File content as of revision 10:c1d1ff35a6a1:

/*
2017年3月　伊豆大島共同打上実験
団体名：CORE
チーム名：ヌペリオル
該当電装：ロケット搭載用

使用部品
・LPC1768(マイコン)
・MPU6050(加速度・ジャイロセンサ)
・MS5607(気圧・気温センサ)
・MicroSDスロット
・MG995(サーボモータ)×4

使用ライブラリ
・MPU6050.h
   https://developer.mbed.org/teams/mbed/code/SDFileSystem/
・MS5607.h
   https://developer.mbed.org/users/yamaguch/code/MS5607/
・SDFileSystem.h
   https://developer.mbed.org/teams/mbed/code/SDFileSystem/

ピン配置
LPC1768  MPU6050  MS5607  MicroSD　MG995_1  MG995_2  MG995_3  MG995_4
VIN--------------------------------------------------------------------4.5~9.0V
-----------------------------------VIN------VIN------VIN------VIN------5V
Vout-----VCC------VIN-----VDD------------------------------------------3.3V
       \-ADO    \-PS
GND------GND------GND-----VSS------GND------GND------GND------GND------0V
                \-CS
p9-------SDA------SDA----------------------------------------------------
p10------SCL------SCL----------------------------------------------------
p11-----------------------CLK--------------------------------------------
p12-----------------------DAT0-------------------------------------------
p13-----------------------CMD--------------------------------------------
p14-----------------------CD/DAT0----------------------------------------
p23--------------------------------CTRL----------------------------------
p24-----------------------------------------CTRL-------------------------
p25--------------------------------------------------CTRL----------------
p26-----------------------------------------------------------CTRL-------
*/
#include "mbed.h"
#include "math.h"
#include "MS5607I2C.h"
#include "MPU6050.h"
#include "SDFileSystem.h"
/*判定パラメータ*/
#define ACC_LAUNCH 4//発射判定加速度[g]
#define DROP_TOP 1.5//頂点判定最低降下量[m]
#define ALT_CAN 350//缶サット開放高度[m]
#define TIME_TOP 15//タイマー開放時間[s]
/*動作レート*/
#define RATE_LOG 10//ログ用
#define RATE_OPEN 10//開放用
/*サーボ動作*/
#define LOCK 0.0005
#define UNLOCK 0.0015
/*フェイズ定義*/
#define STANDBY 0
#define LAUNCH 1
#define FLIGHT 2
#define DROP 3

#define P0 1013.25f//海面気圧[hPa]
/*ピン指定*/
MS5607I2C ms5607(p9, p10, false);
MPU6050 mpu(p9,p10);
DigitalIn sw(p21);
BusOut myled(LED1,LED2,LED3,LED4);
SDFileSystem sd(p11, p12, p13, p14, "sd");
Serial device(USBTX, USBRX);
PwmOut Door_1_1(p23);
PwmOut Door_1_2(p24);
PwmOut Door_2_1(p25);
PwmOut Door_2_2(p26);
/*タイマー類*/
Timer timer;
Ticker loop_log;
Ticker loop_open;
/*ログカウンタ*/
bool row = 0;
int8_t col = 0;
/*ログ格納用*/
float pressure[2][RATE_LOG],temperature[2][RATE_LOG];
float acc[2][RATE_LOG][3],gyro[2][RATE_LOG][3];
float t[2][RATE_LOG];
FILE *fp;
/*フェイズ変数*/
int8_t Phase = STANDBY;
/*判定用*/
float a_buff;
float alt,alt_max,alt_launch;
float t_drop,t_top,t_launch;
int8_t cnt_launch = 0;
int8_t cnt_top = 0;
int8_t cnt_drop = 0;
/*関数*/
float getAlt(float press, float temp);
void _Open();
void _Servo(int8_t door_num, float motion);
void _Log();
/*---------------------------------------------------------------------*/
int main() {
   timer.start();
   Door_1_1.period_ms(20);
   Door_1_2.period_ms(20);
   Door_2_1.period_ms(20);
   Door_2_2.period_ms(20);
   _Servo(0,LOCK);
   fp = fopen("/sd/log.txt", "w");
   fprintf(fp, "pressure,temperature,ax,ay,az,gx,gy,gz\r\n");
   loop_log.attach(&_Log,1.0/RATE_LOG);
   loop_open.attach(&_Open,1.0/RATE_OPEN);
   while(1);
}
/*開放用関数　RATE_OPEN[Hz]で判定を行う*/
void _Open(){
   myled = 1 << (Phase-1);
   switch (Phase) {
      case STANDBY://スタンバイモード（発射判定不可）
                  if(sw==0)Phase = LAUNCH;
                  break;
      case LAUNCH://点火モード（発射判定可）
                  alt_launch = alt;
                  if((-1)*a_buff>ACC_LAUNCH){
                     if(cnt_launch++==3) Phase = FLIGHT;
                     t_launch = timer.read();
                     alt_max = alt;
                  }else{
                     if(timer.read()>t_launch+1.0) cnt_launch = 0;
                  }
                  break;
      case FLIGHT://飛翔中（パラシュート開放判定）
                  if(alt>alt_max) alt_max = alt;
                  if(alt<alt_max-DROP_TOP){
                     if(cnt_top++==3){
                        _Servo(1,UNLOCK);
                        Phase = DROP;
                     }
                     t_top = timer.read();
                  }else{
                     if(timer.read()>t_top+1.0) cnt_top = 0;
                  }
                  if(timer.read()-t_launch>TIME_TOP){
                     _Servo(1,UNLOCK);
                     Phase = DROP;
                  }
                  break;
      case DROP://降下中（缶サット開放判定)
                  if(alt < alt_launch+ALT_CAN){
                     if(cnt_drop++==3)_Servo(2,UNLOCK);
                     t_drop = timer.read();
                  }else{
                     if(timer.read()>t_drop+1.0)cnt_drop = 0;
                  }
                  break;
   }
}
/*記録用関数　RATE_LOG[Hz]で記録を行う*/
void _Log(){
   t[row][col] = timer.read();
   pressure[row][col] = ms5607.getPressure()/100;
   temperature[row][col] = ms5607.getTemperature();
   mpu.getAccelero(&acc[row][col][0]);
   mpu.getGyro(&gyro[row][col][0]);
   a_buff = acc[row][col][2];
   alt = getAlt(pressure[row][col],temperature[row][col]);
   fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",
               t[row][col],pressure[row][col],temperature[row][col],acc[row][col][0],
               acc[row][col][1],acc[row][col][2],gyro[row][col][0],gyro[row][col][1],gyro[row][col][2]
            );
   if(col++==RATE_LOG){
      fclose(fp);
      fp = fopen("/sd/log.txt", "a");
      row =! row;
      col = 0;
    }
}
/*サーボ動作用関数 _Servo(int8_t 扉番号,float pwm波長)*/
void _Servo(int8_t door_num, float motion){
   if(door_num==0){//全扉
      Door_1_1.pulsewidth(motion);
      Door_1_2.pulsewidth(motion);
      Door_2_1.pulsewidth(motion);
      Door_2_2.pulsewidth(motion);
   }else if(door_num==1){//扉１
      Door_1_1.pulsewidth(motion);
      Door_1_2.pulsewidth(motion);
   }else if(door_num==2){//扉２
      Door_2_1.pulsewidth(motion);
      Door_2_2.pulsewidth(motion);
   }else{
      device.printf("error\r\n");
   }
}

float getAlt(float press, float temp){
    return (pow((P0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
}