IMUセンサ(ICM20948)からPythonにデータを送りCSV保存する方法

/****************************************************************
   Example1_Basics.ino
   ICM 20948 Arduino Library Demo
   Use the default configuration to stream 9-axis IMU data
   Owen Lyke @ SparkFun Electronics
   Original Creation Date: April 17 2019

   Please see License.md for the license information.

   Distributed as-is; no warranty is given.
 ***************************************************************/


#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU

#define USE_SPI       // Uncomment this to use SPI

#define Serial Serial

#define SPI_PORT SPI // Your desired SPI port.       Used only when "USE_SPI" is defined
#define CS_PIN 1     // Which pin you connect CS to. Used only when "USE_SPI" is defined

#define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
// The value of the last bit of the I2C address.
// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
#define AD0_VAL 1


int16_t AX, AY, AZ;
float ax, ay, az;
byte max_G;

int16_t GX, GY, GZ;
float gx, gy, gz;
uint16_t max_dps;

int16_t MX,MY,MZ;

unsigned long StartTime,CurrentTime,PreTime,dt; 




ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object


void setup()
{
StartTime = millis();
  Serial.begin(128000);
  while (!Serial)
  {
  };


  SPI_PORT.begin();

  myICM.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial

  bool initialized = false;
  while (!initialized)
  {


    myICM.begin(CS_PIN, SPI_PORT);


    Serial.print(F("Initialization of the sensor returned: "));
    Serial.println(myICM.statusString());
    if (myICM.status != ICM_20948_Stat_Ok)
    {
      Serial.println("Trying again...");
      delay(500);
    }
    else
    {
      initialized = true;
    }
  }
}



void loop()
{

  if (myICM.dataReady())
  {
    myICM.getAGMT();         // The values are only updated when you call 'getAGMT'
    savedata(&myICM);
  }
  else
  {
    Serial.println("Waiting for data");
    delay(500);
  }
}

// Below here are some helper functions to print the data nicely!



void savedata(ICM_20948_SPI *sensor)
{

  CurrentTime = millis();  
  dt = CurrentTime - StartTime;


  
  AX = sensor->accX();
  AY = sensor->accY();
  AZ = sensor->accZ();

  gx = sensor->gyrX();
  gy = sensor->gyrY();
  gz = sensor->gyrZ();

  MX = sensor->magX();
  MY = sensor->magY();
  MZ = sensor->magZ();


  Serial.print(AX);
  Serial.print(",");
  Serial.print(AY);
  Serial.print(",");
  Serial.print(AZ);
  Serial.print(",");
  Serial.print(gx);  
  Serial.print(",");
  Serial.print(gy);
  Serial.print(",");
  Serial.print(gz);
  Serial.print(",");
  Serial.print(MX );
  Serial.print(",");
  Serial.print(MY );
  Serial.print(",");
  Serial.print(MZ );
  Serial.print(",");
  
  Serial.print(dt);


  Serial.println();

  }
 

# 10進数で送られてくるためそのままゲットしてCSVに保存

import serial
import csv
import numpy as np  
import os
from datetime import datetime
# ----------
path = os.getcwd() + "/csv"
extens = ".csv"
# -----------------------------


ary_IMU = []
ser = serial.Serial('COM7', 128000, timeout=None)
ary_IMU = np.array(['proc_T,AX,AY,Az,Gx,Gy,Gz,Mx,My,Mz\n'])

# CSVというフォルダを同じディレクリに作る。
def CSV_save(ary, name):
  global path,extens

  filename = datetime.now().strftime("%m_%d__%H_%M_%S")
  File = open(path + "/" \
              + filename + "_" + name \
              + extens, 'w',  encoding="utf_8")
  #writer = csv.writer(File, lineterminator='')

  File.writelines(ary)
  File.close()


  np.savetxt(path + "/"+filename, ary, delimiter=",")

  print("Save Complete!" , " (", name, ")")
  

  return filename
try:
  while True:

    line = ser.readline() #1行のデータを取得するがbyte型
  
    stripped_str = str(line, 'utf-8').strip()# byte型を文字列に変換して前後の空白改行除去
    datas = [float(d) for d in stripped_str.split(',')]  # 整数ではなく浮動小数点数に変換する
    # print(datas)

    if len(datas) == 10:
      Ax = datas[0]
      Ay = datas[1]
      Az = datas[2]
      
      Gx = datas[3]
      Gy = datas[4]
      Gz = datas[5]

      Mx = datas[6]
      My = datas[7]
      Mz = datas[8]


      proc_T = datas[9]*0.001
      
      Ax=Ax*0.01+0.5　#若干ずれているので修正
      Ay=Ay*0.01
      Az=Az*0.01-0.6
      ary_IMU = np.append(ary_IMU,[proc_T,',',Ax,',', Ay,',',Az,',',Gx,',', Gy,',',Gz,',',Mx,',', My,',',Mz, "\n"])

      
      print(ary_IMU)
      # print("\n")
      
    else:
      print('not 10')

except KeyboardInterrupt  :
  CSV_save(ary_IMU,"IMU")
  print('!!FINISH!!')