Hepta 2 / Mbed 2 deprecated HEPTA2_ALL_ver0803_02

test

Dependencies:   Hepta2_9axis HeptaBattery Hepta_Serial HeptaTemp HeptaXbee SDHCFileSystem mbed

Fork of HEPTA2_ALL by Hepta 2

main.cpp@5:aedf4491aa0f, 2017-08-05 (annotated)

Committer:
hepta2ume
Date:
Sat Aug 05 13:37:01 2017 +0000
Revision:
5:aedf4491aa0f
Parent:
4:6565d9843337 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sunifu 0:0482779cd78e 1 #include "mbed.h"
hepta2ume 1:890188e041da 2 #include "SDHCFileSystem.h"
hepta2ume 2:726072016da1 3 #include "HeptaXbee.h"
hepta2ume 1:890188e041da 4 #include "HeptaSerial.h"
hepta2ume 2:726072016da1 5 #include "Hepta9axis.h"
hepta2ume 2:726072016da1 6 #include "HeptaTemp.h"
hepta2ume 3:4854731e663d 7 #include "HeptaBattery.h"
sunifu 0:0482779cd78e 8 #define USE_JPEG_HIGH_RESOLUTION 1
sunifu 0:0482779cd78e 9
hepta2ume 2:726072016da1 10 Serial pc(USBTX,USBRX);
hepta2ume 2:726072016da1 11 SDFileSystem sd(p5, p6, p7, p8, "fs");
hepta2ume 2:726072016da1 12 HeptaXbee xbee(p9,p10);
hepta2ume 2:726072016da1 13 HeptaSerial camera(p13, p14);
hepta2ume 2:726072016da1 14 HeptaMPU9250 MPU9250(p28,p27,0xD0,0x18);//sda,scl,acc&gyro_address,mag_gyro
hepta2ume 2:726072016da1 15 HeptaTemp heptatemp(p17);
hepta2ume 3:4854731e663d 16 HeptaBattery bat(p16,p26);
hepta2ume 2:726072016da1 17 DigitalOut CAM_SW(p25);//CAM_control
hepta2ume 2:726072016da1 18 DigitalOut GPS_SW(p24);//GPS_control
hepta2ume 2:726072016da1 19
hepta2ume 2:726072016da1 20 int main()
hepta2ume 2:726072016da1 21 {
hepta2ume 2:726072016da1 22 char mode;
hepta2ume 4:6565d9843337 23 //pc.baud(9600);
hepta2ume 2:726072016da1 24
hepta2ume 2:726072016da1 25 while(1) {
hepta2ume 2:726072016da1 26
hepta2ume 2:726072016da1 27 /*
hepta2ume 2:726072016da1 28 ************
hepta2ume 2:726072016da1 29 Mode select
hepta2ume 2:726072016da1 30 ***********
hepta2ume 2:726072016da1 31 */
hepta2ume 2:726072016da1 32 pc.printf("\r\n");
hepta2ume 2:726072016da1 33 pc.printf("*********************************\r\n");
hepta2ume 2:726072016da1 34 pc.printf("Hello world.\r\n");
hepta2ume 2:726072016da1 35 pc.printf("My name is HEPTA2\r\n");
hepta2ume 2:726072016da1 36 pc.printf("Please select mode.\r\n");
hepta2ume 3:4854731e663d 37 pc.printf("a:SD test Mode\r\n");
hepta2ume 3:4854731e663d 38 pc.printf("b:Check Battery Level\r\n");
hepta2ume 3:4854731e663d 39 pc.printf("c:Gyro Sening Mode\r\n");
hepta2ume 3:4854731e663d 40 pc.printf("d:Accel Sensing Mode\r\n");
hepta2ume 3:4854731e663d 41 pc.printf("e:Magnet Sensig Mode\r\n");
hepta2ume 3:4854731e663d 42 pc.printf("f:GPS Test Sensing Mode\r\n");
hepta2ume 4:6565d9843337 43 pc.printf("g:GPS data_GPGGA Mode\r\n");
hepta2ume 4:6565d9843337 44 pc.printf("h:Camera Synchro Mode\r\n");
hepta2ume 4:6565d9843337 45 pc.printf("i:CAM SnapShot Mode\r\n");
hepta2ume 4:6565d9843337 46 pc.printf("j:Saving Camera Data Mode\r\n");
hepta2ume 4:6565d9843337 47 pc.printf("k:Camera Data Transmitting Mode\r\n");
hepta2ume 4:6565d9843337 48 pc.printf("l:Temperature Sensing Mode\r\n");
hepta2ume 4:6565d9843337 49 pc.printf("m:Xbee Mode\r\n");
hepta2ume 4:6565d9843337 50 pc.printf("n:Xbee & Temperature Mode\r\n");//恒温槽用
hepta2ume 4:6565d9843337 51 pc.printf("o:All Transmitting Mode\r\n");
hepta2ume 2:726072016da1 52 pc.printf("*********************************\r\n");
hepta2ume 2:726072016da1 53
hepta2ume 5:aedf4491aa0f 54 mode = xbee.getc();
hepta2ume 2:726072016da1 55 pc.printf("\r\n");
hepta2ume 2:726072016da1 56 pc.printf("Your select Mode = %c\r\n",mode);
hepta2ume 2:726072016da1 57 wait(0.5);
hepta2ume 3:4854731e663d 58
hepta2ume 2:726072016da1 59 switch(mode) {
hepta2ume 3:4854731e663d 60 case'a': {
hepta2ume 2:726072016da1 61
hepta2ume 2:726072016da1 62 printf("=============\r\n");
hepta2ume 2:726072016da1 63 printf("SD test Mode\r\n");
hepta2ume 2:726072016da1 64 printf("=============\r\n");
hepta2ume 2:726072016da1 65 FILE *fp = fopen("/fs/myfile.txt", "w");
hepta2ume 2:726072016da1 66 if(fp == NULL) {
hepta2ume 2:726072016da1 67 pc.printf("Could not open file for write\r\n");
hepta2ume 2:726072016da1 68 } else {
hepta2ume 2:726072016da1 69 fprintf(fp, "\n\rHello World!\n\r");
hepta2ume 2:726072016da1 70 printf("SD Check Complete!!\r\n");
hepta2ume 2:726072016da1 71 fclose(fp);
hepta2ume 2:726072016da1 72 }
hepta2ume 2:726072016da1 73
hepta2ume 2:726072016da1 74
hepta2ume 2:726072016da1 75 break;
hepta2ume 2:726072016da1 76 }//case'1'
hepta2ume 2:726072016da1 77
hepta2ume 2:726072016da1 78 /*
hepta2ume 3:4854731e663d 79 ************************
hepta2ume 3:4854731e663d 80 Check Battery Level mode
hepta2ume 3:4854731e663d 81 ************************
hepta2ume 3:4854731e663d 82 */
hepta2ume 3:4854731e663d 83 case'b': {
hepta2ume 3:4854731e663d 84 float bt;
hepta2ume 4:6565d9843337 85 for(int i = 0;i<50;i++){
hepta2ume 3:4854731e663d 86 bat.vol(&bt);
hepta2ume 3:4854731e663d 87 pc.printf("V = %f\r\n",bt);
hepta2ume 4:6565d9843337 88 }
hepta2ume 3:4854731e663d 89 break;
hepta2ume 3:4854731e663d 90 }
hepta2ume 3:4854731e663d 91
hepta2ume 3:4854731e663d 92 /*
hepta2ume 2:726072016da1 93 ******************
hepta2ume 2:726072016da1 94 Gyro sensing mode
hepta2ume 2:726072016da1 95 ******************
hepta2ume 2:726072016da1 96 */
sunifu 0:0482779cd78e 97
hepta2ume 3:4854731e663d 98 case'c': {
hepta2ume 2:726072016da1 99 printf("===================\r\n");
hepta2ume 2:726072016da1 100 printf("Gyro sensing Mode\r\n");
hepta2ume 2:726072016da1 101 printf("===================\r\n");
hepta2ume 2:726072016da1 102 float gx,gy,gz;
hepta2ume 2:726072016da1 103 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 104 MPU9250.sen_gyro(&gx,&gy,&gz);
hepta2ume 2:726072016da1 105 pc.printf("GX = %f,GY = %f,GZ = %f\r\n",gx,gy,gz);
hepta2ume 2:726072016da1 106 wait(0.5);
hepta2ume 2:726072016da1 107 }
hepta2ume 2:726072016da1 108 break;
hepta2ume 2:726072016da1 109 }//case'2'
hepta2ume 2:726072016da1 110
hepta2ume 2:726072016da1 111 /*
hepta2ume 2:726072016da1 112 ******************
hepta2ume 2:726072016da1 113 Accel sensing mode
hepta2ume 2:726072016da1 114 ******************
hepta2ume 2:726072016da1 115 */
hepta2ume 2:726072016da1 116
hepta2ume 3:4854731e663d 117 case'd': {
hepta2ume 2:726072016da1 118 printf("===================\r\n");
hepta2ume 2:726072016da1 119 printf("Accel sensing Mode\r\n");
hepta2ume 2:726072016da1 120 printf("===================\r\n");
hepta2ume 2:726072016da1 121 float ax,ay,az;
hepta2ume 2:726072016da1 122 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 123 MPU9250.sen_acc(&ax,&ay,&az);
hepta2ume 2:726072016da1 124 pc.printf("AX = %f,AY = %f,AZ = %f\r\n",ax,ay,az);
hepta2ume 2:726072016da1 125 wait(0.5);
hepta2ume 2:726072016da1 126 }
hepta2ume 2:726072016da1 127 break;
hepta2ume 2:726072016da1 128 }//case'3'
hepta2ume 2:726072016da1 129
hepta2ume 2:726072016da1 130 /*
hepta2ume 2:726072016da1 131 ******************
hepta2ume 2:726072016da1 132 Magnet sensing mode
hepta2ume 2:726072016da1 133 ******************
hepta2ume 2:726072016da1 134 */
hepta2ume 2:726072016da1 135
hepta2ume 3:4854731e663d 136 case'e': {
hepta2ume 2:726072016da1 137 float mx,my,mz;
hepta2ume 2:726072016da1 138 printf("===================\r\n");
hepta2ume 2:726072016da1 139 printf("Magnet sensing Mode\r\n");
hepta2ume 2:726072016da1 140 printf("===================\r\n");
hepta2ume 2:726072016da1 141 for(int i = 0; i < 10; i++) {
hepta2ume 2:726072016da1 142 MPU9250.sen_mag(&mx,&my,&mz);
hepta2ume 2:726072016da1 143 pc.printf("MX = %f,MY = %f,MZ = %f\r\n",mx,my,mz);
hepta2ume 2:726072016da1 144 wait(0.5);
hepta2ume 2:726072016da1 145 }
hepta2ume 2:726072016da1 146 break;
hepta2ume 2:726072016da1 147 }//case'4'
hepta2ume 2:726072016da1 148
hepta2ume 2:726072016da1 149 /*
hepta2ume 2:726072016da1 150 ******************
hepta2ume 3:4854731e663d 151 GPS sensing mode
hepta2ume 3:4854731e663d 152 ******************
hepta2ume 3:4854731e663d 153 */
hepta2ume 3:4854731e663d 154
hepta2ume 3:4854731e663d 155 case'f': {
hepta2ume 4:6565d9843337 156 GPS_SW = 1;
hepta2ume 4:6565d9843337 157 CAM_SW = 0;
hepta2ume 3:4854731e663d 158 printf("===================\r\n");
hepta2ume 3:4854731e663d 159 printf("GPS sensing Mode\r\n");
hepta2ume 3:4854731e663d 160 printf("===================\r\n");
hepta2ume 3:4854731e663d 161 while(1) pc.putc(camera.getc());
hepta2ume 3:4854731e663d 162 break;
hepta2ume 3:4854731e663d 163 }//case'4'
hepta2ume 3:4854731e663d 164
hepta2ume 4:6565d9843337 165
hepta2ume 4:6565d9843337 166 case'g': {
hepta2ume 4:6565d9843337 167 GPS_SW = 1;
hepta2ume 4:6565d9843337 168 CAM_SW = 0;
hepta2ume 4:6565d9843337 169 pc.printf("GPS GPGGA Mode\r\n");
hepta2ume 4:6565d9843337 170 int quality=0,stnum=0,gps_check=0;
hepta2ume 4:6565d9843337 171 char ns='A',ew='B',aunit='m';
hepta2ume 4:6565d9843337 172 float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0;
hepta2ume 4:6565d9843337 173 for(int i=1; i<10; i++) {
hepta2ume 4:6565d9843337 174 camera.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
hepta2ume 4:6565d9843337 175 if((gps_check==0)|(gps_check==1)) {
hepta2ume 4:6565d9843337 176 pc.printf("GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c\r\n",time,latitude,ns,longitude,ew,quality,stnum,hacu,altitude,aunit);
hepta2ume 4:6565d9843337 177 }
hepta2ume 4:6565d9843337 178 }
hepta2ume 4:6565d9843337 179 break;
hepta2ume 4:6565d9843337 180 }
hepta2ume 4:6565d9843337 181
hepta2ume 4:6565d9843337 182 /*
hepta2ume 4:6565d9843337 183 ******************
hepta2ume 4:6565d9843337 184 Camera Synchro mode
hepta2ume 4:6565d9843337 185 ******************
hepta2ume 4:6565d9843337 186 */
hepta2ume 4:6565d9843337 187
hepta2ume 4:6565d9843337 188 case'h': {
hepta2ume 4:6565d9843337 189 GPS_SW = 0;
hepta2ume 4:6565d9843337 190 CAM_SW = 1;
hepta2ume 4:6565d9843337 191 wait(0.5);
hepta2ume 4:6565d9843337 192 printf("\r\n");
hepta2ume 4:6565d9843337 193 printf("==========\r\n");
hepta2ume 4:6565d9843337 194 printf("CameraC1098\r\n");
hepta2ume 4:6565d9843337 195 printf("==========\r\n");
hepta2ume 4:6565d9843337 196 camera.Sync();
hepta2ume 4:6565d9843337 197 break;
hepta2ume 4:6565d9843337 198 }//case'6'
hepta2ume 4:6565d9843337 199
hepta2ume 3:4854731e663d 200 /*
hepta2ume 3:4854731e663d 201 ******************
hepta2ume 2:726072016da1 202 Cam Snapshot mode
hepta2ume 2:726072016da1 203 ******************
hepta2ume 2:726072016da1 204 */
hepta2ume 2:726072016da1 205
hepta2ume 4:6565d9843337 206 case'i': {
hepta2ume 2:726072016da1 207 GPS_SW = 0;
hepta2ume 2:726072016da1 208 CAM_SW = 1;
hepta2ume 2:726072016da1 209 printf("\r\n");
hepta2ume 2:726072016da1 210 printf("==========\r\n");
hepta2ume 2:726072016da1 211 printf("CameraC1098\r\n");
hepta2ume 2:726072016da1 212 printf("==========\r\n");
hepta2ume 4:6565d9843337 213 //camera.Sync();
hepta2ume 5:aedf4491aa0f 214 //camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 2:726072016da1 215 camera.test_jpeg_snapshot_picture(1);
sunifu 0:0482779cd78e 216
hepta2ume 2:726072016da1 217 break;
hepta2ume 2:726072016da1 218 }//case'6'
hepta2ume 2:726072016da1 219
hepta2ume 2:726072016da1 220 /*
hepta2ume 2:726072016da1 221 ******************
hepta2ume 4:6565d9843337 222 Cam Snapshot mode
hepta2ume 4:6565d9843337 223 ******************
hepta2ume 4:6565d9843337 224 */
hepta2ume 4:6565d9843337 225
hepta2ume 4:6565d9843337 226 case'j': {
hepta2ume 4:6565d9843337 227 GPS_SW = 0;
hepta2ume 4:6565d9843337 228 CAM_SW = 1;
hepta2ume 4:6565d9843337 229 printf("\r\n");
hepta2ume 4:6565d9843337 230 printf("==========\r\n");
hepta2ume 4:6565d9843337 231 printf("CameraC1098\r\n");
hepta2ume 4:6565d9843337 232 printf("==========\r\n");
hepta2ume 4:6565d9843337 233 //camera.Sync();
hepta2ume 5:aedf4491aa0f 234 //camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 4:6565d9843337 235 camera.test_jpeg_snapshot_data(1);
hepta2ume 4:6565d9843337 236
hepta2ume 4:6565d9843337 237 break;
hepta2ume 4:6565d9843337 238 }//case'6'
hepta2ume 4:6565d9843337 239
hepta2ume 4:6565d9843337 240
hepta2ume 4:6565d9843337 241
hepta2ume 4:6565d9843337 242 case'k': {
hepta2ume 4:6565d9843337 243 GPS_SW = 0;
hepta2ume 4:6565d9843337 244 CAM_SW = 1;
hepta2ume 4:6565d9843337 245 printf("\r\n");
hepta2ume 4:6565d9843337 246 printf("==========\r\n");
hepta2ume 4:6565d9843337 247 printf("CameraC1098\r\n");
hepta2ume 4:6565d9843337 248 printf("==========\r\n");
hepta2ume 4:6565d9843337 249 //camera.Sync();
hepta2ume 5:aedf4491aa0f 250 //camera.initialize(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
hepta2ume 4:6565d9843337 251 camera.test_jpeg_snapshot_picture(1);
hepta2ume 4:6565d9843337 252
hepta2ume 4:6565d9843337 253 FILE *fp = fopen("/fs/test.txt", "r");
hepta2ume 4:6565d9843337 254 if(fp == NULL) {
hepta2ume 4:6565d9843337 255 pc.printf("Could not open file for write\r\n");
hepta2ume 4:6565d9843337 256 } else {
hepta2ume 4:6565d9843337 257 char str[1024];
hepta2ume 4:6565d9843337 258 while((fgets(str,256,fp))!=NULL) {
hepta2ume 4:6565d9843337 259 pc.printf("%s",str);
hepta2ume 4:6565d9843337 260 }
hepta2ume 4:6565d9843337 261 fclose(fp);
hepta2ume 4:6565d9843337 262 }
hepta2ume 4:6565d9843337 263
hepta2ume 4:6565d9843337 264 break;
hepta2ume 4:6565d9843337 265 }
hepta2ume 4:6565d9843337 266
hepta2ume 4:6565d9843337 267 /*
hepta2ume 4:6565d9843337 268 ******************
hepta2ume 2:726072016da1 269 Temp sensing mode
hepta2ume 2:726072016da1 270 ******************
hepta2ume 2:726072016da1 271 */
hepta2ume 2:726072016da1 272
hepta2ume 4:6565d9843337 273 case'l': {
hepta2ume 2:726072016da1 274 printf("==================\r\n");
hepta2ume 2:726072016da1 275 printf("Temp sensing Mode\r\n");
hepta2ume 2:726072016da1 276 printf("==================\r\n");
hepta2ume 2:726072016da1 277 float temp;
hepta2ume 2:726072016da1 278 for(int i = 0; i<100; i++) {
hepta2ume 2:726072016da1 279 heptatemp.temp_sense(&temp);
hepta2ume 2:726072016da1 280 pc.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 281 //xbee.printf("%f\r\n",temp);
hepta2ume 2:726072016da1 282 }
hepta2ume 2:726072016da1 283 break;
hepta2ume 2:726072016da1 284 }//case'7'
hepta2ume 2:726072016da1 285
hepta2ume 2:726072016da1 286 /*
hepta2ume 2:726072016da1 287 ***********
hepta2ume 2:726072016da1 288 Xbee mode
hepta2ume 2:726072016da1 289 ***********
hepta2ume 2:726072016da1 290 */
hepta2ume 2:726072016da1 291
hepta2ume 4:6565d9843337 292 case'm': {
hepta2ume 2:726072016da1 293
hepta2ume 2:726072016da1 294 int i=0,rcmd=0,cmdflag=0;
hepta2ume 2:726072016da1 295 xbee.printf("Count Up!\r");
hepta2ume 2:726072016da1 296 while(1) {
hepta2ume 2:726072016da1 297 xbee.printf("num = %d\r",i);
hepta2ume 2:726072016da1 298 i++;
hepta2ume 2:726072016da1 299 wait(1.0);
hepta2ume 2:726072016da1 300 xbee.xbee_recieve(&rcmd,&cmdflag);
hepta2ume 2:726072016da1 301 pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag);
hepta2ume 2:726072016da1 302 if (cmdflag == 1) {
hepta2ume 2:726072016da1 303 if (rcmd == 'a') {
hepta2ume 2:726072016da1 304 pc.printf("Command Get %d\r\n",rcmd);
hepta2ume 2:726072016da1 305 xbee.printf("HEPTA Uplink OK\r");
hepta2ume 2:726072016da1 306 }
hepta2ume 2:726072016da1 307 xbee.initialize();
hepta2ume 2:726072016da1 308 }
hepta2ume 2:726072016da1 309 }
hepta2ume 2:726072016da1 310
hepta2ume 2:726072016da1 311 break;
hepta2ume 2:726072016da1 312 }//case'8'
hepta2ume 2:726072016da1 313
hepta2ume 2:726072016da1 314 /*
hepta2ume 2:726072016da1 315 ******************
hepta2ume 2:726072016da1 316 Temp sensing mode by Xbbe
hepta2ume 2:726072016da1 317 ******************
hepta2ume 2:726072016da1 318 */
hepta2ume 2:726072016da1 319
hepta2ume 4:6565d9843337 320 case'n': {
hepta2ume 2:726072016da1 321
hepta2ume 2:726072016da1 322 printf("==================\r\n");
hepta2ume 2:726072016da1 323 printf("Temp sensing Mode & Xbee\r\n");
hepta2ume 2:726072016da1 324 printf("==================\r\n");
hepta2ume 2:726072016da1 325
hepta2ume 2:726072016da1 326 float temp;
hepta2ume 3:4854731e663d 327 while(1) {
hepta2ume 3:4854731e663d 328 FILE *fp = fopen("/fs/myfile.csv", "a");
hepta2ume 3:4854731e663d 329 heptatemp.temp_sense(&temp);
hepta2ume 3:4854731e663d 330 pc.printf("%f\r\n",temp);
hepta2ume 3:4854731e663d 331 xbee.printf("%f\r\n",temp);
hepta2ume 3:4854731e663d 332 fprintf(fp, "%f\n",temp);
hepta2ume 3:4854731e663d 333 fclose(fp);
hepta2ume 3:4854731e663d 334 }
hepta2ume 2:726072016da1 335 break;
hepta2ume 2:726072016da1 336 }//case'9'
hepta2ume 2:726072016da1 337
hepta2ume 2:726072016da1 338 /*
hepta2ume 2:726072016da1 339 *********************
hepta2ume 2:726072016da1 340 All Transmitting Mode
hepta2ume 2:726072016da1 341 *********************
hepta2ume 2:726072016da1 342 */
hepta2ume 2:726072016da1 343
hepta2ume 4:6565d9843337 344 case'o': {
hepta2ume 4:6565d9843337 345 GPS_SW = 1;
hepta2ume 4:6565d9843337 346 CAM_SW = 0;
hepta2ume 2:726072016da1 347
hepta2ume 2:726072016da1 348 printf("==================\r\n");
hepta2ume 2:726072016da1 349 printf("All Transmitting Mode\r\n");
hepta2ume 2:726072016da1 350 printf("==================\r\n");
hepta2ume 5:aedf4491aa0f 351 char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],mx[4],my[4],mz[4],lad[8],log[8],height[4],bt[4],temp[4];
hepta2ume 5:aedf4491aa0f 352 char ddata[64];
hepta2ume 5:aedf4491aa0f 353 int dsize[7];
hepta2ume 2:726072016da1 354 while(1) {
hepta2ume 4:6565d9843337 355
hepta2ume 4:6565d9843337 356 MPU9250.sen_gyro_u16(gx,gy,gz,&dsize[0]);
hepta2ume 4:6565d9843337 357 MPU9250.sen_acc_u16(ax,ay,az,&dsize[1]);
hepta2ume 4:6565d9843337 358 MPU9250.sen_mag_u16(mx,my,mz,&dsize[2]);
hepta2ume 5:aedf4491aa0f 359 camera.lat_log_sensing_u16(lad,log,height,&dsize[3],&dsize[4]);
hepta2ume 5:aedf4491aa0f 360 bat.vol_u16(bt,&dsize[5]);
hepta2ume 5:aedf4491aa0f 361 heptatemp.temp_sense_u16(temp,&dsize[6]);
hepta2ume 5:aedf4491aa0f 362 xbee.xbee_transmit(ddata,64,gx,gy,gz,ax,ay,az,mx,my,mz,lad,log,height,bt,temp,dsize[0],dsize[0],dsize[0],dsize[1],dsize[1],dsize[1],dsize[2],dsize[2],dsize[2],dsize[3],dsize[3],dsize[4],dsize[5],dsize[6],14);
hepta2ume 2:726072016da1 363 }
hepta2ume 2:726072016da1 364 break;
hepta2ume 2:726072016da1 365 }//case'9'
hepta2ume 3:4854731e663d 366
hepta2ume 2:726072016da1 367 default:
hepta2ume 2:726072016da1 368 break;
hepta2ume 2:726072016da1 369
hepta2ume 2:726072016da1 370
hepta2ume 2:726072016da1 371 }
hepta2ume 2:726072016da1 372 }
hepta2ume 2:726072016da1 373 }