File content as of revision 2:65cffee0c0f7:

#include "mbed.h"
#include "DHT/DHT.h"
#include "gps_stg_venus.h"
#include <string>

using namespace std;

DHT sensor(PC_0,DHT22); 
Serial pc(SERIAL_TX,SERIAL_RX);
Serial gps(PA_0,PA_1);
Serial xbee(PC_10,PC_11);
Serial motor(PA_0,PA_1);
GPSVenus venus(gps);
AnalogIn gassensor(PC_1);
char data_gps[256],ns,ew,sampah[256];
int g=0, cek_gps,lock,satelit;
float waktu,latx,longx, laty, longy,dilution, altitude;
double lat_target,long_target;
double degrees, minutes, seconds;
int lattitude[3], longitude[3];
float speed;
void initialize_gps()
{
    venus.setBaud_9600();
    wait(0.5); 
    gps.baud(9600);
    venus.setUpdateRate(10);
    wait(0.5);
    venus.setNmeaMessages(true, false, false, false, false, true);
}

void gps_interrupt()
{
//     char temp = gps.getc();
//     if(g==0)
//        {   led1=0;
//            data_gps[g]=temp;
//            if(data_gps[g]=='$')
//            {g=1;data_gps[0]='$';}
//        }
//    else if (g==42){g=0;}
//    else
//        {
//            data_gps[g]=temp;g++;led1=1;
//            if(data_gps[g-1]=='\r')g=0;
//        }
    char temp=gps.getc();
    if (temp=='$') {g=0;}
    data_gps[g]=temp;
    g++;
    
    
}

float trunc(float v) // pembulatan nilai
{
    if(v < 0.0) {
        v*= -1.0;
        v = floor(v);
        v*=-1.0;
    } else {
        v = floor(v);
    }
    return v;
}

void get_gps()
{       
        //if(data_gps[0]=='G'&&data_gps[1]=='P'&&data_gps[2]=='G'&&data_gps[3]=='G'&&data_gps[4]=='A'&&data_gps[5]==','){
        //$GPGGA,050749.299,0745.9647,S,11022.3071,E,0,00,,189.5,M,4.3,M,,0000*5E
        sscanf(data_gps,"$GPGGA,%f,%f,%c,%f,%c,%d,%2d,%f,%f",&waktu, &latx,&ns, &longx, &ew, &lock, &satelit, &dilution, &altitude);
           
                degrees = (latx / 100.0f);
                lattitude[0]=degrees;
                degrees= degrees-lattitude[0];
                minutes=(degrees*1000);
                lattitude[1]=minutes;
                minutes=minutes-lattitude[1];
                seconds =(minutes*1000);
                lattitude[2]= seconds;
                
                degrees = (longx / 100.0f);
                longitude[0]=degrees;
                degrees= degrees-longitude[0];
                minutes=(degrees*1000);
                longitude[1]=minutes;
                minutes=minutes-longitude[1];
                seconds =(minutes*1000);
                longitude[2]= seconds;
        sscanf(data_gps,"$GPVTG,%*f,%*c,%*f,%*c,%*f,%*c,%f",&speed);
                       
}

void gps_ats()
{
    //fl waktu;
    if(cek_gps==1){
                sscanf(data_gps, "$GPGGA,%f,%f,%c,%f,%c",&waktu, &laty, &ns, &longy, &ew) ;
           
                if(ns == 'S') {    laty  *= -1.0; }
                if(ew == 'W') {    longy *= -1.0; }
                degrees = trunc(laty / 100.0f);
                minutes = laty - (degrees * 100.0f);
                lat_target = degrees + minutes / 60.0f;    
                degrees = trunc(longy / 100.0f);
                minutes = longy- (degrees * 100.0f);
                long_target = degrees + minutes / 60.0f;  
            }
}

void bin_dec_conv(unsigned int data)// anything to binary
{
    pc.printf("%d%d%d",(data/100),(data%100/10),(data%10));
}

void telemetry_gps(unsigned int data_1_x,unsigned int data_2_x, unsigned int data_2_y,unsigned int data_3_x, unsigned int data_3_y, unsigned int data_3_z)
{

        pc.putc(0x0D);
        bin_dec_conv(106);
        pc.putc(0x20);
        
        bin_dec_conv(data_1_x);
        pc.putc(0x20);
        
        bin_dec_conv(data_2_x);
        pc.putc(0x20);
        
        bin_dec_conv(data_2_y);
        pc.putc(0x20);
        
        bin_dec_conv(data_3_x);
        pc.putc(0x20);
        
        bin_dec_conv(data_3_y);
        pc.putc(0x20);
        
        bin_dec_conv(data_3_z);

}
void getTemperatueHumidity(){
    int err;
    pc.printf("\r\nStarting to gather temperature and humidity......\n");
    pc.printf("\r\n******************\r\n");
    wait(1); // wait 1 second for device stable status
    while (1) {
 
        err = sensor.readData();
        if (err == 0||err==6) {
            pc.printf("Temperature is %4.2f C \r\n",sensor.ReadTemperature(CELCIUS));
            pc.printf("Temperature is %4.2f F \r\n",sensor.ReadTemperature(FARENHEIT));
            pc.printf("Temperature is %4.2f K \r\n",sensor.ReadTemperature(KELVIN));
            pc.printf("Humidity is %4.2f \r\n",sensor.ReadHumidity());
     
            xbee.printf("Temperature is %4.2f C \r\n",sensor.ReadTemperature(CELCIUS));
            xbee.printf("Temperature is %4.2f F \r\n",sensor.ReadTemperature(FARENHEIT));
            xbee.printf("Temperature is %4.2f K \r\n",sensor.ReadTemperature(KELVIN));
            xbee.printf("Humidity is %4.2f \r\n",sensor.ReadHumidity());
            float gasvalue=gassensor.read();
             wait(1);
             xbee.printf("gas sensor reading is %f\n", gasvalue);
     
            return;
        } else {
            pc.printf("\r\nErr %i \n",err);
            xbee.printf("\r\nErr %i \n",err);
           
        }
        wait(5);
    }
}

void printInit(){
     xbee.printf("\nAwaiting User Command....\n");
     pc.printf("\nAwaiting User Command....\n");
}
void rovercommand(){
        char input;
        input= xbee.getc();
        motor.baud(9600);
        xbee.printf("command is %c\n",input);
        if ( input == 'F'){
            motor.putc(64);
            wait(1);
            motor.putc(127);
            input=NULL;
            return;
            }
        if ( input == 'B'){
            motor.putc(64);
            wait(1);
            motor.putc(1);
            input=NULL;
            return;
            }
        if ( input == 'S'){
            motor.putc(64);
            wait(1);
            input=NULL;
            return;
            }
        if ( input == 'X'){
            motor.putc(64);
            input=NULL;
            return;
            }
        
    }

void rovercontrol(){
    wait(1);
    
    while(true){
       char input;
        input= xbee.getc();
        motor.baud(9600);

        if ( input == 'F'){
            motor.putc(64);
            wait(1);
            motor.putc(127);
            input=NULL;
           
            }
        if ( input == 'B'){
            motor.putc(64);
            wait(1);
            motor.putc(1);
            input=NULL;
            
            }
        if ( input == 'S'){
            motor.putc(64);
            wait(1);
            input=NULL;
            
            }
        if ( input == 'X'){
            motor.putc(64);
            input=NULL;
            return;
            }
        
        }
    }

int main() {
   
    char a;
    printInit();
    gps.baud(9600);
    gps.attach(&gps_interrupt);
    initialize_gps();
    while(1){
        a = xbee.getc();        
        if(a == 'T'){
            getTemperatueHumidity();
            a = NULL; 
            printInit();     
        }
        
        if( a == 'G'){
            //GPS function
            get_gps();
            xbee.printf("Your Current location is %f %c,%f %c.",latx,ns, longx,ew);
            a = NULL;
            printInit();    
        }      
        if( a == 'R'){
            xbee.printf("\nEntering Rover Controlling mode...");
            xbee.printf("\nWork in progress, exiting :)\n");
            rovercontrol();
            
            a = NULL;
            printInit();
            }
        
    }
}