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Code Issues Releases Activity

Improve log processing code

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This commit is contained in:
James Cotton 2012-01-28 09:29:28 -06:00
parent a778c45d6f
commit 0b778667b3
3 changed files with 48 additions and 32 deletions
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14
matlab/revo/allan.m
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@ -1,14 +0,0 @@
source = gyro;
clear data
data.freq = source(:,3)';
data.time = unwrap_time(source(:,end))'/1000;
data.rate = 1/mean(diff(data.time))
tau = 1/data.rate * round(logspace(0,7,200))
[retval, s, errorb, tau] = allan(data,tau,'gyro')
[~,~,gyro_residual] = regress(gyro(:,1)-mean(gyro(:,1)),[gyro(:,4)-mean(gyro(:,4)), (1:size(gyro,1))']);
data.freq = gyro_residual;
data.time = unwrap_time(source(:,end))'/1000;
data.rate = 1/mean(diff(data.time))
tau = 1/data.rate * round(logspace(0,7,200))
[retval, s, errorb, tau] = allan(data,tau,'gyro')

14
matlab/revo/allan_gyro.m Normal file
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@ -0,0 +1,14 @@
source = gyro;
clear data
data.freq = source(:,3)';
data.time = unwrap_time(source(:,end))'/1000;
data.rate = 1/mean(diff(data.time))
tau = 1/data.rate * round(logspace(0,7,200))
[retval, s, errorb, tau] = allan(data,tau,'gyro')
% [~,~,gyro_residual] = regress(gyro(:,1)-mean(gyro(:,1)),[gyro(:,4)-mean(gyro(:,4)), (1:size(gyro,1))']);
% data.freq = gyro_residual;
% data.time = unwrap_time(source(:,end))'/1000;
% data.rate = 1/mean(diff(data.time))
% tau = 1/data.rate * round(logspace(0,7,200))
% [retval, s, errorb, tau] = allan(data,tau,'gyro')

52
matlab/revo/sensor_log.m
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@ -1,47 +1,61 @@
fn = '~/Desktop/kenn_stationary (2011-12-26 14:51:11 +0000)';
fn = '~/Documents/Programming/serial_logger/bma180_l3gd20_desk_20120228.dat';
fn = '~/Documents/Programming/serial_logger/mpu6000_desk_20120228.dat';
fn = '~/Documents/Programming/serial_logger/mpu6000_desk2_20110228.dat';
fn = '~/Documents/Programming/serial_logger/output.dat';
fid = fopen(fn);
dat = uint8(fread(fid,'uint8'));
fclose(fid);
accel = [];
accel = zeros(4096,1);
accel_idx = 0;
gyro = [];
gyro = zeros(4096,1);
gyro_idx = 0;
mag = [];
mag = zeros(4096,1);
mag_idx = 0;
latitude = [];
longitude = [];
altitude = [];
heading = [];
groundspeed = [];
gps_satellites = [];
gps_time = [];
latitude = zeros(4096,1);
longitude = zeros(4096,1);
altitude = zeros(4096,1);
heading = zeros(4096,1);
groundspeed = zeros(4096,1);
gps_satellites = zeros(4096,1);
gps_time = zeros(4096,1);
gps_idx = 0;
baro = [];
baro = zeros(4096,1);
baro_idx = 0;
total = length(dat);
count = 0;
head = 0;
last_time = 0;
good_samples = 0;
bad_samples = 0;
while head < (length(dat) - 200)
last_head = head;
count = count + 1;
if count >= 100
disp(sprintf('%0.3g%%',(head/total) * 100));
if count >= 5000
disp(sprintf('Processed: %0.3g%% Bad: %0.3g%%',(head/total) * 100,bad_samples * 100 / (bad_samples + good_samples)));
count = 0;
end
head = head + find(dat(head+1:end)==255,1,'first');
idx = find(dat(head+1:head+100)==255,1,'first');
if isempty(idx)
head = head + 100;
continue;
end
head = head + idx;
% Get the time
time = typecast(flipud(dat(head+(1:2))),'uint16');
if (time - last_time) ~= 2 && (time-last_time) ~= (hex2dec('10000')-2)
time = double(dat(head+1))* 256 + double(dat(head+2));%typecast(flipud(dat(head+(1:2))),'uint16');
if min([(time - last_time) (last_time - time)]) > 2
disp(['Err' num2str(time-last_time)]);
last_time = time;
disp('Err');
bad_samples = bad_samples + (head - last_head);
continue
end
last_time = time;
@ -124,6 +138,8 @@ while head < (length(dat) - 200)
baro(baro_idx,1) = typecast(dat(head+(1:4)),'single');
baro(baro_idx,2) = time;
end
good_samples = good_samples + (head - last_head);
end
accel(accel_idx+1:end,:) = [];