File content as of revision 0:f20bcf1efbc2:

#include "mbed.h"

//#include "" //SDcardで使用

#include "LPS.h"    //気圧で使用

#include "math.h"   //GPSで使用

Serial xbee(PA_9, PA_10); //xbee pin
Serial  gps(PA_9,PA_10);    //GPS後で変える
Serial pc(USBRX,USBTX); //衛星側のpin

I2C i2c(D0,D1); //気圧 pin
LPS ps(i2c);


Timer t;    //時間を定義
const float dt = 1;   //wait_us(dt)で使用:データの間隔


int i; //回数カウント用

float data1[10];    //気圧の較正用データ
float sum = 0;  //合計値(初期化)
float ave;  //気圧の標高平均


//データ格納
//気圧センサ
float dataPa[10]; //気圧　圧力
float dataAl[10]; //気圧　標高
float dataTe[10]; //気圧　温度

//GPSセンサ
float dataLat[10];  //GSP 緯度
float dataLon[10];  //GPS 経度
float dataH[10];    //GPS ジオイド高さ




//GPS
Timer timer_open;
Timer timer_log;
Ticker tic_open;
Ticker tic_log;

float    _DMS2DEG(float raw_data);
int      _imput(char cha);

float Time;
char gps_data[256];
int cnt_gps;
int Cnt_GPS=0;


int main() {    //1
    
    pc.printf("settig start\r\n");
    xbee.printf("settig start\r\n");
    
    /**************************************************************/
                //ここに気圧の標高の較正とGPSの接続を行う。
                
    //気圧(所要時間約20秒)
    if (!ps.init()){    //2
        printf("Failed to autodetect pressure sensor!\r\n");
        while (1);
    }   //2
    
    ps.enableDefault();
    
    for(i=0;i<10;i++){  //2
        float pressure = ps.readPressureMillibars();
        float altitude = ps.pressureToAltitudeMeters(pressure);
        float temperature = ps.readTemperatureC();
        wait(1);
        }   //2
    
    for(i=0;i<10;i++){  //2
        float pressure = ps.readPressureMillibars();
        float altitude = ps.pressureToAltitudeMeters(pressure);
        data1[i] = altitude;
        sum = sum + data1[i];
        wait(1);
        }   //2
    
    ave = sum/10;
    xbee.printf("0 altitude = %f\r\n",ave);
    
    //GPS
    while(1){   //2
        if(gps.readable()){ //3
            gps_data[cnt_gps]=gps.getc();
            if(gps_data[cnt_gps]=='$' || cnt_gps==256){ //4
                cnt_gps=0;
                memset(gps_data,'\0',256);
         }else if (gps_data[cnt_gps]=='\r'){    //4
            float world_time, lon_east, lat_north;
            int rlock, sat_num;
            char lat,lon;
            if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){    //5
                if(rlock==1){   //6
                    lat_north=_DMS2DEG(lat_north);
                    lon_east=_DMS2DEG(lon_east);
                    //printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",
                    //lat_north,lon_east,world_time,sat_num);
                    
                    /*******************************/
                    
                    goto lav;
                    
                    /*******************************/
                    
                    
                    }else{//6
                        //printf("%s\r\n",gps_data);
                    }   //6
            }   //5
        }else{  //4
              cnt_gps++;
        }   //4
        }//3
        if(timer_log.read()>=30.0*60.0) timer_log.reset();
    }//2
        
        
    lav:    //goto lav;より
        
    /**************************************************************/
    
    
    //準備完了
    
    pc.printf("Ok\r\n");
    xbee.printf("Ok\r\n");
 
    for (;;) {  //2
        
        //if (pc.readable()) xbee.putc(pc.getc());
        if (xbee.readable()) pc.putc(xbee.getc());
        wait_us(1);
        
        char cmd1 = xbee.getc();
        
        //↓↓↓継続してGPSをとるため
        if(gps.readable()){ //3
            gps_data[cnt_gps]=gps.getc();
            if(gps_data[cnt_gps]=='$' || cnt_gps==256){ //4
                cnt_gps=0;
                memset(gps_data,'\0',256);
         }else if (gps_data[cnt_gps]=='\r'){    //4
            float world_time, lon_east, lat_north;
            int rlock, sat_num;
            char lat,lon;
            if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){    //5
                if(rlock==1){   //6
                    lat_north=_DMS2DEG(lat_north);
                    lon_east=_DMS2DEG(lon_east);
                    
                    //printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num);
                    
                    }else{  //6
                        //printf("%s\r\n",gps_data);
                    }   //6
            }   //5
        }else{  //4
              cnt_gps++;
        }   //3
        if(timer_log.read()>=30.0*60.0) timer_log.reset(); 
    }   //2
   
        
        

        //機体の放出後→データを取る
        if(cmd1 == 'm'){    //3
            pc.printf("start\r\n");
            t.start();
            cmd1 = 0;
            
            while(1){   //4
                //if (pc.readable()) xbee.putc(pc.getc());
                if (xbee.readable()) pc.putc(xbee.getc());
                wait_us(1);
                char cmd2 = xbee.getc();
                
                /***********************************************************/
                                //データ(気圧,GPS,地磁気)を取る。
                                //データの保存を10回行い, 保存する。
                
                
                for(i=0;i<10;i++){  //データ10回とる  //5
                    if(gps.readable()){ //6
                        gps_data[cnt_gps]=gps.getc();
                        if(gps_data[cnt_gps]=='$' || cnt_gps==256){ //7
                            cnt_gps=0;
                            memset(gps_data,'\0',256);
                    }else if (gps_data[cnt_gps]=='\r'){ //7
                                
                                float world_time, lon_east, lat_north, rate, sea_level, g_h; //rate 水平精度低下率　sea_level アンテナ海抜高さ g_h ジオイド高さ
                                char lat,lon,sea,h;
                                int rlock, sat_num;               
                                if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c,%f,%c",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num, &rate,&sea_level,&sea,&g_h,&h)>=1){  //8
                                    if(rlock==1){   //9
                                        lat_north=_DMS2DEG(lat_north);
                                        lon_east=_DMS2DEG(lon_east);
                    
                                        //printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d g_h%f\r\n",lat_north,lon_east,world_time,sat_num,g_h);
                                        
                                        dataLat[i] = lat_north;
                                        dataLon[i] = lon_east;
                                        dataH[i] = g_h;
                                        
                                        }else{  //9
                                        //printf("%s\r\n",gps_data);
                                        
                                        dataLat[i] = 0;
                                        dataLon[i] = 0;
                                        dataH[i] = 0;
                                        
                                        
                                        }   //9
                                }   //8
                            }else{  //7
                            cnt_gps++;
                    }   //7
                    }   //6
                    
                    if(timer_log.read()>=30.0*60.0) timer_log.reset();
                    
                    //GPS
                    float pressure = ps.readPressureMillibars();
                    float altitude = ps.pressureToAltitudeMeters(pressure);
                    float temperature = ps.readTemperatureC();
                
                    dataPa[i] = pressure; 
                    dataAl[i] = altitude;
                    dataTe[i] = temperature;
                    
                    
                    wait_us(dt);
                    }   //5
                
                //ここで保存と表示する
                for(i=0;i<10;i++){  //5
                    xbee.printf("time = %f, Lat,Lon %f,%f gH = %f, Pa = %f, Al = %f, Te = %f\r\n",t.read(),dataLat[i],dataLon[i],dataH[i],dataPa[i],dataAl[i],dataTe[i]);
                    }   //5
                
                
                
                /***********************************************************/
                
                //機体の着陸後→プログラムを終わらす。
                if(cmd2 == 'n'){    //5
                    pc.printf("end\r\n");
                    xbee.printf("ned\r\n");
                    pc.printf("time = %f",t.read());
                    xbee.printf("time = %f",t.read());
                    t.stop();
                    cmd2 = 0;
                    return 0;
                    }   //5
                
                }   //4
            
            
            }   //3
    }   //2
}   //1


float _DMS2DEG(float raw_data){//GPSで使用 //1
    float bb = raw_data/100;
    int d=(int)bb;
    float m=(raw_data-(float)d*100);
    return (float)d+m/60;
}   //1