File content as of revision 1:b34aebca7e55:

#include "SensorManager.h"

SensorMgr::SensorMgr(PinName mosi,PinName miso,PinName sck,PinName acc_cs,PinName gyr_cs,PinName mag_cs,PinName bmp_cs,PinName gmosi,PinName gmiso,PinName gsck,PinName gcs):bmx(mosi,miso,sck,acc_cs,gyr_cs,mag_cs),bmp(mosi,miso,sck,bmp_cs),gps(gmosi,gmiso,gsck,gcs)
{
//センサー類初期化
    
    bmp.init(OSR_1,OSR_4,IIR_0);
    

}


void SensorMgr::UpdateObsvd(obsvdData* obs){
    
    //センサ観測値更新
    if(bmp.update()==1){
        obs->PHeight=bmp.getpress();
    }else{
        obs->PHeight=0;
    }
    
    
    if(bmx.read_gyr(gyr)){
        obs->Gyr[0]=(int)gyr[0];
        obs->Gyr[1]=(int)gyr[1];
        obs->Gyr[2]=(int)gyr[2];
    }else{
        obs->Gyr[0]=0;
        obs->Gyr[1]=0;
        obs->Gyr[2]=0;
    }
    
    if(bmx.read_acc(acc)){
        obs->Acc[0]=(int)acc[0];
        obs->Acc[1]=(int)acc[1];
        obs->Acc[2]=(int)acc[2];
    }else{
        obs->Acc[0]=0;
        obs->Acc[1]=0;
        obs->Acc[2]=0;
    }
    
    if(bmx.read_mag(mag)){
        obs->Mag[0]=(int)mag[0];
        obs->Mag[1]=(int)mag[1];
        obs->Mag[2]=(int)mag[2];
    }else{
        obs->Mag[0]=0;
        obs->Mag[1]=0;
        obs->Mag[2]=0;
    }
    

    
    if(gps.updateData()){
        gps.chkData(obs);
    }else{
        obs->Lon=0;
        obs->Lat=0;
        obs->GHeight=0;
        obs->VelN=0;
        obs->VelE=0;
        obs->VelD=0;
    }

}

void SensorMgr::UpdateTim(tim* t){
    gps.updateData();
    gps.chkTime(t);
}