File content as of revision 0:ea40bd156a1a:

#include "mbed.h"
#include "SDFileSystem.h"
#include "HeptaXbee.h"
#include "HeptaCamera_GPS.h"
#include "Hepta9axis.h"
#include "HeptaTemp.h"
#include "HeptaBattery.h"



Serial pc(USBTX,USBRX, 9600);
SDFileSystem sd(p5, p6, p7, p8, "sd");
HeptaBattery bat(p16, p25);
HeptaTemp temp(p17);
Hepta9axis n_axis(p28, p27, 0xD0, 0x18);
HeptaCamera_GPS cam_gps(p13, p14,p25, p24);
HeptaXbee xbee(p9,p10);

int main() {
    xbee.baud(9600);
    xbee.printf("Xbee comunication begin!\n\r");
    char * dir_name = "/sd/Pictures";
    mkdir(dir_name, 0777);

    HeptaCamera_GPS::ErrorNumber err1 = HeptaCamera_GPS::NoError;
    //
    mkdir("/sd/Data", 0777);
    pc.printf("Created!\n\r");  
   // while (true) {
   //    pc.putc(cam_gps.getc());
    //}
    while (true) {
        pc.printf("Begin messurment\n\r");
        float batLev;
        float tempMes;
        
        FILE *fp = fopen("/sd/Data/Data.txt", "w");
        if(fp == NULL) {
            error("Could not open file for write\n\r");
        }
    
        for (int i =0; i < 5; ++i)
        {
            char fname[64];
            snprintf(fname, sizeof(fname), "%s/Picture%d.jpg", dir_name,  i);
            //snprintf(fname, sizeof(fname), "/sd/test.jpg");
            FILE *fp_jpeg = fopen(fname, "w");
            //cam_gps.set_image_file(fp_jpeg);
            cam_gps.Sync();
            cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution320x240);
    
            err1 = cam_gps.getJpegSnapshotPicture(fp_jpeg);
            //cam_gps.test_jpeg_snapshot_picture(1);
    
            if (HeptaCamera_GPS::NoError == err1) {
                printf("[ OK ] : Picture taken\r\n");
            } else {
                printf("[FAIL] : Picture failed (Error=%02X)\r\n", (int)err1);
            }
            fclose(fp_jpeg);
            
            fprintf(fp, "Picture data - Name [%s]\n\r--------------------------------\n\r", fname);
            temp.temp_sense(&tempMes);
            fprintf(fp, "Temperature [%f]\n\r", tempMes);
            bat.vol(&batLev);
            fprintf(fp, "Battery Level is [%f] Temperature [%f] ", batLev, tempMes);
            float mx,my,mz;
            n_axis.sen_mag(&mx,&my,&mz);
            fprintf(fp, "Magnetometer[%f,%f,%f] ",mx,my,mz);
            //pc.printf("Magnet %f,%f,%f\r\n",mx,my,mz);
            float gx,gy,gz;
            n_axis.sen_gyro(&gx,&gy,&gz);
            fprintf(fp, "Gyroscope[%f,%f,%f] ",gx,gy,gz);
          //  pc.printf("Gyroscope %f,%f,%f\r\n",gx,gy,gz);
            float ax,ay,az;
            n_axis.sen_acc(&ax,&ay,&az);
            fprintf(fp, "Acceletarion[%f,%f,%f]\r\n",ax,ay,az);
      //      pc.printf("Acceletarion %f,%f,%f\r\n",ax,ay,az);
            int quality=0,stnum=0,gps_check=0;
            char ns='A',ew='B',aunit='m';
            float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0;
            cam_gps.gps_setting();
            wait(1.0);
            cam_gps.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
            if((gps_check==0)|(gps_check==1)) {
                fprintf(fp, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c\r\n",time,latitude,ns,longitude,ew,quality,stnum,hacu,altitude,aunit);
            }
            fprintf(fp, "Picture data - End\n\r--------------------------------\n\r");
            wait(1.0);
            xbee.printf("num = %d\r\n",i);
        }
        fclose(fp); 
        
        FILE *fp1 = fopen("/sd/Data/Data.txt", "r");
        char buf[100];
        int nread = 0;
        if (fp1) {
            while ((nread = fread(buf, 1, sizeof buf, fp1)) > 0){
                for (int i =0; i<nread; i++)
                {
                    xbee.printf("%c", buf[i]);
                }
            }
        } else   error("Could not open file for write\n\r");
        fclose(fp1); 
    }
}