File content as of revision 1:ca296cfa603b:

#include "mbed.h"
#include "SDFileSystem.h"

#define pi      3.1416
#define data    6

Serial pc(USBTX, USBRX);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

SDFileSystem sd(p5, p6, p7, p8, "sd");
Serial mavc(p9, p10);
DigitalIn stop_sd(p11);

int main() {
        
    // ******************** TORATANI ********************
    //pc.baud(921600);
    mavc.baud(115200);
    
    char  buf_char;
    unsigned int    buf_hex[30] =   {0};
    unsigned int    buf_dec[10] =   {0};
    
    // rx
    double  acc[3]  =   {0};
    double  gyro[3] =   {0};
    double  azi;
    double  alt;
    double  GPS[2]  =   {0};
    
    // tx
    double  com[3]  =   {0};
    char H;
    char D[data];
    char test[9];
    H       =   0x02;   // header of dateset2
    D[0]    =   0xff;   D[1]    =   0xff;       // p_com
    D[2]    =   0x7f;   D[3]    =   0xff;       // q_com
    D[4]    =   0x00;   D[5]    =   0x00;       // r_com
    // ******************** TORATANI ********************
    
    FILE *fp = fopen("/sd/sdtest.txt", "w");
    if(fp == NULL) {
        error("Could not open file for write\n");
    }
    
    while(1){
    //for(int j=0;j<1800;j++){      flag tukuru     // for 2 minuts
        
        // ******************** sequence No.1 ********************
        buf_char       =   mavc.getc();
        buf_hex[0]  =   (unsigned int)buf_char;
        for(int i=0;i<29;i++){  buf_hex[29-i]   =   buf_hex[28-i];  }
        // !!! switch bun ni suru
        if(buf_hex[29]==0x40 && buf_hex[28]==0x43 && buf_hex[27]==0x4D && buf_hex[26]==0x0D){
        // ******************** sequence No.1 ********************
            
            // ******************** sequence No.2 ********************
            // send to mavc
            mavc.putc(H);
            for(int i=0;i<data;i++){  mavc.putc(D[i]);  }
            //for(int i=0;i<9;i++){  mavc.putc(test[i]);  }
            // ******************** sequence No.2 ********************
            
            // ******************** sequence No.3 ********************
            // buf |  25  | 24 | 23 | 22 | 21 | 20 | 19 | 18 | 17 | 16 | 15 | 14 | 13 | 12 | 11 | 10 |  9 |  8 |  7 |  6 |  5  |
            //     |header|   AccX  |   AccY  |   AccZ  |  GyroX  |  GyroY  |   GyroZ | Azimuth | Altitude|   GPSX  |   GPSY   |
            //     |   H  |   D[1]  |   D[2]  |   D[3]  |   D[4]  |   D[5]  |   D[6]  |   D[7]  |   D[8]  |   D[9]  |   D[10]  |
            // transrating hex to dec
            for(int i=0;i<10;i++){  buf_dec[i]   =   buf_hex[24-i*2]*256+buf_hex[23-i*2];   }
            // wakariyasuku surutame bunnkatsu, honnrai ha matrix ga yoi
            // -> saisyuteki niha matrix ni simasu?
            for(int i=0;i<3;i++){   acc[i]  =   ((double)buf_dec[i]-32768)/65535*20*9.8;    }
            for(int i=0;i<3;i++){   gyro[i] =   ((double)buf_dec[i+3]-32768)/65535*600/180*pi;  }
            azi =   (double)buf_dec[6]/65535*2*pi;
            alt =   ((double)buf_dec[7]-32768)*0.1;
            for(int i=0;i<2;i++){   GPS[i]  =   ((double)buf_dec[i+8]-32768)*0.1;   }
            // ******************** sequence No.3 ********************
            
            // ******************** control law ********************
            // transrating dec to hex
            //com
            // ******************** control law ********************
            
            //pc.printf("%7.4f %7.4f %7.4f %7.3f %7.3f %7.3f %8.5f %8.1f %8.1f %8.1f\r\n", acc[0], acc[1], acc[2], gyro[0], gyro[1], gyro[2], azi, alt, GPS[0], GPS[1]);
            //fprintf(fp, "%7.4f %7.4f %7.4f %7.3f %7.3f %7.3f %8.5f %8.1f %8.1f %8.1f\r\n", acc[0], acc[1], acc[2], gyro[0], gyro[1], gyro[2], azi, alt, GPS[0], GPS[1]);
                        
        }
             
    }
    
    fclose(fp); 
    led1    =   1;      led2    =   1;      led3    =   1;      led4    =   1;
    
}