2018 IZU GRUND STATION Program

Dependencies:   ES920LR mbed

Files at this revision

API Documentation at this revision

Comitter:
zebrin1422
Date:
Thu Mar 22 05:54:16 2018 +0000
Parent:
0:dfa2ad4bec3a
Commit message:
2018 IZU GRUND STATION

Changed in this revision

HYBRYD2018_IZU_GRAUND_STATION.cpp Show diff for this revision Revisions of this file
HYBRYD2018_IZU_GROUND_STATION.cpp Show annotated file Show diff for this revision Revisions of this file
diff -r dfa2ad4bec3a -r 73890382d872 HYBRYD2018_IZU_GRAUND_STATION.cpp
--- a/HYBRYD2018_IZU_GRAUND_STATION.cpp	Thu Mar 22 05:53:05 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,491 +0,0 @@
-#include "mbed.h"
-#include "ES920LR.hpp"
-
-#define TX D1
-#define RX D0
-
-RawSerial pc(USBTX,USBRX,115200);
-RawSerial bus(TX, RX, 115200);
-ES920LR es(bus, pc, 115200);
-
-bool safety_flag = false;
-
-Timeout send;
-
-//safety device release command
-//forced transition fllight mode
-//forced nicrom fire
-
-void header0x10()
-{
-    char buff = pc.getc();
-    
-    if(buff == 'R')es << (char)0x10 << 'r' << es.endl;          //release's  "r"
-    else if(buff == 'F') es << (char)0x10 << 'f' << es.endl;    //flight's   "f"
-    else if(buff == 'N') es << (char)0x10 << 'n' << es.endl;    //nicrom's   "n"
-    else if(buff == 'S') es << (char)0x10 << 's' << es.endl;    //solenoid's "s"
-    else if(buff == 'C') es << (char)0x10 << 'c' << es.endl;    //collect's  "c"
-    else if(buff == 'D') es << (char)0x10 << 'd' << es.endl;    //debug's    "d"
-    else if(buff == 'I') es << (char)0x10 << 'i' << es.endl;    //inner's    "i"
-    else if(buff == 'B') es << (char)0x10 << 'b' << es.endl;    //beck's     "b"
-    else pc.printf("NG command\r\n");
-}
-
-
-
-
-bool bit_check(short data, short mask)
-{
-    if((data & mask) == mask)return true;
-    else return false;
-}
-/*
-if(safety_flag)             state |= 0x01;  //0bit
-if(flight_detect_mode)      state |= 0x02;  //1bit
-if(hr.flight_pin_state)     state |= 0x04;  //2bit
-if(flight_mode)             state |= 0x08;  //3bit
-if(sepa_accept)             state |= 0x10;  //4bit
-if(extrusion_accept)        state |= 0x20;  //5bit
-if(collect_mode)            state |= 0x40;  //6bit
-if(vertex_arrival)          state |= 0x80;  //7bit
-*/
-void flag_display(char data)
-{
-    
-    if(data & 0x80)pc.printf("1");
-    else pc.printf("0");
-    
-    if(data & 0x40)pc.printf("1");
-    else pc.printf("0");
-    
-    if(data & 0x20)pc.printf("1");
-    else pc.printf("0");
-    
-    if(data & 0x10)pc.printf("1|");
-    else pc.printf("0|");
-    
-    if(data & 0x08)pc.printf("1");
-    else pc.printf("0");
-    
-    if(data & 0x04)pc.printf("1");
-    else pc.printf("0");
-    
-    if(data & 0x02)pc.printf("1");
-    else pc.printf("0");
-
-    
-    if(data & 0x01)pc.printf("1\r\n");
-    else pc.printf("0\r\n");
-    
-    if(data==0x00)pc.printf("安全装置:ロック\r\n");
-    if(data==0x01)pc.printf("安全装置:解除\r\n");
-    if(data==0x03)pc.printf("フライトピン待機状態\r\n");
-    if(data==0x07)pc.printf("フライトピンが抜けた\r\n");
-    if(data==0x0F)pc.printf("飛行中\r\n");
-    if(data==0x1F || data==0x9F)pc.printf("ニクロムファイア\r\n");
-    if(data==0x3F || data==0xBF)pc.printf("ソレノイドプッシュ\r\n");
-    if(data==0x7F || data==0xFF)pc.printf("回収モード\r\n");
-    
-}
-
-void second_to_time(int data)
-{
-    char hour,min,second;
-    float dummy;
-    
-    dummy = (float)(data/3600);
-    hour = (char)dummy;
-    data -= 3600*(int)hour;
-    
-    dummy = (float)(data/60);
-    min = (char)dummy;
-    data -= 60*(int)min;
-    
-    second = (char)data;
-    
-    pc.printf("Inner Time = %d hour %d min %d sec\r\n", hour, min, second);
-}
-
-
-void header0x01()
-{
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-    
-    if(es.data[0] == (char)9) //PQの9
-    {
-        pc.printf("safety device release complete\r\n");
-        safety_flag = true;
-    }
-    else
-    {
-        pc.printf("couldn't communicate\r\n");
-        safety_flag = false;
-    } 
-    
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-}   
-
-// センサ  external_INA inner_INA mpu_acc mpu_mag LPS22HB SHT35 TSL2561 three SD
-// ビット             8         7       6       5       4     3       2     1  0
-// 対応するビットがHIGHになっておれば接続確認できている 
-void header0x02()
-{
-    short state = es.toShort(0);
-    if(state & 0x001)pc.printf("external ina OK\r\n");
-    else pc.printf("external ina NG\r\n");
-    
-    if(state & 0x002)pc.printf("inner ina OK\r\n");
-    else pc.printf("inner ina NG\r\n");
-    
-    if(state & 0x004)pc.printf("mpu acc OK\r\n");
-    else pc.printf("mpu acc OK\r\n");
-    
-    if(state & 0x008)pc.printf("mpu mag OK\r\n");
-    else pc.printf("mpu mag OK\r\n");
-    
-    if(state & 0x010)pc.printf("LPS22HB OK\r\n");
-    else pc.printf("LPS22HB NG\r\n");
-    
-    if(state & 0x020)pc.printf("SHT35 OK\r\n");
-    else pc.printf("SHT35 NG\r\n");
-    
-    if(state & 0x040)pc.printf("TSL2561 OK\r\n");
-    else pc.printf("TSL2561 NG\r\n");
-    
-    if(state & 0x080)pc.printf("ADXL OK\r\n");
-    else pc.printf("ADXL NG\r\n");
-    
-    if(state & 0x100)pc.printf("SD OK\r\n");
-    else pc.printf("SD NG\r\n");
-    
-    if(state & 0x200)pc.printf("GPS OK\r\n");
-    else pc.printf("GPS NO\r\n");
-}
-
-#define COMPRES_Inner_Time  36.40833333     //32768/1800
-#define COMPRES_Q           305200          // ? pakuru
-#define COMPRES_VOLTAGE     0.9102222       // 65535/36 = 
-#define COMPRES_CURRENT     0.8192          // 65535/40 = 
-#define COMPRES_PRESSURE    26.0063         // 65535/1260 =  
-#define COMPRES_ALTITUDE    65.536          // 65535/500 =  //range = 0~500
-#define COMPRES_VELOCITY    327.68          // 65535/100 =  //pakuru
-#define COMPRES_LUMINOSITY  3.2768          // 65535/10000 = 
-#define COMPRES_TEMPERATURE 546.133         // 63353/60 =   //range = -20 ~ 40 
-#define COMPRES_HUMIDITY    327.68          // 65535/100 = 
-#define COMPRES_ACC         81.92           // 65535/400 = 
-#define COMPRES_PITOT       32768           // 65535/1 = 
-
-void header0x03()
-{
-    int i=0;
-    
-    pc.printf("header:0x03\r\n");
-    
-    if(es.data[i]==1 || es.data[i]==2 || es.data[i]==3)
-    {
-        
-        pc.printf("rocket phase : %d\r\n",es.data[i]);          
-        i++;
-        
-        flag_display(es.data[i]);
-        i++;
-        
-        second_to_time(es.toInt(i));
-        i+=4;
-        
-        //i+=8;
-        
-        pc.printf("latitude = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        pc.printf("longitude = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        /*
-        pc.printf("ex_vol = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        pc.printf("ex_current = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        pc.printf("in_vol = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        pc.printf("in_current = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        //pc.printf("pressure = %f\r\n",es.toFloat(i));
-        //i+=4;
-        
-        //pc.printf("lux = %f\r\n",es.toFloat(i));
-        //i+=4;
-        
-        
-        pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
-        i+=2;
-        
-        pc.printf("lux  %f\r\n", (float)(es.toShort(i) / COMPRES_LUMINOSITY));
-        i+=2;
-        
-        pc.printf("temp = %f\r\n",(float)(es.toShort(i) / COMPRES_TEMPERATURE));
-        i+=2;
-        
-        pc.printf("hum = %f\r\n",(float)(es.toShort(i) / COMPRES_HUMIDITY));
-        i+=2;
-        */
-        pc.printf("ex_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);     
-        i+=2;
-        
-        pc.printf("ex_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT); 
-        i+=2;
-        
-        //pc.printf("i = %d\r\n",i);
-        pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);     
-        i+=2;
-
-        pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT); 
-        i+=2;
-        
-        pc.printf("pressure = %f\r\n",(float)(es.toShort(i)/COMPRES_PRESSURE));
-        i+=2;
-        
-        pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
-        i+=2;
-        
-        pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
-        i+=2;
-        
-        pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
-        i+=2;
-        
-        
-    }
-    if(es.data[i]==4)
-    {
-        pc.printf("rocket phase : %d\r\n",es.data[i]);          
-        i++;
-        
-        flag_display(es.data[i]);
-        i++;
-        
-        second_to_time(es.toInt(i));
-        i+=4;
-        
-        pc.printf("latitude = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        pc.printf("longitude = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        /*
-        pc.printf("i = %d\t",i);
-        pc.printf("Q.w = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);       
-        i+=2;
-        
-        pc.printf("i = %d\t",i);
-        pc.printf("Q.x = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);       
-        i+=2;
-        
-        pc.printf("i = %d\t",i);
-        pc.printf("Q.y = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);       
-        i+=2;
-        
-        pc.printf("i = %d\t",i);
-        pc.printf("Q.z = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);       
-        i+=2;
-        */
-        //i+=8;
-
-        pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);     
-        i+=2;
-
-        pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT); 
-        i+=2;
-
-        pc.printf("altitude = %f\r\n",es.toFloat(i));  
-        i+=4;
-
-        pc.printf("velocity = %f\r\n",es.toFloat(i));
-        i+=4;
-
-        pc.printf("luminosity = %f\r\n",(float)(es.toShort(i))/COMPRES_LUMINOSITY); 
-        i+=2;
-
-        pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
-        i+=2;
-
-        pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
-        i+=2;
-    
-        pc.printf("press_pitot = %f\r\n",(float)(es.toShort(i))/COMPRES_PITOT);
-        i+=2;
-        
-        pc.printf("gps_altitude = %f\r\n",(float)(es.toShort(i)/COMPRES_ALTITUDE));
-        i+=2;
-    }
-    if(es.data[i]==5)
-    {
-        pc.printf("rocket phase : %d\r\n",es.data[i]);          
-        i++;
-        
-        flag_display(es.data[i]);
-        /*
-        pc.printf("i = %d\t",i);
-        pc.printf("rocket state : 0x%x\r\n",es.data[i]);          
-        */
-        i++;
-
-        second_to_time(es.toInt(i));
-        i+=4;
-        /*
-        pc.printf("i = %d\t",i);
-        pc.printf("Inner time = %d\r\n",es.toInt(i));
-        i+=4;
-        */
-        
-        //pc.printf("i = %d\t",i);
-        pc.printf("longitude = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        //pc.printf("i = %d\t",i);
-        pc.printf("latitude = %f\r\n",es.toFloat(i));
-        i+=4;
-        
-        //i+=8;
-        
-        pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);     
-        i+=2;
-
-        pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT); 
-        i+=2;
-        
-        pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
-        i+=2;
-
-        pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
-        i+=2;
-
-        pc.printf("temperature = %f\r\n",(float)(es.toShort(i)/COMPRES_TEMPERATURE));
-        i+=2;
-
-        pc.printf("humidity = %f\r\n",(float)(es.toShort(i)/COMPRES_HUMIDITY));
-        i+=2;
-    }
-}
-
-void header0x05()
-{
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("header:0x05\r\n");
-    
-    if(es.data[0] == 'd')pc.printf("flight pin detect\r\n");
-    //else pc.printf("NG data\r\n");
-    
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-    
-}
-
-void header0x06()
-{
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("header:0x06\r\n");
-    
-    if(es.data[0] == 'n')pc.printf("nicrom fire finish\r\n");
-    //else pc.printf("NG data\r\n");
-    
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-}
-
-void header0x07()
-{
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("header:0x07\r\n");
-    
-    if(es.data[0] == 's')pc.printf("solenoid push complete\r\n");
-    //else pc.printf("NG data\r\n");
-    
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-}
-
-void header0x08()
-{
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-    //pc.printf("header:0x08\r\n");
-    
-    if(es.data[0] == 'c')pc.printf("collect mode transimit complete\r\n");
-    else pc.printf("NG data\r\n");
-    
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-}
-
-void header0x09()
-{
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("header:0x09\r\n");
-    
-    if(es.data[0] == 1)pc.printf("ROCKET PHASE 1 START\r\n");
-    if(es.data[0] == 2)pc.printf("ROCKET PHASE 2 START\r\n");
-    if(es.data[0] == 3)pc.printf("ROCKET PHASE 3 START\r\n");
-    if(es.data[0] == 4)pc.printf("ROCKET PHASE 4 START\r\n");
-    if(es.data[0] == 5)pc.printf("ROCKET PHASE 5 START\r\n");    
-    //else pc.printf("NG data\r\n");
-
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-}
-
-void header0x1A()
-{
-    
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("header : 0x1A\r\n");
-    
-    if(es.data[0] == 'd'){pc.printf("Rocket's transceiver normal\r\n");}
-    if(es.data[0] == 'i'){pc.printf("Inner time reset complete\r\n");}
-    if(es.data[0] == 'b'){pc.printf("safety device reboot complete\r\n");}
-    //else pc.printf("NG command\r\n");
-    
-    pc.printf("--------------------------------------------------------\r\n");
-    pc.printf("--------------------------------------------------------\r\n");
-}
-
-
-int main() {
-    
-    pc.attach(&header0x10, Serial::RxIrq);
-    
-    es.attach(&header0x01, (char)0x01);
-    es.attach(&header0x02, (char)0x02);
-    es.attach(&header0x03, (char)0x03);
-    //es.attach(&header0x04, (char)0x04);
-    es.attach(&header0x05, (char)0x05);
-    es.attach(&header0x06, (char)0x06);
-    es.attach(&header0x07, (char)0x07);
-    es.attach(&header0x08, (char)0x08);
-    es.attach(&header0x09, (char)0x09);
-    
-    es.attach(&header0x1A, (char)0x1A);
-    
-
-    
-    while(1)
-    {
-        pc.printf("couldn't receive cmd\r\n");
-        
-        wait(30);
-    }
-    
-    
-}
diff -r dfa2ad4bec3a -r 73890382d872 HYBRYD2018_IZU_GROUND_STATION.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HYBRYD2018_IZU_GROUND_STATION.cpp	Thu Mar 22 05:54:16 2018 +0000
@@ -0,0 +1,491 @@
+#include "mbed.h"
+#include "ES920LR.hpp"
+
+#define TX D1
+#define RX D0
+
+RawSerial pc(USBTX,USBRX,115200);
+RawSerial bus(TX, RX, 115200);
+ES920LR es(bus, pc, 115200);
+
+bool safety_flag = false;
+
+Timeout send;
+
+//safety device release command
+//forced transition fllight mode
+//forced nicrom fire
+
+void header0x10()
+{
+    char buff = pc.getc();
+    
+    if(buff == 'R')es << (char)0x10 << 'r' << es.endl;          //release's  "r"
+    else if(buff == 'F') es << (char)0x10 << 'f' << es.endl;    //flight's   "f"
+    else if(buff == 'N') es << (char)0x10 << 'n' << es.endl;    //nicrom's   "n"
+    else if(buff == 'S') es << (char)0x10 << 's' << es.endl;    //solenoid's "s"
+    else if(buff == 'C') es << (char)0x10 << 'c' << es.endl;    //collect's  "c"
+    else if(buff == 'D') es << (char)0x10 << 'd' << es.endl;    //debug's    "d"
+    else if(buff == 'I') es << (char)0x10 << 'i' << es.endl;    //inner's    "i"
+    else if(buff == 'B') es << (char)0x10 << 'b' << es.endl;    //beck's     "b"
+    else pc.printf("NG command\r\n");
+}
+
+
+
+
+bool bit_check(short data, short mask)
+{
+    if((data & mask) == mask)return true;
+    else return false;
+}
+/*
+if(safety_flag)             state |= 0x01;  //0bit
+if(flight_detect_mode)      state |= 0x02;  //1bit
+if(hr.flight_pin_state)     state |= 0x04;  //2bit
+if(flight_mode)             state |= 0x08;  //3bit
+if(sepa_accept)             state |= 0x10;  //4bit
+if(extrusion_accept)        state |= 0x20;  //5bit
+if(collect_mode)            state |= 0x40;  //6bit
+if(vertex_arrival)          state |= 0x80;  //7bit
+*/
+void flag_display(char data)
+{
+    
+    if(data & 0x80)pc.printf("1");
+    else pc.printf("0");
+    
+    if(data & 0x40)pc.printf("1");
+    else pc.printf("0");
+    
+    if(data & 0x20)pc.printf("1");
+    else pc.printf("0");
+    
+    if(data & 0x10)pc.printf("1|");
+    else pc.printf("0|");
+    
+    if(data & 0x08)pc.printf("1");
+    else pc.printf("0");
+    
+    if(data & 0x04)pc.printf("1");
+    else pc.printf("0");
+    
+    if(data & 0x02)pc.printf("1");
+    else pc.printf("0");
+
+    
+    if(data & 0x01)pc.printf("1\r\n");
+    else pc.printf("0\r\n");
+    
+    if(data==0x00)pc.printf("安全装置:ロック\r\n");
+    if(data==0x01)pc.printf("安全装置:解除\r\n");
+    if(data==0x03)pc.printf("フライトピン待機状態\r\n");
+    if(data==0x07)pc.printf("フライトピンが抜けた\r\n");
+    if(data==0x0F)pc.printf("飛行中\r\n");
+    if(data==0x1F || data==0x9F)pc.printf("ニクロムファイア\r\n");
+    if(data==0x3F || data==0xBF)pc.printf("ソレノイドプッシュ\r\n");
+    if(data==0x7F || data==0xFF)pc.printf("回収モード\r\n");
+    
+}
+
+void second_to_time(int data)
+{
+    char hour,min,second;
+    float dummy;
+    
+    dummy = (float)(data/3600);
+    hour = (char)dummy;
+    data -= 3600*(int)hour;
+    
+    dummy = (float)(data/60);
+    min = (char)dummy;
+    data -= 60*(int)min;
+    
+    second = (char)data;
+    
+    pc.printf("Inner Time = %d hour %d min %d sec\r\n", hour, min, second);
+}
+
+
+void header0x01()
+{
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+    
+    if(es.data[0] == (char)9) //PQの9
+    {
+        pc.printf("safety device release complete\r\n");
+        safety_flag = true;
+    }
+    else
+    {
+        pc.printf("couldn't communicate\r\n");
+        safety_flag = false;
+    } 
+    
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+}   
+
+// センサ  external_INA inner_INA mpu_acc mpu_mag LPS22HB SHT35 TSL2561 three SD
+// ビット             8         7       6       5       4     3       2     1  0
+// 対応するビットがHIGHになっておれば接続確認できている 
+void header0x02()
+{
+    short state = es.toShort(0);
+    if(state & 0x001)pc.printf("external ina OK\r\n");
+    else pc.printf("external ina NG\r\n");
+    
+    if(state & 0x002)pc.printf("inner ina OK\r\n");
+    else pc.printf("inner ina NG\r\n");
+    
+    if(state & 0x004)pc.printf("mpu acc OK\r\n");
+    else pc.printf("mpu acc OK\r\n");
+    
+    if(state & 0x008)pc.printf("mpu mag OK\r\n");
+    else pc.printf("mpu mag OK\r\n");
+    
+    if(state & 0x010)pc.printf("LPS22HB OK\r\n");
+    else pc.printf("LPS22HB NG\r\n");
+    
+    if(state & 0x020)pc.printf("SHT35 OK\r\n");
+    else pc.printf("SHT35 NG\r\n");
+    
+    if(state & 0x040)pc.printf("TSL2561 OK\r\n");
+    else pc.printf("TSL2561 NG\r\n");
+    
+    if(state & 0x080)pc.printf("ADXL OK\r\n");
+    else pc.printf("ADXL NG\r\n");
+    
+    if(state & 0x100)pc.printf("SD OK\r\n");
+    else pc.printf("SD NG\r\n");
+    
+    if(state & 0x200)pc.printf("GPS OK\r\n");
+    else pc.printf("GPS NO\r\n");
+}
+
+#define COMPRES_Inner_Time  36.40833333     //32768/1800
+#define COMPRES_Q           305200          // ? pakuru
+#define COMPRES_VOLTAGE     0.9102222       // 65535/36 = 
+#define COMPRES_CURRENT     0.8192          // 65535/40 = 
+#define COMPRES_PRESSURE    26.0063         // 65535/1260 =  
+#define COMPRES_ALTITUDE    65.536          // 65535/500 =  //range = 0~500
+#define COMPRES_VELOCITY    327.68          // 65535/100 =  //pakuru
+#define COMPRES_LUMINOSITY  3.2768          // 65535/10000 = 
+#define COMPRES_TEMPERATURE 546.133         // 63353/60 =   //range = -20 ~ 40 
+#define COMPRES_HUMIDITY    327.68          // 65535/100 = 
+#define COMPRES_ACC         81.92           // 65535/400 = 
+#define COMPRES_PITOT       32768           // 65535/1 = 
+
+void header0x03()
+{
+    int i=0;
+    
+    pc.printf("header:0x03\r\n");
+    
+    if(es.data[i]==1 || es.data[i]==2 || es.data[i]==3)
+    {
+        
+        pc.printf("rocket phase : %d\r\n",es.data[i]);          
+        i++;
+        
+        flag_display(es.data[i]);
+        i++;
+        
+        second_to_time(es.toInt(i));
+        i+=4;
+        
+        //i+=8;
+        
+        pc.printf("latitude = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        pc.printf("longitude = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        /*
+        pc.printf("ex_vol = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        pc.printf("ex_current = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        pc.printf("in_vol = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        pc.printf("in_current = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        //pc.printf("pressure = %f\r\n",es.toFloat(i));
+        //i+=4;
+        
+        //pc.printf("lux = %f\r\n",es.toFloat(i));
+        //i+=4;
+        
+        
+        pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
+        i+=2;
+        
+        pc.printf("lux  %f\r\n", (float)(es.toShort(i) / COMPRES_LUMINOSITY));
+        i+=2;
+        
+        pc.printf("temp = %f\r\n",(float)(es.toShort(i) / COMPRES_TEMPERATURE));
+        i+=2;
+        
+        pc.printf("hum = %f\r\n",(float)(es.toShort(i) / COMPRES_HUMIDITY));
+        i+=2;
+        */
+        pc.printf("ex_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);     
+        i+=2;
+        
+        pc.printf("ex_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT); 
+        i+=2;
+        
+        //pc.printf("i = %d\r\n",i);
+        pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);     
+        i+=2;
+
+        pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT); 
+        i+=2;
+        
+        pc.printf("pressure = %f\r\n",(float)(es.toShort(i)/COMPRES_PRESSURE));
+        i+=2;
+        
+        pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
+        i+=2;
+        
+        pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
+        i+=2;
+        
+        pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
+        i+=2;
+        
+        
+    }
+    if(es.data[i]==4)
+    {
+        pc.printf("rocket phase : %d\r\n",es.data[i]);          
+        i++;
+        
+        flag_display(es.data[i]);
+        i++;
+        
+        second_to_time(es.toInt(i));
+        i+=4;
+        
+        pc.printf("latitude = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        pc.printf("longitude = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        /*
+        pc.printf("i = %d\t",i);
+        pc.printf("Q.w = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);       
+        i+=2;
+        
+        pc.printf("i = %d\t",i);
+        pc.printf("Q.x = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);       
+        i+=2;
+        
+        pc.printf("i = %d\t",i);
+        pc.printf("Q.y = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);       
+        i+=2;
+        
+        pc.printf("i = %d\t",i);
+        pc.printf("Q.z = %f\r\n",(float)(es.toShort(i))*COMPRES_Q);       
+        i+=2;
+        */
+        //i+=8;
+
+        pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);     
+        i+=2;
+
+        pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT); 
+        i+=2;
+
+        pc.printf("altitude = %f\r\n",es.toFloat(i));  
+        i+=4;
+
+        pc.printf("velocity = %f\r\n",es.toFloat(i));
+        i+=4;
+
+        pc.printf("luminosity = %f\r\n",(float)(es.toShort(i))/COMPRES_LUMINOSITY); 
+        i+=2;
+
+        pc.printf("temperature = %f\r\n",(float)(es.toShort(i))/COMPRES_TEMPERATURE);
+        i+=2;
+
+        pc.printf("humidity = %f\r\n",(float)(es.toShort(i))/COMPRES_HUMIDITY);
+        i+=2;
+    
+        pc.printf("press_pitot = %f\r\n",(float)(es.toShort(i))/COMPRES_PITOT);
+        i+=2;
+        
+        pc.printf("gps_altitude = %f\r\n",(float)(es.toShort(i)/COMPRES_ALTITUDE));
+        i+=2;
+    }
+    if(es.data[i]==5)
+    {
+        pc.printf("rocket phase : %d\r\n",es.data[i]);          
+        i++;
+        
+        flag_display(es.data[i]);
+        /*
+        pc.printf("i = %d\t",i);
+        pc.printf("rocket state : 0x%x\r\n",es.data[i]);          
+        */
+        i++;
+
+        second_to_time(es.toInt(i));
+        i+=4;
+        /*
+        pc.printf("i = %d\t",i);
+        pc.printf("Inner time = %d\r\n",es.toInt(i));
+        i+=4;
+        */
+        
+        //pc.printf("i = %d\t",i);
+        pc.printf("longitude = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        //pc.printf("i = %d\t",i);
+        pc.printf("latitude = %f\r\n",es.toFloat(i));
+        i+=4;
+        
+        //i+=8;
+        
+        pc.printf("in_vol = %f\r\n",(float)(es.toShort(i))/COMPRES_VOLTAGE);     
+        i+=2;
+
+        pc.printf("in_current = %f\r\n",(float)(es.toShort(i))/COMPRES_CURRENT); 
+        i+=2;
+        
+        pc.printf("press = %f\r\n",(float)(es.toShort(i) / COMPRES_PRESSURE));
+        i+=2;
+
+        pc.printf("luminosity = %f\r\n",(float)(es.toShort(i)/COMPRES_LUMINOSITY));
+        i+=2;
+
+        pc.printf("temperature = %f\r\n",(float)(es.toShort(i)/COMPRES_TEMPERATURE));
+        i+=2;
+
+        pc.printf("humidity = %f\r\n",(float)(es.toShort(i)/COMPRES_HUMIDITY));
+        i+=2;
+    }
+}
+
+void header0x05()
+{
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("header:0x05\r\n");
+    
+    if(es.data[0] == 'd')pc.printf("flight pin detect\r\n");
+    //else pc.printf("NG data\r\n");
+    
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+    
+}
+
+void header0x06()
+{
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("header:0x06\r\n");
+    
+    if(es.data[0] == 'n')pc.printf("nicrom fire finish\r\n");
+    //else pc.printf("NG data\r\n");
+    
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+}
+
+void header0x07()
+{
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("header:0x07\r\n");
+    
+    if(es.data[0] == 's')pc.printf("solenoid push complete\r\n");
+    //else pc.printf("NG data\r\n");
+    
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+}
+
+void header0x08()
+{
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+    //pc.printf("header:0x08\r\n");
+    
+    if(es.data[0] == 'c')pc.printf("collect mode transimit complete\r\n");
+    else pc.printf("NG data\r\n");
+    
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+}
+
+void header0x09()
+{
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("header:0x09\r\n");
+    
+    if(es.data[0] == 1)pc.printf("ROCKET PHASE 1 START\r\n");
+    if(es.data[0] == 2)pc.printf("ROCKET PHASE 2 START\r\n");
+    if(es.data[0] == 3)pc.printf("ROCKET PHASE 3 START\r\n");
+    if(es.data[0] == 4)pc.printf("ROCKET PHASE 4 START\r\n");
+    if(es.data[0] == 5)pc.printf("ROCKET PHASE 5 START\r\n");    
+    //else pc.printf("NG data\r\n");
+
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+}
+
+void header0x1A()
+{
+    
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("header : 0x1A\r\n");
+    
+    if(es.data[0] == 'd'){pc.printf("Rocket's transceiver normal\r\n");}
+    if(es.data[0] == 'i'){pc.printf("Inner time reset complete\r\n");}
+    if(es.data[0] == 'b'){pc.printf("safety device reboot complete\r\n");}
+    //else pc.printf("NG command\r\n");
+    
+    pc.printf("--------------------------------------------------------\r\n");
+    pc.printf("--------------------------------------------------------\r\n");
+}
+
+
+int main() {
+    
+    pc.attach(&header0x10, Serial::RxIrq);
+    
+    es.attach(&header0x01, (char)0x01);
+    es.attach(&header0x02, (char)0x02);
+    es.attach(&header0x03, (char)0x03);
+    //es.attach(&header0x04, (char)0x04);
+    es.attach(&header0x05, (char)0x05);
+    es.attach(&header0x06, (char)0x06);
+    es.attach(&header0x07, (char)0x07);
+    es.attach(&header0x08, (char)0x08);
+    es.attach(&header0x09, (char)0x09);
+    
+    es.attach(&header0x1A, (char)0x1A);
+    
+
+    
+    while(1)
+    {
+        pc.printf("couldn't receive cmd\r\n");
+        
+        wait(30);
+    }
+    
+    
+}