Diff: main.cpp

Revision:

12:ed1e3282e053

Parent:

11:2fc33706edd4

diff -r 2fc33706edd4 -r ed1e3282e053 main.cpp
--- a/main.cpp	Mon Aug 31 11:21:27 2020 +0000
+++ b/main.cpp	Tue Sep 08 06:59:06 2020 +0000
@@ -16,7 +16,8 @@
 
 Ticker warikomi;
 Timeout t;
-//double a[3],b[3],c[3];
+Timer timer;
+
 int i,j=0,rlock,mode;
 char ns,ew;
 float w_time;//,hokui,tokei;
@@ -56,20 +57,16 @@
         bmx.getGyro();//角力加速度の取得
         bmx.getMag();//地磁気の取得
         int a[3],b[3],c[3];
-        for(int i=0;i<3;i++){
+        for(int i=0; i<3; i++){
             a[i]=bmx.accel[i];
             b[i]=bmx.gyroscope[i];
             c[i]=bmx.magnet[i];
             }        
         
         //GPS部分
-        //gps.getgps();
-        int x = (gps.longtitude-135.0f)*1000000;
-        int y = (gps.latitude-34.0f)*1000000;
-        if(x==NULL)x=0;
-        if(y==NULL)y=0;
-        int north=x * 1000000;
-        int east=y * 1000000;
+        int x=0,y=0;
+        if(gps.longtitude!=0){x = (gps.longtitude-135.0f)*1000000;}
+        if(gps.latitude!=0){y = (gps.latitude-34.0f)*1000000;}
         
         //SDカードへの書き込み
         fprintf(fp,"%f,%f,%f,%f,%f,%2.4f,%2.4f,%2.4f,%2.4f,%2.4f,%2.4f\n\r",gps.longtitude,gps.latitude,(a[0]/512)*9.8,
@@ -78,7 +75,7 @@
         
         //IM920部分
         //ノード番号(00~FF)を設定.データを送るごとに1増やす．
-        uart.printf("STNN %02x\r\n",j);
+        uart.printf("STNN %02X\r\n",j);
         j++;
         if(j==256){j=0;}
         
@@ -87,10 +84,9 @@
         uart.printf("%04hX%04hX%04hX",a[0],a[1],a[2]);//加速度の書き出し
         uart.printf("%04hX%04hX%04hX",b[0],b[1],b[2]);//角加速度の書き出し
         
-        uart.printf("%08x%08x",east,north);//GPS書き出し
+        uart.printf(" %08X%08X",x,y);//GPS書き出し
         
         uart.printf("\r\n");
-        //printf("%d%d\n\r",north,east);
 
         wait(0.34);//IM920長距離モードの場合，3パケット/sが理論上最大速度．
         }