File content as of revision 0:e4bf955dac58:

#include "mbed.h"
#include "AsyncSerial.hpp"
#include "TinyGPS.h"
#include "JY901.h"

Serial pc(USBTX, USBRX);//CoolTermを用いてパソコン上に表示
JY901 i2c(p28,p27);// sda, scl
AsyncSerial Serial1(p9,p10,38400,128); // tx, rx
AsyncSerial Serial2(p13,p14,9600,256); // tx, rx
DigitalOut myled(LED1);
InterruptIn alt(p21);
InterruptIn rot(p22);
DigitalIn mid(p23);
AnalogIn an1(p19);
AnalogIn an2(p20);
Ticker flipper;
Ticker flipper2;
TinyGPS gps;
Timer t;
Timer t2;
int rot_count_buf=0;
int send_f1=0;
int send_f2=0;

#define coef_a -21.05 //ELE
#define coef_b 22.2 //RUD
float mid_a=0.5,mid_b=0.5;
int mid_t=0;

struct DATA{
    int height;
    int rot_count;
    float air_speed;
    float analog[2];//0=ELE 1=RUD
    float fmps,falt;
    unsigned long fix_age;
    long lat, lon;
    unsigned long time, date, speed, course;
    float angle[3];
    int a,b;
};
DATA data;

void ini(){
    data.height=0;data.rot_count=0;data.air_speed=0;data.analog[0]=0.0;data.analog[1]=0.0;
    data.time=0;data.date=0;
    data.lat=0;data.lon=0.0;data.fmps=0.0;data.falt=0.0;data.fix_age=0;
    data.course=0;
    data.angle[0]=0.0;data.angle[1]=0.0;data.angle[2]=0.0;
    send_f1=0;
    send_f2=0;
    mid.mode(PullUp);
}
float con(float a){
    if(a>180.0)return a-360.0;
    else return a;
}

void read_gyro(){
    data.angle[0]=con(i2c.getXaxisAngle());
    data.angle[1]=con(i2c.getYaxisAngle());
    data.angle[2]=con(i2c.getZaxisAngle());
}
void read_analog(){
    data.analog[0]=an1.read();//ELE
    data.analog[1]=an2.read();//RUD
    data.a=(int)((data.analog[0]-mid_a)*coef_a+4.5);
    data.b=(int)((data.analog[1]-mid_b)*coef_b+4.5);
    if(data.a>8)data.a=8;
    if(data.a<0)data.a=0;
    if(data.b>8)data.b=8;
    if(data.b<0)data.b=0;
}

void mid1(){
    mid_t=t2.read_ms();
    mid_a=an1.read();
    mid_b=an2.read(); 
}

void alt1() {
    t.start();
}
void alt2() {
    t.stop();
    data.height=(int)(t.read_us()/58);
    t.reset();
}
void rot1(){
    rot_count_buf++;
}

void rot2(){
    data.rot_count=rot_count_buf;
    rot_count_buf=0;
    send_f1=1;
}


void send(){//disp
    //def
    Serial2.printf("%d,%d,%.2f,%d,%d,%.2f,%.2f,%f,%f\r\n",data.height,data.rot_count,data.air_speed,data.a,data.b,data.fmps,data.angle[0],data.analog[0],data.analog[1]);
    
    //pc.printf("%d,%d,%.2f,%d,%d,%.2f,%.2f,%f,%f\r\n",data.height,data.rot_count,data.air_speed,data.a,data.b,data.fmps,data.angle[0],data.analog[0],data.analog[1]);
    pc.printf("time=%5ds, height=%4.2fm, rot=%3drpm, speed=%4.2fm/s, ELE=%f, RUD=%f, %d, %d, %d, %d, %d, %.2f, %.2f, %.2f, %.2f, %.2f\r\n"
    ,t2.read_ms()/1000,data.height/100,data.rot_count,data.air_speed
    ,data.analog[0],data.analog[1],data.date,data.time
    ,data.lat,data.lon,data.course,data.fmps,data.falt,data.angle[0],data.angle[1],data.angle[2]);
    //rudele
    //Serial2.printf("ELE,RUD,%d,%d,%f,%f\r\n",data.a,data.b,data.analog[0],data.analog[1]);
    
    //Serial2.printf("%d,%d,%.2f,%.2f\r\n",data.a,data.b,data.analog[0],data.analog[1]);
    /*Serial2.printf("%d,%d,%d,%.2f,%f,%f,%d,%d,%d,%d,%d,%.2f,%.2f,%.2f,%.2f,%.2f\r\n"
    ,t2.read_ms(),data.height,data.rot_count,data.air_speed
    ,data.analog[0],data.analog[1],data.date,data.time
    ,data.lat,data.lon,data.course,data.fmps,data.falt,data.angle[0],data.angle[1],data.angle[2]);*/
}

void send2(){//log
    Serial1.printf("%d,%d,%d,%.2f,%f,%f,%d,%d,%d,%d,%d,%.2f,%.2f,%.2f,%.2f,%.2f\r\n"
    ,t2.read_ms(),data.height,data.rot_count,data.air_speed
    ,data.analog[0],data.analog[1],data.date,data.time
    ,data.lat,data.lon,data.course,data.fmps,data.falt,data.angle[0],data.angle[1],data.angle[2]);
}


void send2_f(){
    send_f2=1;
}
    

int main() {
    char a[10];//バッファ
    int i=0;//count用
    int prev_m=0;
    ini();
    t.start();  
    t2.start();  
    alt.rise(&alt1);//立ち上がり
    alt.fall(&alt2);//立ち下がり
    rot.rise(&rot1);//立ち上がり
    rot.fall(&rot1);//立ち下がり
    //mid.fall(&mid1);//立ち上がり
    
    flipper.attach(&rot2, 0.5);//0.5sごとに回転数更新＆送信   
    i2c.calibrateAll(3000);
    flipper2.attach(&send2_f, 0.2);//0.2sごとに送信
    while(1) {
        while(Serial1.readable()>0){
            a[i]=Serial1.getc();
            if(a[i]=='\r'){
                a[i]=Serial1.getc();//\n
                a[i]='\0';
                i=0;
                data.air_speed=atof(a);
            }else{
                i++;
            }   
        }
        
        while(Serial2.readable()>0){
            char c = Serial2.getc();
            if(gps.encode(c)){
                gps.get_position(&(data.lat), &(data.lon), &(data.fix_age));// retrieves +/- lat/long in 100000ths of a degree
                gps.get_datetime(&(data.date), &(data.time), &(data.fix_age));// time in hhmmsscc
                data.course = gps.course();// course in 100ths of a degree
                data.fmps = gps.f_speed_mps(); // speed in m/sec
                data.falt = gps.f_altitude(); // +/- altitude in meters
            }
        }
        if(send_f1==1){
            send_f1=0;
            send(); 
        }
        if(send_f2==1){
            read_gyro();
            read_analog();
            send_f2=0;
            send2();
            int a;
            a=mid;
            if(a==prev_m && !a && mid_t==0){
                mid1();
                Serial1.printf("##%f,%f\r\n",mid_a,mid_b);
                Serial2.printf("##%f,%f\r\n",mid_a,mid_b);
            }
            prev_m=a;            
        }
    }
}