FTE-denshi / Mbed 2 deprecated Izu_2019

2019伊豆のコード

Dependencies:   mbed LSM9DS1 IM920 SDFileSystem LPS331 ADXL345_I2C GPS_Interface millis

main.cpp@4:ad2faabb7995, 2019-03-06 (annotated)

Committer:
zeutel
Date:
Wed Mar 06 01:18:13 2019 +0000
Revision:
4:ad2faabb7995
Parent:
0:cebf1f73ffd5 
2019izu

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zeutel 0:cebf1f73ffd5 1 #include "mbed.h"
zeutel 0:cebf1f73ffd5 2 #include <string.h>
zeutel 0:cebf1f73ffd5 3 #include "LPS331_I2C.h"
zeutel 0:cebf1f73ffd5 4 #include "LSM9DS1.h"
zeutel 0:cebf1f73ffd5 5 #include "SDFileSystem.h"
zeutel 0:cebf1f73ffd5 6 #include "IM920.h"
zeutel 0:cebf1f73ffd5 7 #include "GPS.h"
zeutel 0:cebf1f73ffd5 8 #include "LPS22HB.h"
zeutel 0:cebf1f73ffd5 9
zeutel 0:cebf1f73ffd5 10 //ピン
zeutel 4:ad2faabb7995 11 DigitalIn flightpin(p12);
zeutel 0:cebf1f73ffd5 12 Serial pc(USBTX, USBRX);
zeutel 0:cebf1f73ffd5 13 LPS331_I2C lps331(p9, p10, LPS331_I2C_SA0_HIGH);
zeutel 0:cebf1f73ffd5 14 LSM9DS1 lsm(p9,p10);
zeutel 0:cebf1f73ffd5 15 SDFileSystem sd(p5, p6, p7, p8, "sd");
zeutel 0:cebf1f73ffd5 16 IM920 im920(p28, p27, p29, p30);
zeutel 0:cebf1f73ffd5 17 GPS gps(p13, p14);
zeutel 0:cebf1f73ffd5 18 LPS22HB lps33hw(p9,p10,LPS22HB_G_CHIP_ADDR);
zeutel 0:cebf1f73ffd5 19 //I2C i2c(p9,p10);
zeutel 0:cebf1f73ffd5 20 //LPS22HB lps33hw(i2c, LPS22HB_G_CHIP_ADDR);
zeutel 0:cebf1f73ffd5 21 PwmOut servo_1(p22), servo_2(p25);
zeutel 0:cebf1f73ffd5 22
zeutel 0:cebf1f73ffd5 23 //関数
zeutel 0:cebf1f73ffd5 24 void init(FILE **file);//諸々の初期化
zeutel 0:cebf1f73ffd5 25 void checkingSensors();
zeutel 0:cebf1f73ffd5 26 void readValues(int sequence);//センサの読み取り
zeutel 0:cebf1f73ffd5 27 char *valueToChar(float value);//数値を文字列に
zeutel 0:cebf1f73ffd5 28 float calcAltitude(float pres, float temp);//高度計算
zeutel 0:cebf1f73ffd5 29
zeutel 0:cebf1f73ffd5 30 int main() {
zeutel 0:cebf1f73ffd5 31 int sequence=0;//機体の状態の推移
zeutel 0:cebf1f73ffd5 32 int timer=0;//ms単位
zeutel 0:cebf1f73ffd5 33 const int timeInterval=50;//ms単位
zeutel 0:cebf1f73ffd5 34 float altitude,maxAltitude=0.0;//m単位
zeutel 0:cebf1f73ffd5 35 float launchTime,reducerExpantionedTime;//発射・減速機構展開時間の保持
zeutel 0:cebf1f73ffd5 36 char receive[9]={};//受信した文字列
zeutel 0:cebf1f73ffd5 37 bool flightpinAttached=false;//フライトピンが付いているかどうか
zeutel 0:cebf1f73ffd5 38 FILE *fp;
zeutel 4:ad2faabb7995 39 servo_1.period(0.020);
zeutel 4:ad2faabb7995 40 servo_2.period(0.020);
zeutel 4:ad2faabb7995 41 init(&fp);//初期化
zeutel 0:cebf1f73ffd5 42
zeutel 4:ad2faabb7995 43 //flightpin.mode(PullNone);
zeutel 0:cebf1f73ffd5 44
zeutel 0:cebf1f73ffd5 45 //サーボclose
zeutel 4:ad2faabb7995 46 servo_1.pulsewidth(0.00100);
zeutel 4:ad2faabb7995 47 servo_2.pulsewidth(0.00194);
zeutel 4:ad2faabb7995 48 pc.printf("servo close");
zeutel 0:cebf1f73ffd5 49
zeutel 4:ad2faabb7995 50 while(strncmp(receive,"start",sizeof(receive))!=0){//無線での開始指令待ち txda startと受信したら計測開始
zeutel 0:cebf1f73ffd5 51 im920.poll();
zeutel 0:cebf1f73ffd5 52 memset(receive,'\0',sizeof(receive));
zeutel 0:cebf1f73ffd5 53 im920.recv(receive,8);
zeutel 0:cebf1f73ffd5 54 //加速度・フライトピン読み取り
zeutel 0:cebf1f73ffd5 55 lsm.readAccel();
zeutel 0:cebf1f73ffd5 56 flightpinAttached=flightpin;
zeutel 4:ad2faabb7995 57 pc.printf("%d\r\n",flightpin.read());
zeutel 0:cebf1f73ffd5 58 if(strncmp(receive,"check",sizeof(receive))==0){//checkと受信したらセンサーの状態確認 主にGPS
zeutel 0:cebf1f73ffd5 59 im920.send("Check",6);
zeutel 0:cebf1f73ffd5 60 checkingSensors();
zeutel 0:cebf1f73ffd5 61 }
zeutel 0:cebf1f73ffd5 62 if(strncmp(receive,"retry",sizeof(receive))==0){//retryと受信したら再度初期化
zeutel 0:cebf1f73ffd5 63 im920.send("Retry initializing",19);
zeutel 0:cebf1f73ffd5 64 init(&fp);
zeutel 0:cebf1f73ffd5 65 }
zeutel 0:cebf1f73ffd5 66 if(strncmp(receive,"reset",sizeof(receive))==0){//resetと受信したらMbedリセット
zeutel 0:cebf1f73ffd5 67 im920.send("Mbed reset",11);
zeutel 0:cebf1f73ffd5 68 NVIC_SystemReset();
zeutel 0:cebf1f73ffd5 69 }
zeutel 4:ad2faabb7995 70 if(lsm.ax*lsm.ax+lsm.ay*lsm.ay+lsm.az*lsm.az>=4.0&&flightpinAttached==false){//加速度2.0G以上かつフライトピンがぬけていたらコマンドがなくても開始
zeutel 0:cebf1f73ffd5 71 im920.send("Forced start",13);
zeutel 0:cebf1f73ffd5 72 break;
zeutel 0:cebf1f73ffd5 73 }
zeutel 0:cebf1f73ffd5 74 }
zeutel 0:cebf1f73ffd5 75 im920.send("START",6);
zeutel 0:cebf1f73ffd5 76
zeutel 0:cebf1f73ffd5 77 while(strncmp(receive,"end",sizeof(receive))!=0&&sequence!=3) {//endと受信するまたは着地したら終了
zeutel 0:cebf1f73ffd5 78 //受信内容の初期化
zeutel 0:cebf1f73ffd5 79 im920.poll();
zeutel 0:cebf1f73ffd5 80 memset(receive,'\0',sizeof(receive));
zeutel 0:cebf1f73ffd5 81 im920.recv(receive,8);
zeutel 0:cebf1f73ffd5 82
zeutel 0:cebf1f73ffd5 83 if(strncmp(receive,"reset",sizeof(receive))==0){//resetと受信したらMbedリセット
zeutel 0:cebf1f73ffd5 84 im920.send("Mbed reset",11);
zeutel 0:cebf1f73ffd5 85 NVIC_SystemReset();
zeutel 0:cebf1f73ffd5 86 }
zeutel 0:cebf1f73ffd5 87
zeutel 0:cebf1f73ffd5 88 //センサ・フライトピン読み取り 高度計測
zeutel 0:cebf1f73ffd5 89 readValues(sequence);
zeutel 4:ad2faabb7995 90 //flightpinAttached=flightpin;
zeutel 0:cebf1f73ffd5 91 altitude=calcAltitude(lps331.pressure,lps331.temperature);
zeutel 0:cebf1f73ffd5 92
zeutel 4:ad2faabb7995 93 //pc.printf("%.2f\r\n",(float)timer/1000);
zeutel 0:cebf1f73ffd5 94 /*pc.printf("%f,%f\r\n", lps331.pressure, lps331.temperature);
zeutel 0:cebf1f73ffd5 95 pc.printf("accX=%.3f / accY=%.3f / accZ=%.3f\r\n",lsm.ax,lsm.ay,lsm.az);
zeutel 0:cebf1f73ffd5 96 pc.printf("gyroX=%.3f / gyroY=%.3f / gyroZ=%.3f\r\n",lsm.gx,lsm.gy,lsm.gz);
zeutel 0:cebf1f73ffd5 97 pc.printf("magnX=%.3f / magnY=%.3f / magnZ=%.3f\r\n",lsm.mx,lsm.my,lsm.mz);
zeutel 0:cebf1f73ffd5 98 pc.printf("\r\n");*/
zeutel 0:cebf1f73ffd5 99
zeutel 0:cebf1f73ffd5 100 //地上局への送信
zeutel 0:cebf1f73ffd5 101 if(timer%1000==0){//1秒おきに経過時間送信
zeutel 0:cebf1f73ffd5 102 im920.send(valueToChar((float)timer/1000),7);
zeutel 0:cebf1f73ffd5 103 }
zeutel 0:cebf1f73ffd5 104
zeutel 0:cebf1f73ffd5 105 if(maxAltitude<altitude){//最高高度更新
zeutel 0:cebf1f73ffd5 106 maxAltitude=altitude;
zeutel 0:cebf1f73ffd5 107 }
zeutel 0:cebf1f73ffd5 108
zeutel 0:cebf1f73ffd5 109 switch(sequence){
zeutel 0:cebf1f73ffd5 110 case 0://発射待機中
zeutel 0:cebf1f73ffd5 111 //離床検知
zeutel 4:ad2faabb7995 112 if(lsm.ax*lsm.ax+lsm.ay*lsm.ay+lsm.az*lsm.az>=4.0&&flightpinAttached==false){//加速度2.0G以上かつフライトピンがぬけている
zeutel 0:cebf1f73ffd5 113 im920.send("LAUNCH ACC>2.0G",16);
zeutel 0:cebf1f73ffd5 114 launchTime=timer;
zeutel 0:cebf1f73ffd5 115 sequence=1;
zeutel 0:cebf1f73ffd5 116 }
zeutel 0:cebf1f73ffd5 117 break;
zeutel 0:cebf1f73ffd5 118
zeutel 0:cebf1f73ffd5 119 case 1://発射～減速機構展開
zeutel 0:cebf1f73ffd5 120 //減速機構展開
zeutel 0:cebf1f73ffd5 121 if(timer-launchTime>=18*1000||maxAltitude-altitude>=10){//離床検知から18秒経過 or 最高高度から10m落下
zeutel 0:cebf1f73ffd5 122 im920.send("Start speed reducing",21);
zeutel 0:cebf1f73ffd5 123 reducerExpantionedTime=timer;
zeutel 0:cebf1f73ffd5 124 //サーボopen
zeutel 4:ad2faabb7995 125 servo_1.pulsewidth(0.00128);//ms/1000
zeutel 4:ad2faabb7995 126 servo_2.pulsewidth(0.00132);
zeutel 0:cebf1f73ffd5 127 sequence=2;
zeutel 0:cebf1f73ffd5 128 }
zeutel 0:cebf1f73ffd5 129 break;
zeutel 0:cebf1f73ffd5 130
zeutel 0:cebf1f73ffd5 131 case 2://減速機構展開～着地
zeutel 0:cebf1f73ffd5 132 if(timer-reducerExpantionedTime>=80*1000){//減速機構展開から80秒経過
zeutel 0:cebf1f73ffd5 133 im920.send("LANDING",8);
zeutel 0:cebf1f73ffd5 134 sequence=3;
zeutel 0:cebf1f73ffd5 135 }
zeutel 0:cebf1f73ffd5 136 break;
zeutel 0:cebf1f73ffd5 137 }
zeutel 0:cebf1f73ffd5 138
zeutel 0:cebf1f73ffd5 139 //SD書き込み time,temp,pres,temp_hw,pres_hw,accXYZ,gyroXYZ,magnXYZ,longitude,latitude
zeutel 4:ad2faabb7995 140 if(fp!=NULL){
zeutel 4:ad2faabb7995 141 if(sequence==1){//飛行中
zeutel 4:ad2faabb7995 142 fprintf(fp,"%.2f,%f,%f,%f,%f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n",
zeutel 4:ad2faabb7995 143 (float)timer/1000,lps331.temperature,lps331.pressure,lps33hw.temperature(),lps33hw.pressure(),lsm.ax,lsm.ay,lsm.az,lsm.gx,lsm.gy,lsm.gz,lsm.mx,lsm.my,lsm.mz);
zeutel 4:ad2faabb7995 144 }else{//飛行中以外はGPS情報も保存
zeutel 4:ad2faabb7995 145 fprintf(fp,"%.2f,%f,%f,%f,%f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%f,%f\r\n",
zeutel 4:ad2faabb7995 146 (float)timer/1000,lps331.temperature,lps331.pressure,lps33hw.temperature(),lps33hw.pressure(),lsm.ax,lsm.ay,lsm.az,lsm.gx,lsm.gy,lsm.gz,lsm.mx,lsm.my,lsm.mz,gps.longitude,gps.latitude);
zeutel 4:ad2faabb7995 147 }
zeutel 0:cebf1f73ffd5 148 }
zeutel 0:cebf1f73ffd5 149
zeutel 0:cebf1f73ffd5 150 timer+=timeInterval;
zeutel 0:cebf1f73ffd5 151 wait((float)timeInterval/1000);
zeutel 0:cebf1f73ffd5 152 }
zeutel 4:ad2faabb7995 153 if(fp!=NULL){
zeutel 4:ad2faabb7995 154 fclose(fp);
zeutel 4:ad2faabb7995 155 wait(0.5);
zeutel 4:ad2faabb7995 156 im920.send("File closed",12);
zeutel 4:ad2faabb7995 157 }else{
zeutel 4:ad2faabb7995 158 im920.send("SD error",9);
zeutel 4:ad2faabb7995 159 }
zeutel 0:cebf1f73ffd5 160 im920.send("MaxAltitude=",13);
zeutel 0:cebf1f73ffd5 161 im920.send(valueToChar(maxAltitude),7);
zeutel 0:cebf1f73ffd5 162
zeutel 0:cebf1f73ffd5 163 //地上局へのGPS情報送信
zeutel 0:cebf1f73ffd5 164 im920.send("Waiting for GPS response",25);
zeutel 0:cebf1f73ffd5 165 while(gps.result==false){//GPSが利用可能になるまでまつ
zeutel 0:cebf1f73ffd5 166 gps.getgps();
zeutel 0:cebf1f73ffd5 167 }
zeutel 0:cebf1f73ffd5 168 im920.send(valueToChar(gps.longitude),7);
zeutel 0:cebf1f73ffd5 169 im920.send(valueToChar(gps.latitude),7);
zeutel 0:cebf1f73ffd5 170 }
zeutel 0:cebf1f73ffd5 171
zeutel 0:cebf1f73ffd5 172 void init(FILE **file){
zeutel 0:cebf1f73ffd5 173 //im920
zeutel 0:cebf1f73ffd5 174 im920.init();
zeutel 0:cebf1f73ffd5 175 wait(1);
zeutel 0:cebf1f73ffd5 176
zeutel 0:cebf1f73ffd5 177 //MMTXS03
zeutel 4:ad2faabb7995 178 if(lps331.isAvailable()==true) {
zeutel 0:cebf1f73ffd5 179 pc.printf("LPS331 is available\r\n");
zeutel 0:cebf1f73ffd5 180 im920.send("MM-TXS03...OK",14);
zeutel 0:cebf1f73ffd5 181 } else {
zeutel 0:cebf1f73ffd5 182 pc.printf("LPS331 is unavailable\r\n");
zeutel 0:cebf1f73ffd5 183 im920.send("MM-TXS03...NG",14);
zeutel 0:cebf1f73ffd5 184 }
zeutel 0:cebf1f73ffd5 185
zeutel 0:cebf1f73ffd5 186 //MM9DS1
zeutel 0:cebf1f73ffd5 187 lsm.begin();
zeutel 4:ad2faabb7995 188 if(lsm.whoAmI()==true){
zeutel 0:cebf1f73ffd5 189 pc.printf("LSM9DS1 is available\r\n");
zeutel 0:cebf1f73ffd5 190 im920.send("MM-9DS1...OK",13);
zeutel 0:cebf1f73ffd5 191 }else {
zeutel 0:cebf1f73ffd5 192 pc.printf("LSM9DS1 is unavailable\r\n");
zeutel 0:cebf1f73ffd5 193 im920.send("MM-9DS1...NG",13);
zeutel 0:cebf1f73ffd5 194 }
zeutel 0:cebf1f73ffd5 195
zeutel 0:cebf1f73ffd5 196 //LPS33HW
zeutel 4:ad2faabb7995 197 if(lps33hw.whoAmI()==true){
zeutel 0:cebf1f73ffd5 198 pc.printf("LPS33HW is available\r\n");
zeutel 0:cebf1f73ffd5 199 im920.send("LPS33HW...OK",13);
zeutel 0:cebf1f73ffd5 200 }else {
zeutel 0:cebf1f73ffd5 201 pc.printf("LPS33HW is unavailable\r\n");
zeutel 0:cebf1f73ffd5 202 im920.send("LPS33HW...NG",13);
zeutel 0:cebf1f73ffd5 203 }
zeutel 0:cebf1f73ffd5 204
zeutel 0:cebf1f73ffd5 205 //SD
zeutel 4:ad2faabb7995 206 /*if(*file!=NULL){
zeutel 0:cebf1f73ffd5 207 fclose(*file);
zeutel 4:ad2faabb7995 208 }*/
zeutel 0:cebf1f73ffd5 209 *file = fopen("/sd/data.csv", "w");
zeutel 0:cebf1f73ffd5 210 if(*file == NULL) {
zeutel 0:cebf1f73ffd5 211 pc.printf("Could not open file for write\r\n");
zeutel 0:cebf1f73ffd5 212 im920.send("SD...NG",8);
zeutel 0:cebf1f73ffd5 213 }else{
zeutel 0:cebf1f73ffd5 214 pc.printf("file opend\r\n");
zeutel 0:cebf1f73ffd5 215 im920.send("SD...OK",8);
zeutel 0:cebf1f73ffd5 216 fprintf(*file,"time,temperature,pressure,accX,accY,accZ,gyroX,gyroY,gyroZ,magnX,magnY,magnZ,longitude,latitude\r\n");
zeutel 0:cebf1f73ffd5 217 }
zeutel 0:cebf1f73ffd5 218
zeutel 0:cebf1f73ffd5 219 //GPS優先度
zeutel 0:cebf1f73ffd5 220 NVIC_SetPriority(UART3_IRQn,0);
zeutel 0:cebf1f73ffd5 221 gps.getgps();
zeutel 0:cebf1f73ffd5 222 if(gps.result){
zeutel 0:cebf1f73ffd5 223 pc.printf("GPS is available\r\n");
zeutel 0:cebf1f73ffd5 224 im920.send("GPS...OK",9);
zeutel 0:cebf1f73ffd5 225 im920.send(valueToChar(gps.longitude),7);
zeutel 0:cebf1f73ffd5 226 im920.send(valueToChar(gps.latitude),7);
zeutel 0:cebf1f73ffd5 227 }else{
zeutel 0:cebf1f73ffd5 228 pc.printf("GPS is unavailable\r\n");
zeutel 0:cebf1f73ffd5 229 im920.send("GPS...NG",9);
zeutel 0:cebf1f73ffd5 230 }
zeutel 0:cebf1f73ffd5 231
zeutel 0:cebf1f73ffd5 232 //各種設定
zeutel 4:ad2faabb7995 233 /*lps331.setResolution(LPS331_I2C_PRESSURE_AVG_512, LPS331_I2C_TEMP_AVG_128);
zeutel 0:cebf1f73ffd5 234 lps331.setDataRate(LPS331_I2C_DATARATE_25HZ_T);
zeutel 4:ad2faabb7995 235 lps331.setActive(true);*/
zeutel 0:cebf1f73ffd5 236 lsm.setAccelODR(lsm.A_ODR_952);
zeutel 0:cebf1f73ffd5 237 lsm.setGyroODR(lsm.G_ODR_952_BW_100);
zeutel 0:cebf1f73ffd5 238 lsm.setMagODR(lsm.M_ODR_80);
zeutel 0:cebf1f73ffd5 239 }
zeutel 0:cebf1f73ffd5 240
zeutel 0:cebf1f73ffd5 241 void checkingSensors(){
zeutel 0:cebf1f73ffd5 242 //MMTXS03
zeutel 0:cebf1f73ffd5 243 if(lps331.isAvailable()) {
zeutel 0:cebf1f73ffd5 244 pc.printf("LPS331 is available\r\n");
zeutel 0:cebf1f73ffd5 245 im920.send("MM-TXS03...OK",14);
zeutel 0:cebf1f73ffd5 246 } else {
zeutel 0:cebf1f73ffd5 247 pc.printf("LPS331 is unavailable\r\n");
zeutel 0:cebf1f73ffd5 248 im920.send("MM-TXS03...NG",14);
zeutel 0:cebf1f73ffd5 249 }
zeutel 0:cebf1f73ffd5 250
zeutel 0:cebf1f73ffd5 251 //MM9DS1
zeutel 0:cebf1f73ffd5 252 if(lsm.whoAmI()){
zeutel 0:cebf1f73ffd5 253 pc.printf("LSM9DS1 is available\r\n");
zeutel 0:cebf1f73ffd5 254 im920.send("MM-9DS1...OK",13);
zeutel 0:cebf1f73ffd5 255 }else {
zeutel 0:cebf1f73ffd5 256 pc.printf("LSM9DS1 is unavailable\r\n");
zeutel 0:cebf1f73ffd5 257 im920.send("MM-9DS1...NG",13);
zeutel 0:cebf1f73ffd5 258 }
zeutel 0:cebf1f73ffd5 259
zeutel 0:cebf1f73ffd5 260 //LPS33HW
zeutel 0:cebf1f73ffd5 261 if(lps33hw.whoAmI()){
zeutel 0:cebf1f73ffd5 262 pc.printf("LPS33HW is available\r\n");
zeutel 0:cebf1f73ffd5 263 im920.send("LPS33HW...OK",13);
zeutel 0:cebf1f73ffd5 264 }else {
zeutel 0:cebf1f73ffd5 265 pc.printf("LPS33HW is unavailable\r\n");
zeutel 0:cebf1f73ffd5 266 im920.send("LPS33HW...NG",13);
zeutel 0:cebf1f73ffd5 267 }
zeutel 0:cebf1f73ffd5 268
zeutel 0:cebf1f73ffd5 269 //GPS
zeutel 0:cebf1f73ffd5 270 gps.getgps();
zeutel 0:cebf1f73ffd5 271 if(gps.result){
zeutel 0:cebf1f73ffd5 272 pc.printf("GPS is available\r\n");
zeutel 0:cebf1f73ffd5 273 im920.send("GPS...OK",9);
zeutel 0:cebf1f73ffd5 274 im920.send(valueToChar(gps.longitude),7);
zeutel 0:cebf1f73ffd5 275 im920.send(valueToChar(gps.latitude),7);
zeutel 0:cebf1f73ffd5 276 }else{
zeutel 0:cebf1f73ffd5 277 pc.printf("GPS is unavailable\r\n");
zeutel 0:cebf1f73ffd5 278 im920.send("GPS...NG",9);
zeutel 0:cebf1f73ffd5 279 }
zeutel 0:cebf1f73ffd5 280 }
zeutel 0:cebf1f73ffd5 281
zeutel 0:cebf1f73ffd5 282 void readValues(int sequence){
zeutel 0:cebf1f73ffd5 283 lsm.readAccel();
zeutel 0:cebf1f73ffd5 284 lsm.readGyro();
zeutel 0:cebf1f73ffd5 285 lsm.readMag();
zeutel 0:cebf1f73ffd5 286 lps331.getPressure();
zeutel 0:cebf1f73ffd5 287 lps331.getTemperature();
zeutel 0:cebf1f73ffd5 288 lps33hw.get();
zeutel 0:cebf1f73ffd5 289 if(sequence!=1){
zeutel 0:cebf1f73ffd5 290 gps.getgps();
zeutel 0:cebf1f73ffd5 291 }
zeutel 0:cebf1f73ffd5 292 }
zeutel 0:cebf1f73ffd5 293
zeutel 0:cebf1f73ffd5 294 char *valueToChar(float value){
zeutel 0:cebf1f73ffd5 295 char buf[6];
zeutel 0:cebf1f73ffd5 296
zeutel 0:cebf1f73ffd5 297 sprintf(buf,"%06.2f",value);
zeutel 0:cebf1f73ffd5 298
zeutel 0:cebf1f73ffd5 299 return buf;
zeutel 0:cebf1f73ffd5 300 }
zeutel 0:cebf1f73ffd5 301
zeutel 0:cebf1f73ffd5 302 float calcAltitude(float pres, float temp){
zeutel 0:cebf1f73ffd5 303 return (pow(1013.25/pres,1/5.257)-1)*(temp+273.15)/0.0065;
zeutel 0:cebf1f73ffd5 304 }