온도센서랑 gps 센서 사용하여 설정 온도 이하로 떨어지면 gps 작동하게끔 소스 만들었는데요

무슨 에러인지는 알겠고 아무리 수정해봐도 계속 뜨는데 제가 안보이는건가 해서 여쭤봅니다.

그리고 혹시나 소스 자체에 다른 틀린 부분이 있다면 조언 부탁드립니다.

#include <Wire.h>
#include <Adafruit_MLX90614.h>
#include <SoftwareSerial.h>
#include <TinyGPS.h>
Adafruit_MLX90614 mlx=Adafruit_MLX90614();
TinyGPS gps;
SoftwareSerial nss(3, 4);
static void gpsdump(TinyGPS &gps);
static bool feedgps();
static void print_str(const char *str, int len);    
static void print_date(TinyGPS &gps);    
static void print_float(float val, float invalid, int len, int prec);
static void print_int(unsigned long val, unsigned long invalid, int len);
//
double Amb,Obj,AmbSum,ObjSum;
//
void setup(){
  Serial.begin(115200);
  nss.begin(9600);
  Serial.print("Testing TinyGPS library v. "); Serial.println(TinyGPS::library_version());
  Serial.println("by Mikal Hart");
  Serial.println();
  Serial.print("Sizeof(gpsobject) = "); Serial.println(sizeof(TinyGPS));
  Serial.println();
  Serial.println("Sats HDOP Latitude Longitude Fix  Date       Time       Date Alt     Course Speed Card  Distance Course Card  Chars Sentences Checksum");
  Serial.println("          (deg)    (deg)     Age                        Age  (m)     --- from GPS ----  ---- to London  ----  RX    RX        Fail");
  Serial.println("--------------------------------------------------------------------------------------------------------------------------------------");
  mlx.begin();
}
//
void loop(){
  bool newdata = false;
  unsigned long start = millis();
  
  // Every second we print an update
  while (millis() - start < 1000)
  {
    if (feedgps())
      newdata = true;
  }
  
  gpsdump(gps);
  AmbSum=0; ObjSum=0;
  for(int i=0; i<10; i++){
    AmbSum+=mlx.readAmbientTempC();
    ObjSum+=mlx.readObjectTempC();
    Serial.print(i+1); Serial.print("\tAmbient="); Serial.print(Amb);
    Serial.print("*C\tObject="); Serial.print(Obj); Serial.println("*C");
  }
  Amb=AmbSum/10;
  Obj=ObjSum/10;
  Serial.print("Ambient Avr.="); Serial.print(Amb);
  Serial.print("*C\tObject Avr.="); Serial.print(Obj); Serial.println("*C");
  Serial.println();
  delay(2000);
  if(Obj<28){
    
    analogWrite(4,HIGH);
    


    static void gpsdump(TinyGPS &gps)
      {
      float flat, flon;
      unsigned long age, date, time, chars = 0;
      unsigned short sentences = 0, failed = 0;
      static const float LONDON_LAT = 51.508131, LONDON_LON = -0.128002;
      
      print_int(gps.satellites(), TinyGPS::GPS_INVALID_SATELLITES, 5);
      print_int(gps.hdop(), TinyGPS::GPS_INVALID_HDOP, 5);
      gps.f_get_position(&flat, &flon, &age);
      print_float(flat, TinyGPS::GPS_INVALID_F_ANGLE, 9, 5);
      print_float(flon, TinyGPS::GPS_INVALID_F_ANGLE, 10, 5);
      print_int(age, TinyGPS::GPS_INVALID_AGE, 5);
      
      print_date(gps);
      
      print_float(gps.f_altitude(), TinyGPS::GPS_INVALID_F_ALTITUDE, 8, 2);
      print_float(gps.f_course(), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
      print_float(gps.f_speed_kmph(), TinyGPS::GPS_INVALID_F_SPEED, 6, 2);
      print_str(gps.f_course() == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(gps.f_course()), 6);
      print_int(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0UL : (unsigned long)TinyGPS::distance_between(flat, flon, LONDON_LAT, LONDON_LON) / 1000, 0xFFFFFFFF, 9);
      print_float(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : TinyGPS::course_to(flat, flon, 51.508131, -0.128002), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
      print_str(flat == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(TinyGPS::course_to(flat, flon, LONDON_LAT, LONDON_LON)), 6);
      
      gps.stats(&chars, &sentences, &failed);
      print_int(chars, 0xFFFFFFFF, 6);
      print_int(sentences, 0xFFFFFFFF, 10);
      print_int(failed, 0xFFFFFFFF, 9);
      Serial.println();
      }
      
      
    static void print_int(unsigned long val, unsigned long invalid, int len)
    {       //a function-definition is not allowed here before '{' token 에러발생
       char sz[32];
      if (val == invalid)
       strcpy(sz, "*******");
      else
       sprintf(sz, "%ld", val);
        sz[len] = 0;
      for (int i=strlen(sz); i<len; ++i)
        sz[i] = ' ';
      if (len > 0) 
        sz[len-1] = ' ';
      Serial.print(sz);
      feedgps();
    }
      
    static void print_float(float val, float invalid, int len, int prec)
    {              
      char sz[32];
      if (val == invalid)
      {
        strcpy(sz, "*******");
        sz[len] = 0;
        if (len > 0) 
        sz[len-1] = ' ';
        for (int i=7; i<len; ++i)
        sz[i] = ' ';
        Serial.print(sz);
      }
  else
  {
    Serial.print(val, prec);
    int vi = abs((int)val);
    int flen = prec + (val < 0.0 ? 2 : 1);
    flen += vi >= 1000 ? 4 : vi >= 100 ? 3 : vi >= 10 ? 2 : 1;
    for (int i=flen; i<len; ++i)
      Serial.print(" ");
  }
  feedgps();
    }
static void print_date(TinyGPS &gps)
{
  int year;
  byte month, day, hour, minute, second, hundredths;
  unsigned long age;
  gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age);
  if (age == TinyGPS::GPS_INVALID_AGE)
    Serial.print("*******    *******    ");
  else
  {
    char sz[32];
    sprintf(sz, "%02d/%02d/%02d %02d:%02d:%02d   ",
        month, day, year, hour, minute, second);
    Serial.print(sz);
  }
  print_int(age, TinyGPS::GPS_INVALID_AGE, 5);
  feedgps();
}
static void print_str(const char *str, int len)
{
  int slen = strlen(str);
  for (int i=0; i<len; ++i)
    Serial.print(i<slen ? str[i] : ' ');
  feedgps();
}
static bool feedgps()
{
  while (nss.available())
  {
    if (gps.encode(nss.read()))
      return true;
  }
  return false;
}
  }
  else      analogWrite(4,LOW);
}