File content as of revision 1:339ebc8786ca:

#include "MPU9150.h"
#include "Quaternion.h"
#include "BMP085.h"
#include "DHT22.h"
#include "main.h"
  char ns, ew, tf, status;
    int fq, nst, fix, date;                                     // fix quality, Number of satellites being tracked, 3D fix
    float latitude, longitude, timefix, speed, altitude;



DHT22 dht22(p23);
BMP085 bmp085(p28, p27,BMP085_oss8);
Serial xbee(p9,p10);
DigitalOut rst(p11,PullUp);
DigitalOut myled(LED1);

Serial debug(USBTX, USBRX);
MPU9150 imu(p27, p28, p15);

DigitalOut led(LED1);
void Init()
{
    gps.baud(9600);
  //  pc.baud(115200);

    xbee.printf("Init OK\n");
    printf("Init OK\n");
}

char buffer[200];
int e=6;
int n=0;
int main(){
    
Init();
    char c;        
//debug.baud(115200);
    
    if(imu.isReady()){
        xbee.printf("MPU9150 is ready\r\n");
        printf("MPU9150 is ready\r\n");
    } else {
        xbee.printf("MPU9150 initialisation failure\r\n");
        printf("MPU9150 initialisation failure\r\n");
    }
    
    imu.initialiseDMP();

    Timer timer;
    timer.start();

    imu.setFifoReset(true);    
    imu.setDMPEnabled(true);    
    
    Quaternion q1;

    float hum,temp;
  //  int g=10;
    
    while(true){
      n++;  
      // wait(0.5);   
     bmp085.update();
        float allltitude=bmp085.calcAltitude(bmp085.get_pressure()*100);
      //wait(0.2);
       if(e==6)
       {
        dht22.sample() ;
         hum=dht22.getHumidity()/10.0;
      temp=dht22.getTemperature()/10.0;

      e=1;
      }
          

        if(imu.getFifoCount() >= 48){
            imu.getFifoBuffer(buffer,  48);
            led = !led;
        }
        // debug.printf("vcvssgsgf");
        if(timer.read_ms() >50){
            timer.reset();
           
           //This is the format of the data in the fifo, 
           /* ================================================================================================ *
             | Default MotionApps v4.1 48-byte FIFO packet structure:                                           |
             |                                                                                                  |
             | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
             |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
             |                                                                                                  |
             | [GYRO Z][      ][MAG X ][MAG Y ][MAG Z ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ] |
             |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41  42  43  44  45  46  47  |
             * ================================================================================================ */
             
            /*
            debug.printf("%d, %d, %d\r\n",  (int32_t)(((int32_t)buffer[34] << 24) + ((int32_t)buffer[35] << 16) + ((int32_t)buffer[36] << 8) + (int32_t)buffer[37]), 
                                            (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]), 
                                            (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
                                                
            debug.printf("%d, %d, %d\r\n",  (int32_t)(((int32_t)buffer[16] << 24) + ((int32_t)buffer[17] << 16) + ((int32_t)buffer[18] << 8) + (int32_t)buffer[19]),
                                            (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
                                            (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
                                            
            debug.printf("%d, %d, %d\r\n",  (int16_t)(buffer[29] << 8) + buffer[28], 
                                            (int16_t)(buffer[31] << 8) + buffer[30], 
                                            (int16_t)(buffer[33] << 8) + buffer[32]);
                                            
            debug.printf("%f, %f, %f, %f\r\n", 
                (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
            */
                
          q1.decode(buffer);
         
//wait(0.5);

    if(gps.readable())
        { 
            if(gps.getc() == '$');           // wait a $
            {
                for(int i=0; i<sizeof(cDataBuffer); i++)
                {
                    c = gps.getc();
                    if( c == '\r' )
                    {
                        //pc.printf("%s\n", cDataBuffer);
                        parse(cDataBuffer, i);
                        i = sizeof(cDataBuffer);
                    }
                    else
                    {
                        cDataBuffer[i] = c;
                    }                 
                }
            }
         }
        
        
        if(n==10)
        {
        xbee.printf("w:%f, v.x:%f, v.y:%f, v.z:%f\r\n", q1.w, q1.v.x, q1.v.y, q1.v.z);
          

xbee.printf("p:%f hPa / t:%f / altitude=%f \n\r",bmp085.get_pressure() , bmp085.get_temperature(),allltitude);

     xbee.printf("temp: %f  , hum:%f    \n\r",temp,hum);
       
       
       xbee.printf("GPGGA Fix taken at: %f, Latitude: %f %c, Longitude: %f %c, Fix quality: %d, Number of sat: %d, Altitude: %f M\n", timefix, latitude, ns, longitude, ew, fq, nst, altitude);
     xbee.printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
    xbee.printf("GPGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\n", latitude, ns, longitude, ew, timefix);
   xbee.printf("GPRMC Fix taken at: %f, Status: %c, Latitude: %f %c, Longitude: %f %c, Speed: %f, Date: %d\n\n\r\n\n\n", timefix, status, latitude, ns, longitude, ew, speed, date); 
n=1;
     
  }
            
      printf("w:%f, v.x:%f, v.y:%f, v.z:%f\r\n", q1.w, q1.v.x, q1.v.y, q1.v.z);
printf("p:%f hPa / t:%f / altitude=%f \n\r",bmp085.get_pressure() , bmp085.get_temperature(),allltitude);
     printf("temp: %f  , hum:%f    \n\r",temp,hum);
        printf("GPGGA Fix taken at: %f, Latitude: %f %c, Longitude: %f %c, Fix quality: %d, Number of sat: %d, Altitude: %f M\n", timefix, latitude, ns, longitude, ew, fq, nst, altitude);
     printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
    printf("GPGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\n", latitude, ns, longitude, ew, timefix);
   printf("GPRMC Fix taken at: %f, Status: %c, Latitude: %f %c, Longitude: %f %c, Speed: %f, Date: %d\n\n\r\n\n\n", timefix, status, latitude, ns, longitude, ew, speed, date); 
  
       
       
         
 imu.setFifoReset(true);    
    imu.setDMPEnabled(true);   
         //TeaPot Demo Packet for MotionFit SDK
            /*
            debug.putc('$'); //packet start
            debug.putc((char)2); //assume packet type constant
            debug.putc((char)0); //count seems unused
            for(int i = 0; i < 16; i++){ //16 bytes for 4 32bit floats
                debug.putc((char)(buffer[i]));
            }
            for(int i = 0; i < 5; i++){ //no idea, padded with 0
                debug.putc((char)0);
            }
            */
       }   
    //wait(1);
e++;
//g++;
 //xbee.printf("this is the end");
    //rst=1;
    //wait(0.001);
    //rst=0;
    }

}




void parse(char *cmd, int n)
{
    
  
    
    
    // Global Positioning System Fix Data
  if(strncmp(cmd,"$GPGGA", 6) == 0) 
    {
        sscanf(cmd, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%*f,%f", &timefix, &latitude, &ns, &longitude, &ew, &fq, &nst, &altitude);
        
    }
    
    // Satellite status
    if(strncmp(cmd,"$GPGSA", 6) == 0) 
    {
        sscanf(cmd, "$GPGSA,%c,%d,%d", &tf, &fix, &nst);
       
    }
    
    // Geographic position, Latitude and Longitude
    if(strncmp(cmd,"$GPGLL", 6) == 0) 
    {
        sscanf(cmd, "$GPGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
        
    }
    
    // Geographic position, Latitude and Longitude
    if(strncmp(cmd,"$GPRMC", 6) == 0) 
    {
        sscanf(cmd, "$GPRMC,%f,%c,%f,%c,%f,%c,%f,,%d", &timefix, &status, &latitude, &ns, &longitude, &ew, &speed, &date);
        
    }
       
     }