File content as of revision 0:31fa273aa56d:

#include "mbed.h"
#include "math.h"
#include "BMP180.h"

#define p0 1013.25f//海面気圧
#define TIME_TOP      14
#define TIME_WATER    20
#define TIME_BUZZER   25
#define NUM           5
#define RATE          10

enum PHASE{EGG,RISE,DROP,BUZZER} Phase;

//Serial         pc(USBTX,USBRX);

PwmOut         servo_crack1(p26);   
PwmOut         servo_crack2(p25);
PwmOut         servo_open1(p24);   
PwmOut         servo_open2(p23);
DigitalIn      rec1(p5);
DigitalIn      rec2(p6);
DigitalOut     heat(p22);
DigitalOut     buzzer(p20);
DigitalOut     myled1(LED1);
DigitalOut     myled2(LED2);
DigitalOut     myled3(LED3);
BMP180 bmp     (p28, p27);
LocalFileSystem local("local"); 

Timer          timer_acc;
Timer          timer_top;
Timer          timer_all;
Ticker         tic_mission;
Ticker         tic_buzzer;

void           _mission(); 
void           _heater_acc();
void           _buzzer();
float          _getAlt(float press, float temp);
float          _median(float data[], int num);
float          Med_alt,Maeno_alt;
float          Pressure,Temperature,Altitude;
float          alt[NUM],max=-1000;
int            Cnt_top=0,Cnt_water=0;
int            altitude;
int            med_alt; 

int main(){ 
    _heater_acc();   
    Phase=EGG;
    tic_mission.attach(&_mission,1.0/RATE);
    tic_buzzer.attach(&_buzzer,1.0/RATE);
    while(1){
        if(timer_top.read()>=TIME_BUZZER){
            buzzer=0;
        }
    }
}
    
    
void _mission(){
    switch(Phase){
        case EGG:            
                        buzzer=0;
                        myled1=0;
                        myled2=0;
                        timer_all.start();
                        FILE *fp;
                            fp = fopen("/local/out.txt", "a"); 
                            fprintf(fp,"%f:ヒーターON\n\r",timer_all);
                            timer_acc.start();
                            servo_crack1.pulsewidth(0.005);
                            servo_crack2.pulsewidth(0.024);
                            fprintf(fp, "%f:サーボ＿割る\n\r",timer_all);
                            wait(1.0);
                            servo_open1.pulsewidth(0.005);
                            servo_open2.pulsewidth(0.024);
                            fprintf(fp, "%f:サーボ＿開く\n\r",timer_all);
                            fclose(fp);
                            Phase=RISE;
                            break;
        case RISE:                        
                        bmp.Initialize(BMP180_OSS_ULTRA_LOW_POWER);
                        //pc.printf("Temperature ,Pressure, Altitude\r\n");
                        int j;
                        for(j=0;j<NUM;j++){
                            bmp.ReadData(&Temperature,&Pressure);
                            altitude = _getAlt(Pressure,Temperature);
                            alt[j]=altitude;
                        }
                        Med_alt=_median(alt,NUM);
                        //pc.printf("%f,%f\n\r",Med_alt,max);
                        if(med_alt>max){
                            max=Med_alt;
                            Cnt_top=0;
                        }else if(max-Med_alt>=2.0){
                            Cnt_top++;
                        }
                        //pc.printf("%d\n\r",Cnt_top);
                        if(Cnt_top>=3||timer_acc.read()>=TIME_TOP){
                            fp = fopen("/local/out.txt", "a");
                            //pc.printf("頂点判定");
                            fprintf(fp, "%f:頂点判定\n\r",timer_all);
                            myled1=1;
                            timer_top.start();
                            Phase=DROP;
                        }
                        break;
        case DROP:
                        Maeno_alt=Med_alt;
                        int i;
                        for(i=0;i<NUM;i++){
                            bmp.ReadData(&Temperature,&Pressure);
                            altitude = _getAlt(Pressure,Temperature);
                            alt[i]=altitude;
                        }
                        Med_alt=_median(alt,NUM);
                        //pc.printf("%f,%f\n\r",Med_alt,max);
                        if(Maeno_alt-Med_alt>=-1.0&&Maeno_alt-Med_alt<=1.0){
                            Cnt_water++;
                        }else{
                            Cnt_water=0;
                        }
                        //pc.printf("%d\n\r",Cnt_water);
                        if(Cnt_water>=3||timer_top.read()>=TIME_WATER){
                            fp = fopen("/local/out.txt", "a"); 
                            //pc.printf("着水判定");
                            myled2=1;
                            heat=0;
                            buzzer=1;
                            fprintf(fp, "%f:ヒーターOFF\nブザーON\n\r",timer_all);
                            fclose(fp);
                            Phase=BUZZER;
                            tic_mission.detach();
                        }
                        //break;
                        
        /*case BUZZER:
                        if(timer_top>=TIME_BUZZER){
                            fp = fopen("/local/out.txt", "a"); 
                            buzzer=0;
                            fprintf(fp, "%f:ブザーOFF\n\r",timer_all);
                            fclose(fp);
                        }
                        break;*/
    }
}

void _heater_acc(){
        heat=0;
        while(1){
            if(rec1==1){
                heat=1;
            }else if(rec1==0){
                heat=0;
            }
            if(rec2==1){
                break;
            }else if(rec2==0){
            }
        }
}

void _buzzer(){
        myled3=!myled3;
        if(rec2==1){
            buzzer=0;
        }else if(rec2==0){
            buzzer=0;
        }
}

float _getAlt(float press, float temp){
    return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f;
}
     
float _median(float data[], int num){
    float *data_cpy, ans;
    data_cpy = new float[num];
    memcpy(data_cpy,data,sizeof(float)*num);
 
    for(int i=0; i<num; i++){
        for(int j=0; j<num-i-1; j++){
            if(data_cpy[j]>data_cpy[j+1]){
                float buff = data_cpy[j+1];
                data_cpy[j+1] = data_cpy[j];
                data_cpy[j] = buff;
            }
        }
    }
    
    if(num%2!=0) ans = data_cpy[num/2];
    else         ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
    delete[] data_cpy;
    return ans;
}