);
}
void parseMPU(unsigned char* additionnalDataBlock, int size, bool verbose, FILE* mpuFile){
static int maxtimeStamp = 0;
int i, timestamp;
short int trameSize = 31, val; // fixed for now
unsigned char* curData = additionnalDataBlock + 6; // first 6 bytes are for usb device
if(verbose){
printf("MPU Range : %hdG\n", *(curData + 5 + 3));
printf("MPU Resolution : %hd\n", *(curData + 5 + 3 + 1));
printf("MPU Sampling Frequency : %hd\n", *(curData + 5 + 3 + 3));
}
while(curData + trameSize + 6 < additionnalDataBlock + size){
if(!(curData[0]==0xFE && curData[1]==0x0A && curData[2]==0x0A && curData[5]==0x08)){
// skip trame if header is incorrect
curData += trameSize + 6;
continue;
}
curData += 3 + 2; // skip trame header, trame length
timestamp = *((int*) (curData + 9));
timestamp = ((timestamp & 0xFF000000)>>24) | ((timestamp & 0x00FF0000)>>8) | ((timestamp & 0x0000FF00)<<8) | ((timestamp & 0x000000FF)<<24);
if(timestamp > maxtimeStamp){
fprintf(mpuFile, "%d,", timestamp);
//printf("%d\n", timestamp);
// treat payload
for(i=13; i<31; i+=2){
val = *((short int*) (curData + i));
val = ((val & 0x00FF)<<8) | ((val & 0xFF00)>>8);
//printf("curData %x %x %hd", *(curData+i), *(curData + i +1), val);
if(i<29){
fprintf(mpuFile, "%hd,", val);
}else{
fprintf(mpuFile, "%hd\n", val);
}
}
maxtimeStamp = timestamp;
}
curData += trameSize + 1; // shift of trame size + 1 byte of checksum
}
}
int main(int argc, char* argv[]){
if(argc < 2){
printf("Script needs to be called with at least 1 arguments :\n\t input file name (.log file)\n\t(optionnal) output filename (.wav file)\n\t(optionnal) mpu filename (.csv file)\n\t(optionnal) verbose (1 / void)\n");
return 0;
}
HighBlueHeader hdr;
FILE* logfile = fopen(argv[1], "rb");
if(logfile==NULL){
printf("Failed to open input file\n");
return 0;
}
// get file size
fseek(logfile, 0, SEEK_END);
long filesize = ftell(logfile);
if(filesize == 0){
printf("skipped empty file : %s\n", argv[1]);
return 0;
}
fseek(logfile, 0, SEEK_SET);
int verbose = 0;
if(argc==5){
verbose = *argv[4]=='1';
}
// file opened successfully, we read the header
parseLogFileHeader(logfile, &hdr, verbose);
int resolutionBytes = hdr.resolutionBits/8;
long dataBlockSampleSize = hdr.dmaBlockSize / ( hdr.numberOfChan * resolutionBytes);
if(verbose){
printf("file size (bytes) %ld \n", filesize);
printf("dataBlockSampleSize %ld\n", dataBlockSampleSize);
}
if(hdr.resolutionBits!=16 && hdr.resolutionBits!=24 && hdr.resolutionBits!=32){
printf("resolution %d not supported yet sorry\n", hdr.resolutionBits);
return 0;
}
// move to start of the data
fseek(logfile, hdr.headerSize + 4, SEEK_SET);
FILE* wavfile;// open wav file
if(argc>2){
wavfile = fopen(argv[2], "wb");
}else{
strcpy(argv[1] + strlen(argv[1])-3, "wav\0");
wavfile = fopen(argv[1], "wb");
}
if(wavfile==NULL){
printf("Failed to open wav output file\n");
return 0;
}
WaveHeader whdr = WaveHeader_default;
whdr.numChannels = hdr.numberOfChan;
whdr.sampleRate = hdr.samplingFrequency;
whdr.bitsPerSample = hdr.resolutionBits;
whdr.byteRate = whdr.sampleRate * whdr.numChannels * resolutionBytes;
whdr.blockAlign = whdr.numChannels * resolutionBytes;
whdr.chunkSize = 36 + (filesize - hdr.headerSize - 4) / (hdr.dmaBlockSize + hdr.sizeOfAdditionnalDataBuffer) * hdr.numberOfChan * dataBlockSampleSize * resolutionBytes;
whdr.subChunk2Size = whdr.chunkSize-36;
fwrite(&whdr, sizeof(WaveHeader), 1, wavfile);
FILE* mpuFile = NULL; // open mpu file
if(argc>3){
mpuFile = fopen(argv[3], "w+");
if(mpuFile==NULL){
printf("Failed to open mpu output file\n");
return 0;
}
}
// }else{
// strcpy(argv[1] + strlen(argv[1])-4, "_mpu.csv\0");
// mpuFile = fopen(argv[1], "w+");
// argv[1][strlen(argv[1])-8] = '\0';
// }
char* dmaBlock = (char*) malloc(hdr.dmaBlockSize);
char* additionnalDataBlock = (char*) malloc(hdr.sizeOfAdditionnalDataBuffer);
char* samples = (char*) malloc(hdr.numberOfChan * resolutionBytes);
int ichan, isample;
long pos = 0;
bool isFirst = true;
// read each dataBlock
do{
fread(additionnalDataBlock, hdr.sizeOfAdditionnalDataBuffer, 1, logfile);
if(mpuFile != NULL){
parseMPU(additionnalDataBlock, hdr.sizeOfAdditionnalDataBuffer, isFirst && verbose, mpuFile);
isFirst = false;
}
fread(dmaBlock, hdr.dmaBlockSize, 1, logfile);
for(isample=0; isample<dataBlockSampleSize; isample++){
for(ichan=0; ichan<hdr.numberOfChan; ichan++){
memcpy(samples + ichan * resolutionBytes, dmaBlock + (ichan * dataBlockSampleSize + isample) * resolutionBytes, resolutionBytes);
}
fwrite(samples, resolutionBytes, hdr.numberOfChan, wavfile);
}
printf("\r %s : ", argv[1]);
pos = ftell(logfile);
printf(" %ld%%", pos*100/filesize);
}while(pos < filesize - 1);
printf("\r\n");
fclose(wavfile);
fclose(logfile);
if(mpuFile!=NULL){
fclose(mpuFile);
}
return 0;
}
plot_mpu.py deleted 100755 → 0
+ 0
− 30
View file @ c90f5b2a
import numpy as np
import matplotlib.pyplot as plt
import os
time, accelX, accelY, accelZ, gyroX, gyroY, gyroZ, magX, magY, magZ = [], [], [], [], [], [], [], [], [], []
for f in os.listdir('./'):
if not f.endswith('mpu.csv'):
continue
print(f)
plt.figure()
plt.title(f)
a = np.loadtxt('./'+f, delimiter=',')
time.extend(a[:,0])
accelX.extend(a[:,1])
accelY.extend(a[:,2])
accelZ.extend(a[:,3])
gyroX.extend(a[:,4])
gyroY.extend(a[:,5])
gyroZ.extend(a[:,6])
magX.extend(a[:,7])
magY.extend(a[:,8])
magZ.extend(a[:,9])
plt.scatter(time, magX, label='x')
plt.scatter(time, magY, label='y')
plt.scatter(time, magZ, label='z')
plt.legend()
plt.show()
stdc2txt.py deleted 100755 → 0
+ 0
− 26
View file @ c90f5b2a
import os
import argparse
import torch
import numpy as np
parser = argparse.ArgumentParser()
parser.add_argument("stdc")
args = parser.parse_args()
os.system('rm output_stdc.txt')
f = open('output_stdc.txt', 'a')
m = torch.load(args.stdc)
for k in m.keys():
m[k] = m[k].squeeze().cpu()
f.write(k+'\n')
if len(m[k].shape) == 0:
f.write(str(m[k].item())+'\n')
elif len(m[k].shape) == 1:
f.write(",".join(m[k].numpy().astype(str))+'\n')
else :
for l in m[k].squeeze():
f.write(",".join(l.numpy().astype(str))+'\n')
f.write('\n')
trame IMU.txt deleted 100755 → 0
+ 0
− 36
View file @ c90f5b2a
commandSPISentUART = HS_DATA_PACKET_FULL_TIMESTAMP;
indexpayloadSPISentUART = 0;
// uint16_t payloadLength = SET_RTCC_DU_RECORDER_AUDIO_LENGHT;
// uint8_t payload[payloadLength];
uint32_t timstampNow = GetFullTimestamp();
payloadSPISentUART[indexpayloadSPISentUART++] = 0x08;//Type IMU
payloadSPISentUART[indexpayloadSPISentUART++] = 0x01;//Sensor ID
payloadSPISentUART[indexpayloadSPISentUART++] = 9;//Sensor ID
payloadSPISentUART[indexpayloadSPISentUART++] = 4;//Range 4G
payloadSPISentUART[indexpayloadSPISentUART++] = 16;//16 bits resolution
payloadSPISentUART[indexpayloadSPISentUART++] = 0;//Sampling freq 100 Hz
payloadSPISentUART[indexpayloadSPISentUART++] = 100;//Sampling freq 100 Hz
payloadSPISentUART[indexpayloadSPISentUART++] = 0;//Nb samples
payloadSPISentUART[indexpayloadSPISentUART++] = 1;//Nb samples
payloadSPISentUART[indexpayloadSPISentUART++] = BREAK_UINT32(timstampNow, 3);//supervisorState.localTime.year;
payloadSPISentUART[indexpayloadSPISentUART++] = BREAK_UINT32(timstampNow, 2);//supervisorState.localTime.month;
payloadSPISentUART[indexpayloadSPISentUART++] = BREAK_UINT32(timstampNow, 1);//supervisorState.localTime.day;
payloadSPISentUART[indexpayloadSPISentUART++] = BREAK_UINT32(timstampNow, 0);//supervisorState.localTime.hour;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subAccel.Accel_X_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subAccel.Accel_X_Low;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subAccel.Accel_Y_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subAccel.Accel_Y_Low;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subAccel.Accel_Z_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subAccel.Accel_Z_Low;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subGyro.Gyro_X_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subGyro.Gyro_X_Low;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subGyro.Gyro_Y_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subGyro.Gyro_Y_Low;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subGyro.Gyro_Z_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subGyro.Gyro_Z_Low;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subMag.Mag_X_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subMag.Mag_X_Low;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subMag.Mag_Y_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subMag.Mag_Y_Low;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subMag.Mag_Z_High;
payloadSPISentUART[indexpayloadSPISentUART++] = ICM20948_subMag.Mag_Z_Low;
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