Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

System/StaticDefs.hpp@92:52a91656458a, 2019-05-13 (annotated)

Committer:
joel_ssc
Date:
Mon May 13 19:25:26 2019 +0000
Revision:
92:52a91656458a
Parent:
87:6d95f853dab3 
version for first flight test, timeouts not yet set correctly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 45:16b8162188ca 1 #ifndef AUTOPILOTSTATICDEFS_H_
tnhnrl 45:16b8162188ca 2 #define AUTOPILOTSTATICDEFS_H_
tnhnrl 45:16b8162188ca 3
tnhnrl 45:16b8162188ca 4 #include "mbed.h"
tnhnrl 45:16b8162188ca 5 #include "MODSERIAL.h"
tnhnrl 45:16b8162188ca 6 #include "ltc1298.hpp"
tnhnrl 45:16b8162188ca 7 #include "LinearActuator.hpp"
tnhnrl 45:16b8162188ca 8 #include "IMU.h"
tnhnrl 45:16b8162188ca 9 #include "omegaPX209.hpp"
tnhnrl 45:16b8162188ca 10 #include "PosVelFilter.hpp"
tnhnrl 45:16b8162188ca 11 #include "OuterLoop.hpp"
tnhnrl 45:16b8162188ca 12 #include "StateMachine.hpp"
tnhnrl 45:16b8162188ca 13
tnhnrl 45:16b8162188ca 14 #include "ConfigFileIO.hpp"
tnhnrl 45:16b8162188ca 15 #include "SequenceController.hpp"
tnhnrl 45:16b8162188ca 16 #include "MbedLogger.hpp"
tnhnrl 79:3688c3a0d7f4 17 #include "SDFileSystem.h"
tnhnrl 45:16b8162188ca 18 #include "ServoDriver.hpp"
tnhnrl 73:f6f378311c8d 19 #include "Gui.hpp"
tnhnrl 73:f6f378311c8d 20 #include "Sensors.hpp"
tnhnrl 45:16b8162188ca 21
tnhnrl 45:16b8162188ca 22 //Declare static global variables using 'construct on use' idiom to ensure they are always constructed correctly
tnhnrl 45:16b8162188ca 23 // and avoid "static initialization order fiasco".
tnhnrl 45:16b8162188ca 24
tnhnrl 45:16b8162188ca 25 Timer & systemTime();
tnhnrl 45:16b8162188ca 26 Ticker & pulse();
tnhnrl 45:16b8162188ca 27
tnhnrl 74:d281aaef9766 28 //MODSERIAL & pc();
tnhnrl 74:d281aaef9766 29 MODSERIAL & xbee();
tnhnrl 45:16b8162188ca 30
tnhnrl 45:16b8162188ca 31 LocalFileSystem & local();
tnhnrl 45:16b8162188ca 32
tnhnrl 45:16b8162188ca 33 SpiADC & adc();
tnhnrl 45:16b8162188ca 34 LinearActuator & bce();
tnhnrl 45:16b8162188ca 35 LinearActuator & batt();
tnhnrl 45:16b8162188ca 36
tnhnrl 45:16b8162188ca 37 omegaPX209 & depth();
tnhnrl 45:16b8162188ca 38 OuterLoop & depthLoop();
tnhnrl 45:16b8162188ca 39
tnhnrl 45:16b8162188ca 40 IMU & imu();
joel_ssc 87:6d95f853dab3 41 Sensors & sensors();
joel_ssc 87:6d95f853dab3 42
tnhnrl 45:16b8162188ca 43 OuterLoop & pitchLoop();
tnhnrl 45:16b8162188ca 44
tnhnrl 45:16b8162188ca 45 StateMachine & stateMachine();
tnhnrl 45:16b8162188ca 46
tnhnrl 45:16b8162188ca 47 MbedLogger & mbedLogger(); //internal memory log files
tnhnrl 45:16b8162188ca 48
tnhnrl 80:4e5d306d695b 49 //SDFileSystem & sd_card(); //SD card file system
joel_ssc 87:6d95f853dab3 50 //MbedLogger & sdLogger(); //sd log files
tnhnrl 45:16b8162188ca 51
tnhnrl 45:16b8162188ca 52 ConfigFileIO & configFileIO();
tnhnrl 45:16b8162188ca 53
tnhnrl 45:16b8162188ca 54 SequenceController & sequenceController();
joel_ssc 82:0981b9ada820 55 LegController & legController();
tnhnrl 45:16b8162188ca 56
tnhnrl 45:16b8162188ca 57 //servo driver
tnhnrl 52:f207567d3ea4 58 ServoDriver & rudder(); //new 06/06/2018
tnhnrl 54:d4990fb68404 59 OuterLoop & headingLoop(); //change 06/08/2018
joel_ssc 87:6d95f853dab3 60 OuterLoop & altimLoop(); //change 03may2019
tnhnrl 45:16b8162188ca 61
tnhnrl 45:16b8162188ca 62 // leds for debugging, global for use in any function
tnhnrl 45:16b8162188ca 63 DigitalOut & led1();
tnhnrl 45:16b8162188ca 64 DigitalOut & led2();
tnhnrl 45:16b8162188ca 65 DigitalOut & led3();
tnhnrl 45:16b8162188ca 66 DigitalOut & led4();
joel_ssc 87:6d95f853dab3 67 DigitalIn & motorDisconnect(); // is this right? is it basically global?
tnhnrl 45:16b8162188ca 68
tnhnrl 73:f6f378311c8d 69 Gui & gui();
tnhnrl 73:f6f378311c8d 70
tnhnrl 45:16b8162188ca 71 #endif