From 6f776c4178475afb94ce41f9662a666c4a3874e7 Mon Sep 17 00:00:00 2001
From: lamipaul <paulobest25@gmail.com>
Date: Mon, 12 Jul 2021 11:40:19 +0200
Subject: [PATCH] infer output filename from input filename
---
CLOCK.CFG | 0
JConfig.CFG | 0
RapportInfo2txt | Bin
RapportInfo2txt.c | 0
log2wav | Bin 17768 -> 17264 bytes
log2wav.c | 175 ++++++----------------------------------------
plot_mpu.py | 12 ++--
trame IMU.txt | 0
8 files changed, 30 insertions(+), 157 deletions(-)
mode change 100644 => 100755 CLOCK.CFG
mode change 100644 => 100755 JConfig.CFG
mode change 100644 => 100755 RapportInfo2txt
mode change 100644 => 100755 RapportInfo2txt.c
mode change 100644 => 100755 log2wav
mode change 100644 => 100755 log2wav.c
mode change 100644 => 100755 plot_mpu.py
mode change 100644 => 100755 trame IMU.txt
diff --git a/CLOCK.CFG b/CLOCK.CFG
old mode 100644
new mode 100755
diff --git a/JConfig.CFG b/JConfig.CFG
old mode 100644
new mode 100755
diff --git a/RapportInfo2txt b/RapportInfo2txt
old mode 100644
new mode 100755
diff --git a/RapportInfo2txt.c b/RapportInfo2txt.c
old mode 100644
new mode 100755
diff --git a/log2wav b/log2wav
old mode 100644
new mode 100755
index b6e6e5e04bc69b16de4399099cc49083de2f25bf..306bdaeb081e7de54002e9853746a7ec90fad9f5
GIT binary patch
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diff --git a/log2wav.c b/log2wav.c
old mode 100644
new mode 100755
index 5aee4fd..725984e
--- a/log2wav.c
+++ b/log2wav.c
@@ -8,139 +8,6 @@
#define MAX_PERIPHERAL 5 //Nombre max de peripheriques externes
-#define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
-#define twoKiDef (2.0f * 0.0f) // 2 * integral gain
-#define PI 3.14159265358979323846
-
-// now = micros();
-float twoKp = twoKpDef; // 2 * proportional gain (Kp)
-float twoKi = twoKiDef; // 2 * integral gain (Ki)
-float q0 = 1.0f;
-float q1 = 0.0f;
-float q2 = 0.0f;
-float q3 = 0.0f;
-float integralFBx = 0.0f;
-float integralFBy = 0.0f;
-float integralFBz = 0.0f;
-float anglesComputed = 0;
-
-void update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
-{
- float recipNorm;
- float q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
- float hx, hy, bx, bz;
- float halfvx, halfvy, halfvz, halfwx, halfwy, halfwz;
- float halfex, halfey, halfez;
- float qa, qb, qc;
-
- // Convert gyroscope degrees/sec to radians/sec
- gx *= 0.0174533f;
- gy *= 0.0174533f;
- gz *= 0.0174533f;
-
- // Use IMU algorithm if magnetometer measurement invalid
- // (avoids NaN in magnetometer normalisation)
- if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
- // updateIMU(gx, gy, gz, ax, ay, az);
- return;
- }
-
- // now = micros();
- // // Set integration time by time elapsed since last filter update
- // delta_t = ((now - last_update) / 1000000.0f);
- // last_update = now;
-
- // Compute feedback only if accelerometer measurement valid
- // (avoids NaN in accelerometer normalisation)
- if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
-
- // Normalise accelerometer measurement
- recipNorm = powf(ax * ax + ay * ay + az * az, -0.5);
- ax *= recipNorm;
- ay *= recipNorm;
- az *= recipNorm;
-
- // Normalise magnetometer measurement
- recipNorm = powf(mx * mx + my * my + mz * mz, -0.5);
- mx *= recipNorm;
- my *= recipNorm;
- mz *= recipNorm;
-
- // Auxiliary variables to avoid repeated arithmetic
- q0q0 = q0 * q0;
- q0q1 = q0 * q1;
- q0q2 = q0 * q2;
- q0q3 = q0 * q3;
- q1q1 = q1 * q1;
- q1q2 = q1 * q2;
- q1q3 = q1 * q3;
- q2q2 = q2 * q2;
- q2q3 = q2 * q3;
- q3q3 = q3 * q3;
-
- // Reference direction of Earth's magnetic field
- hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
- hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
- bx = sqrtf(hx * hx + hy * hy);
- bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2));
-
- // Estimated direction of gravity and magnetic field
- halfvx = q1q3 - q0q2;
- halfvy = q0q1 + q2q3;
- halfvz = q0q0 - 0.5f + q3q3;
- halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
- halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
- halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);
-
- // Error is sum of cross product between estimated direction
- // and measured direction of field vectors
- halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy);
- halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz);
- halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx);
-
- // Compute and apply integral feedback if enabled
- if(false){ //twoKi > 0.0f) {
- // integral error scaled by Ki
- integralFBx += twoKi * halfex * 0.01;
- integralFBy += twoKi * halfey * 0.01;
- integralFBz += twoKi * halfez * 0.01;
- gx += integralFBx; // apply integral feedback
- gy += integralFBy;
- gz += integralFBz;
- } else {
- integralFBx = 0.0f; // prevent integral windup
- integralFBy = 0.0f;
- integralFBz = 0.0f;
- }
-
- // Apply proportional feedback
- gx += twoKp * halfex;
- gy += twoKp * halfey;
- gz += twoKp * halfez;
- }
-
- // Integrate rate of change of quaternion
- gx *= (0.5f * 0.01); // pre-multiply common factors
- gy *= (0.5f * 0.01);
- gz *= (0.5f * 0.01);
- qa = q0;
- qb = q1;
- qc = q2;
- q0 += (-qb * gx - qc * gy - q3 * gz);
- q1 += (qa * gx + qc * gz - q3 * gy);
- q2 += (qa * gy - qb * gz + q3 * gx);
- q3 += (qa * gz + qb * gy - qc * gx);
-
- // Normalise quaternion
- recipNorm = powf(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3, -0.5);
- q0 *= recipNorm;
- q1 *= recipNorm;
- q2 *= recipNorm;
- q3 *= recipNorm;
- anglesComputed = 0;
-}
-
-
typedef struct{
char Type; //type du peripherique (0x01 accel, 0x02 gyro, 0x03 magneto, 0x04 temperature, 0x05 pressure, 0x06 light,...)
char ID; //ID du peripherique
@@ -245,7 +112,7 @@ void parseMPU(unsigned char* additionnalDataBlock, int size, bool verbose, FILE*
val = *((short int*) (curData + i));
val = ((val & 0x00FF)<<8) | ((val & 0xFF00)>>8);
//printf("curData %x %x %hd", *(curData+i), *(curData + i +1), val);
- if( true){//i<29){
+ if(i<29){
fprintf(mpuFile, "%hd,", val);
}else{
fprintf(mpuFile, "%hd\n", val);
@@ -258,27 +125,17 @@ void parseMPU(unsigned char* additionnalDataBlock, int size, bool verbose, FILE*
float gy = ((float) toLittleEndian(*((short int*) (curData + 21)))) / 32756 * 250;
float gz = ((float) toLittleEndian(*((short int*) (curData + 23)))) / 32756 * 250;
float mx = ((float) toLittleEndian(*((short int*) (curData + 25)))) / 32756 * 0.15; // utesla
- float my = ((float) toLittleEndian(*((short int*) (curData + 27)))) / 32756 * (0.15); // - car magneto oppose a accelero
- float mz = ((float) toLittleEndian(*((short int*) (curData + 29)))) / 32756 * (0.15); // - car magneto oppose a accelero
- // update(ax, ay, az, gx, gy, gz, mx, my, mz);
- // fprintf(mpuFile, "%f,", atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2) * 360 / PI); // roll
- // fprintf(mpuFile, "%f,", asinf(-2.0f * (q1*q3 - q0*q2)) * 360 / PI); // pitch
- // fprintf(mpuFile, "%f\n", atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3) * 360 / PI); // yaw
- float pitch = 180 * atan (ax/sqrt(ay*ay + az*az))/PI;
- float roll = 180 * atan (ay/sqrt(ax*ax + az*az))/PI;
- float yaw = 180 * atan (az/sqrt(ax*ax + az*az))/PI;
- fprintf(mpuFile, "%f,", pitch);
- fprintf(mpuFile, "%f,", yaw);
- fprintf(mpuFile, "%f\n", roll);
+ float my = ((float) toLittleEndian(*((short int*) (curData + 27)))) / 32756 * (-0.15); // - car magneto oppose a accelero
+ float mz = ((float) toLittleEndian(*((short int*) (curData + 29)))) / 32756 * (-0.15); // - car magneto oppose a accelero
maxtimeStamp = timestamp;
- }
+ }
curData += trameSize + 1; // shift of trame size + 1 byte of checksum
}
}
int main(int argc, char* argv[]){
- if(argc < 3){
- printf("Script needs to be called with at least 2 arguments : \n \t input file name (.log file) \n \t output filename (.wav file)\n \t (optionnal) verbose (1 / void)\n");
+ 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;
@@ -306,7 +163,14 @@ int main(int argc, char* argv[]){
printf("resolution %d not supported yet sorry\n", hdr.resolutionBits);
return 0;
}
- FILE* wavfile = fopen(argv[2], "wb"); // open wav file
+
+ 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;
@@ -321,7 +185,14 @@ int main(int argc, char* argv[]){
whdr.subChunk2Size = whdr.chunkSize-36;
fwrite(&whdr, sizeof(WaveHeader), 1, wavfile);
- FILE* mpuFile = fopen(argv[3], "w+"); // open mpu file
+ FILE* mpuFile; // open mpu file
+ if(argc>3){
+ mpuFile = fopen(argv[3], "w+");
+ }else{
+ strcpy(argv[1] + strlen(argv[1])-4, "_mpu.csv\0");
+ mpuFile = fopen(argv[1], "w+");
+ argv[1][strlen(argv[1])-8] = '\0';
+ }
if(mpuFile==NULL){
printf("Failed to open mpu output file\n");
return 0;
@@ -345,7 +216,7 @@ int main(int argc, char* argv[]){
}
fwrite(samples, resolutionBytes, hdr.numberOfChan, wavfile);
}
- printf("\r %s : ", argv[2]);
+ printf("\r %s : ", argv[1]);
pos = ftell(logfile);
printf(" %ld%%", pos*100/filesize);
}while(pos < filesize - 1);
diff --git a/plot_mpu.py b/plot_mpu.py
old mode 100644
new mode 100755
index e3defd7..de164d6
--- a/plot_mpu.py
+++ b/plot_mpu.py
@@ -5,11 +5,13 @@ import os
time, accelX, accelY, accelZ, gyroX, gyroY, gyroZ, magX, magY, magZ = [], [], [], [], [], [], [], [], [], []
-for f in os.listdir('./test/'):
+for f in os.listdir('./'):
if not f.endswith('mpu.csv'):
continue
print(f)
- a = np.loadtxt('./test/'+f, delimiter=',')
+ plt.figure()
+ plt.title(f)
+ a = np.loadtxt('./'+f, delimiter=',')
time.extend(a[:,0])
accelX.extend(a[:,1])
accelY.extend(a[:,2])
@@ -17,9 +19,9 @@ for f in os.listdir('./test/'):
gyroX.extend(a[:,4])
gyroY.extend(a[:,5])
gyroZ.extend(a[:,6])
- magX.extend(a[:,10])
- magY.extend(a[:,11])
- magZ.extend(a[:,12])
+ magX.extend(a[:,7])
+ magY.extend(a[:,8])
+ magZ.extend(a[:,9])
plt.scatter(time, magX, label='x')
plt.scatter(time, magY, label='y')
diff --git a/trame IMU.txt b/trame IMU.txt
old mode 100644
new mode 100755
--
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