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imu_serial.py
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imu_serial.py
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import serial
import time
import numpy as np
from array import array
import sys
import rospy
# 设置正确的串口参数------------------------
ser_port = sys.argv[2] #此处需要替换为对应使用的串口号，windows系统写成COMx，若是linux则要根据所用系统进行调整如写成/dev/ttyUSBx或/dev/ttySx
# ser_port = "/dev/ttyUSB0"
ser_baudrate = 460800 # 串口波特率
ser_timeout = 10 # specify your timeout here
# Open the serial port
ser = serial.Serial(ser_port, ser_baudrate, timeout=ser_timeout)
buffer_name = sys.argv[1]
if buffer_name == "right_thigh":
mac_address = "d1:3d:df:93:34:a5"
buffer_name = "imu_right_thigh"
elif buffer_name == "right_foot":
mac_address = "7e:7f:3a:2d:bb:2a"
buffer_name = "imu_right_foot"
elif buffer_name == "right_shank":
mac_address = "6B:C3:BA:65:E3:86"
buffer_name = "imu_right_shank"
elif buffer_name == "left_thigh":
mac_address = "d8:72:db:51:4e:35"
buffer_name = "imu_left_thigh"
elif buffer_name == "left_shank":
mac_address = "b0:66:5b:88:d9:3a"
buffer_name = "imu_left_shank"
elif buffer_name == "left_foot":
mac_address = "17:2a:d2:d7:42:4f"
buffer_name = "imu_left_foot"
elif buffer_name == "trunk":
mac_address = "f5:ef:32:44:b3:1d"
buffer_name = "imu_trunk"
imu_buffer = np.memmap("./log/{}.npy".format(buffer_name), dtype='float32', mode='r+',shape=(13,))
use_Acc = True
def Cmd_RxUnpack(buf, DLen):
global imu_buffer, use_Acc
scaleAccel = 0.00478515625 # 加速度 [-16g~+16g] 9.8*16/32768
scaleQuat = 0.000030517578125 # 四元数 [-1~+1] 1/32768
scaleAngle = 0.0054931640625 # 角度 [-180~+180] 180/32768
scaleAngleSpeed = 0.06103515625 # 角速度 [-2000~+2000] 2000/32768
scaleMag = 0.15106201171875 # 磁场 [-4950~+4950] 4950/32768
scaleTemperature = 0.01 # 温度
scaleAirPressure = 0.0002384185791 # 气压 [-2000~+2000] 2000/8388608
scaleHeight = 0.0010728836 # 高度 [-9000~+9000] 9000/8388608
imu_dat = array('f',[0.0 for i in range(0,34)])
# print("rev data:",buf)
if buf[0] == 0x11:
ctl = (buf[2] << 8) | buf[1]
print(buffer_name)
print("\n subscribe tag: 0x%04x"%ctl)
# print(" ms: ", ((buf[6]<<24) | (buf[5]<<16) | (buf[4]<<8) | (buf[3]<<0)))
L =7 # 从第7字节开始根据 订阅标识tag来解析剩下的数据
if ((ctl & 0x0001) != 0):
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\taX: %.3f"%tmpX); # x加速度aX
tmpY = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\taY: %.3f"%tmpY); # y加速度aY
tmpZ = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\taZ: %.3f"%tmpZ); # z加速度aZ
imu_dat[0] = float(tmpX)
imu_dat[1] = float(tmpY)
imu_dat[2] = float(tmpZ)
if not use_Acc:
imu_buffer[0] = imu_dat[0]
imu_buffer[1] = imu_dat[1]
imu_buffer[2] = imu_dat[2]
if ((ctl & 0x0002) != 0):
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\tAX: %.3f"%tmpX) # x加速度AX
tmpY = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\tAY: %.3f"%tmpY) # y加速度AY
tmpZ = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\tAZ: %.3f"%tmpZ) # z加速度AZ
imu_dat[3] = float(tmpX)
imu_dat[4] = float(tmpY)
imu_dat[5] = float(tmpZ)
if use_Acc:
imu_buffer[0] = imu_dat[3]
imu_buffer[1] = imu_dat[4]
imu_buffer[2] = imu_dat[5]
if ((ctl & 0x0004) != 0):
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAngleSpeed; L += 2
# print("\tGX: %.3f"%tmpX) # x角速度GX
tmpY = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAngleSpeed; L += 2
# print("\tGY: %.3f"%tmpY) # y角速度GY
tmpZ = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAngleSpeed; L += 2
# print("\tGZ: %.3f"%tmpZ) # z角速度GZ
imu_dat[6] = float(tmpX)
imu_dat[7] = float(tmpY)
imu_dat[8] = float(tmpZ)
imu_buffer[3] = imu_dat[6]
imu_buffer[4] = imu_dat[7]
imu_buffer[5] = imu_dat[8]
if ((ctl & 0x0008) != 0):
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleMag; L += 2
# print("\tCX: %.3f"%tmpX); # x磁场CX
tmpY = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleMag; L += 2
# print("\tCY: %.3f"%tmpY); # y磁场CY
tmpZ = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleMag; L += 2
# print("\tCZ: %.3f"%tmpZ); # z磁场CZ
imu_dat[9] = float(tmpX)
imu_dat[10] = float(tmpY)
imu_dat[11] = float(tmpZ)
if ((ctl & 0x0010) != 0):
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleTemperature; L += 2
# print("\ttemperature: %.2f"%tmpX) # 温度
tmpU32 = np.uint32(((np.uint32(buf[L+2]) << 16) | (np.uint32(buf[L+1]) << 8) | np.uint32(buf[L])))
if ((tmpU32 & 0x800000) == 0x800000): # 若24位数的最高位为1则该数值为负数，需转为32位负数，直接补上ff即可
tmpU32 = (tmpU32 | 0xff000000)
tmpY = np.int32(tmpU32) * scaleAirPressure; L += 3
# print("\tairPressure: %.3f"%tmpY); # 气压
tmpU32 = np.uint32((np.uint32(buf[L+2]) << 16) | (np.uint32(buf[L+1]) << 8) | np.uint32(buf[L]))
if ((tmpU32 & 0x800000) == 0x800000): # 若24位数的最高位为1则该数值为负数，需转为32位负数，直接补上ff即可
tmpU32 = (tmpU32 | 0xff000000)
tmpZ = np.int32(tmpU32) * scaleHeight; L += 3
# print("\theight: %.3f"%tmpZ); # 高度
imu_dat[12] = float(tmpX)
imu_dat[13] = float(tmpY)
imu_dat[14] = float(tmpZ)
if ((ctl & 0x0020) != 0):
tmpAbs = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleQuat; L += 2
# print("\tw: %.3f"%tmpAbs); # w
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleQuat; L += 2
# print("\tx: %.3f"%tmpX); # x
tmpY = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleQuat; L += 2
# print("\ty: %.3f"%tmpY); # y
tmpZ = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleQuat; L += 2
# print("\tz: %.3f"%tmpZ); # z
imu_dat[15] = float(tmpAbs)
imu_dat[16] = float(tmpX)
imu_dat[17] = float(tmpY)
imu_dat[18] = float(tmpZ)
imu_buffer[9] = imu_dat[16] # x
imu_buffer[10] = imu_dat[17] # y
imu_buffer[11] = imu_dat[18] # z
imu_buffer[12] = imu_dat[15] # w
if ((ctl & 0x0040) != 0):
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAngle; L += 2
print("\tangleX: %.3f"%tmpX); # x角度
tmpY = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAngle; L += 2
print("\tangleY: %.3f"%tmpY); # y角度
tmpZ = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAngle; L += 2
print("\tangleZ: %.3f"%tmpZ); # z角度
imu_dat[19] = float(tmpX)
imu_dat[20] = float(tmpY)
imu_dat[21] = float(tmpZ)
imu_buffer[6] = imu_dat[19]
imu_buffer[7] = imu_dat[20]
imu_buffer[8] = imu_dat[21]
if ((ctl & 0x0080) != 0):
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) / 1000.0; L += 2
# print("\toffsetX: %.3f"%tmpX); # x坐标
tmpY = np.short((np.short(buf[L+1])<<8) | buf[L]) / 1000.0; L += 2
# print("\toffsetY: %.3f"%tmpY); # y坐标
tmpZ = np.short((np.short(buf[L+1])<<8) | buf[L]) / 1000.0; L += 2
# print("\toffsetZ: %.3f"%tmpZ); # z坐标
imu_dat[22] = float(tmpX)
imu_dat[23] = float(tmpY)
imu_dat[24] = float(tmpZ)
if ((ctl & 0x0100) != 0):
tmpU32 = ((buf[L+3]<<24) | (buf[L+2]<<16) | (buf[L+1]<<8) | (buf[L]<<0)); L += 4
# print("\tsteps: %u"%tmpU32); # 计步数
tmpU8 = buf[L]; L += 1
if (tmpU8 & 0x01):# 是否在走路
# print("\t walking yes")
imu_dat[25] = 100
else:
# print("\t walking no")
imu_dat[25] = 0
if (tmpU8 & 0x02):# 是否在跑步
# print("\t running yes")
imu_dat[26] = 100
else:
# print("\t running no")
imu_dat[26] = 0
if (tmpU8 & 0x04):# 是否在骑车
# print("\t biking yes")
imu_dat[27] = 100
else:
# print("\t biking no")
imu_dat[27] = 0
if (tmpU8 & 0x08):# 是否在开车
# print("\t driving yes")
imu_dat[28] = 100
else:
# print("\t driving no")
imu_dat[28] = 0
if ((ctl & 0x0200) != 0):
tmpX = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\tasX: %.3f"%tmpX); # x加速度asX
tmpY = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\tasY: %.3f"%tmpY); # y加速度asY
tmpZ = np.short((np.short(buf[L+1])<<8) | buf[L]) * scaleAccel; L += 2
# print("\tasZ: %.3f"%tmpZ); # z加速度asZ
imu_dat[29] = float(tmpX)
imu_dat[30] = float(tmpY)
imu_dat[31] = float(tmpZ)
if ((ctl & 0x0400) != 0):
tmpU16 = ((buf[L+1]<<8) | (buf[L]<<0)); L += 2
# print("\tadc: %u"%tmpU16); # adc测量到的电压值，单位为mv
imu_dat[32] = float(tmpU16)
if ((ctl & 0x0800) != 0):
tmpU8 = buf[L]; L += 1
# print("\t GPIO1 M:%X, N:%X"%((tmpU8>>4)&0x0f, (tmpU8)&0x0f))
imu_dat[33] = float(tmpU8)
else:
print("[error] data head not define")
CmdPacket_Begin = 0x49 # 起始码
CmdPacket_End = 0x4D # 结束码
CmdPacketMaxDatSizeRx = 73 # 模块发来的数据包的数据体最大长度
CS = 0 # 校验和
i = 0
RxIndex = 0
buf = bytearray(5 + CmdPacketMaxDatSizeRx) # 接收包缓存
cmdLen = 0 # 长度
def Cmd_GetPkt(byte):
global CS, i, RxIndex, buf, cmdLen
CS += byte # 边收数据边计算校验码，校验码为地址码开始(包含地址码)到校验码之前的数据的和
if RxIndex == 0: # 起始码
if byte == CmdPacket_Begin:
i = 0
buf[i] = CmdPacket_Begin
i += 1
CS = 0 # 下个字节开始计算校验码
RxIndex = 1
elif RxIndex == 1: # 数据体的地址码
buf[i] = byte
i += 1
if byte == 255: # 255是广播地址，模块作为从机，它的地址不可会出现255
RxIndex = 0
else:
RxIndex += 1
elif RxIndex == 2: # 数据体的长度
buf[i] = byte
i += 1
if byte > CmdPacketMaxDatSizeRx or byte == 0: # 长度无效
RxIndex = 0
else:
RxIndex += 1
cmdLen = byte
elif RxIndex == 3: # 获取数据体的数据
buf[i] = byte
i += 1
if i >= cmdLen + 3: # 已收完数据体
RxIndex += 1
elif RxIndex == 4: # 对比 效验码
CS -= byte
if (CS&0xFF) == byte: # 校验正确
buf[i] = byte
i += 1
RxIndex += 1
else: # 校验失败
RxIndex = 0
elif RxIndex == 5: # 结束码
RxIndex = 0
if byte == CmdPacket_End: # 捕获到完整包
buf[i] = byte
i += 1
hex_string = " ".join(f"{b:02X}" for b in buf[0:i])
# print(f"U-Rx[Len={i}]:{hex_string}")
Cmd_RxUnpack(buf[3:i-2], i-5) # 处理数据包的数据体
t = time.time()
print("Time:", t)
return 1
else:
RxIndex = 0
return 0
def check_sum(data):
sum = 0
for c in data:
sum += int.from_bytes(bytes.fromhex(c),byteorder="big")
sum = int(sum)
return hex(sum&0xff).upper()[2:]
def cal_cmd(rate, data_type):
rate = hex(rate).upper()[2:]
cmd = "000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000FF00FF49"
data_struct = ["FF","0B","12","05","FF","00","04",rate,
"01","03","05",data_type[2:],data_type[0:2]]
sum = check_sum(data_struct)
for i in data_struct:
cmd = cmd+i
cmd = cmd+sum+"4D"
return cmd
def read_data():
cmd = cal_cmd(rate=int(50),data_type="0067")# data_type必须为4位
ser.write( bytes.fromhex(cmd) ) #1.发送配置参数
time.sleep(0.2)
ser.write( bytes.fromhex("0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000FF00FF49FF0103034D") ) #2.唤醒传感器
time.sleep(0.2)
ser.write( bytes.fromhex("0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000FF00FF49FF0119194D") ) #3.开启主动上报
while True:
data = ser.read(1) # read 1 bytes
if len(data) > 0: # if data is not empty
Cmd_GetPkt(data[0])
# Start reading data
read_data()