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.cpp@57:ec69651c8c21, 2018-06-14 (annotated)

Committer:
tnhnrl
Date:
Thu Jun 14 16:10:25 2018 +0000
Revision:
57:ec69651c8c21
Parent:
56:48a8a5a65b82
Child:
65:2ac186553959
Working version with debug and simple menu

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 45:16b8162188ca 1 #include "StaticDefs.hpp"
tnhnrl 45:16b8162188ca 2
tnhnrl 45:16b8162188ca 3 //Declare static global variables using 'construct on use' idiom to ensure they
tnhnrl 45:16b8162188ca 4 // are always constructed correctly and avoid "static initialization order fiasco".
tnhnrl 45:16b8162188ca 5
tnhnrl 45:16b8162188ca 6 Timer & systemTime() {
tnhnrl 45:16b8162188ca 7 static Timer s;
tnhnrl 45:16b8162188ca 8 return s;
tnhnrl 45:16b8162188ca 9 }
tnhnrl 45:16b8162188ca 10
tnhnrl 45:16b8162188ca 11 Ticker & pulse() {
tnhnrl 45:16b8162188ca 12 static Ticker pulse;
tnhnrl 45:16b8162188ca 13 return pulse;
tnhnrl 45:16b8162188ca 14 }
tnhnrl 45:16b8162188ca 15
tnhnrl 45:16b8162188ca 16 MODSERIAL & pc() {
mkelly10 51:c5c40272ecc3 17 static MODSERIAL pc(USBTX, USBRX);
mkelly10 51:c5c40272ecc3 18 //static MODSERIAL pc(p9, p10); //XBee tx, rx pins
tnhnrl 45:16b8162188ca 19 return pc;
tnhnrl 45:16b8162188ca 20 }
tnhnrl 45:16b8162188ca 21
tnhnrl 45:16b8162188ca 22 //MODSERIAL & xb() {
tnhnrl 45:16b8162188ca 23 // static MODSERIAL xb(p9, p10); //XBee tx, rx pins
tnhnrl 45:16b8162188ca 24 // return xb;
tnhnrl 45:16b8162188ca 25 //}
tnhnrl 45:16b8162188ca 26
tnhnrl 45:16b8162188ca 27
tnhnrl 45:16b8162188ca 28 //FIX THIS TO USE SPI data logger...
mkelly10 51:c5c40272ecc3 29 /*
tnhnrl 45:16b8162188ca 30 MODSERIAL & datalogger() {
tnhnrl 45:16b8162188ca 31 static MODSERIAL datalogger(p28, p27); //Data Logger tx, rx pins
tnhnrl 45:16b8162188ca 32 return datalogger;
tnhnrl 45:16b8162188ca 33 }
mkelly10 51:c5c40272ecc3 34 */
tnhnrl 45:16b8162188ca 35
tnhnrl 45:16b8162188ca 36 LocalFileSystem & local() {
tnhnrl 45:16b8162188ca 37 static LocalFileSystem local("local");
tnhnrl 45:16b8162188ca 38 return local;
tnhnrl 45:16b8162188ca 39 }
tnhnrl 45:16b8162188ca 40
mkelly10 51:c5c40272ecc3 41 /*************************************************************** Conflict with IMU
tnhnrl 45:16b8162188ca 42 SDFileSystem & sd_card() {
tnhnrl 45:16b8162188ca 43 static SDFileSystem sd_card(p11, p12, p13, p14, "sd"); //SDFileSystem sd_card(MOSI, MISO, SCK, CS, "sd");
tnhnrl 45:16b8162188ca 44 return sd_card;
tnhnrl 45:16b8162188ca 45 }
mkelly10 51:c5c40272ecc3 46 */
tnhnrl 45:16b8162188ca 47
tnhnrl 45:16b8162188ca 48 SpiADC & adc() {
tnhnrl 45:16b8162188ca 49 static SpiADC adc(p5,p6,p7,p8,LED2);
tnhnrl 45:16b8162188ca 50 return adc;
tnhnrl 45:16b8162188ca 51 }
tnhnrl 45:16b8162188ca 52
tnhnrl 53:c0586fe62b01 53 LinearActuator & bce() { // pwm,dir,res,swt
tnhnrl 53:c0586fe62b01 54 static LinearActuator bce(0.01,p22,p15,p16,p17,0); //interval , pwm, dir, reset, limit switch, adc channel (confirmed)
tnhnrl 45:16b8162188ca 55 return bce;
tnhnrl 45:16b8162188ca 56 }
tnhnrl 45:16b8162188ca 57
tnhnrl 53:c0586fe62b01 58 LinearActuator & batt() { // pwm,dir,res,swt
tnhnrl 53:c0586fe62b01 59 static LinearActuator batt(0.01,p21,p20,p19,p18,1); //interval , pwm, dir, reset, limit switch, adc channel (confirmed)
tnhnrl 45:16b8162188ca 60 return batt;
tnhnrl 45:16b8162188ca 61 }
tnhnrl 45:16b8162188ca 62
tnhnrl 52:f207567d3ea4 63 ServoDriver & rudder() {
tnhnrl 56:48a8a5a65b82 64 static ServoDriver rudder(p26); //current rudder pin on the latest drawing 06/11/2018
tnhnrl 52:f207567d3ea4 65 return rudder;
tnhnrl 45:16b8162188ca 66 }
tnhnrl 45:16b8162188ca 67
mkelly10 51:c5c40272ecc3 68 //*************Need to adjust class**************
tnhnrl 45:16b8162188ca 69 omegaPX209 & depth() {
tnhnrl 45:16b8162188ca 70 static omegaPX209 depth(p19); // pin
tnhnrl 45:16b8162188ca 71 return depth;
tnhnrl 45:16b8162188ca 72 }
tnhnrl 45:16b8162188ca 73
tnhnrl 57:ec69651c8c21 74 //IMU & imu() {
tnhnrl 57:ec69651c8c21 75 // static IMU imu(p13, p14); // tx, rx pin
tnhnrl 57:ec69651c8c21 76 // return imu;
tnhnrl 57:ec69651c8c21 77 //}
tnhnrl 57:ec69651c8c21 78
tnhnrl 45:16b8162188ca 79 IMU & imu() {
tnhnrl 57:ec69651c8c21 80 static IMU imu(p28, p27); // tx, rx pin
tnhnrl 45:16b8162188ca 81 return imu;
tnhnrl 45:16b8162188ca 82 }
tnhnrl 45:16b8162188ca 83
tnhnrl 45:16b8162188ca 84 OuterLoop & depthLoop() {
tnhnrl 45:16b8162188ca 85 static OuterLoop depthLoop(0.1, 0); // interval, sensor type
tnhnrl 45:16b8162188ca 86 return depthLoop;
tnhnrl 45:16b8162188ca 87 }
tnhnrl 45:16b8162188ca 88
tnhnrl 45:16b8162188ca 89 OuterLoop & pitchLoop() {
tnhnrl 45:16b8162188ca 90 static OuterLoop pitchLoop(0.1, 1); // interval, sensor type
tnhnrl 45:16b8162188ca 91 return pitchLoop;
tnhnrl 45:16b8162188ca 92 }
tnhnrl 45:16b8162188ca 93
tnhnrl 54:d4990fb68404 94 OuterLoop & headingLoop() {
tnhnrl 54:d4990fb68404 95 static OuterLoop headingLoop(0.1, 2); // interval, sensor type
tnhnrl 54:d4990fb68404 96 return headingLoop;
tnhnrl 45:16b8162188ca 97 }
tnhnrl 45:16b8162188ca 98
tnhnrl 45:16b8162188ca 99 StateMachine & stateMachine() {
tnhnrl 45:16b8162188ca 100 static StateMachine stateMachine;
tnhnrl 45:16b8162188ca 101 return stateMachine;
tnhnrl 45:16b8162188ca 102 }
tnhnrl 45:16b8162188ca 103
tnhnrl 45:16b8162188ca 104 ConfigFileIO & configFileIO() {
tnhnrl 45:16b8162188ca 105 static ConfigFileIO configFileIO;
tnhnrl 45:16b8162188ca 106 return configFileIO;
tnhnrl 45:16b8162188ca 107 }
tnhnrl 45:16b8162188ca 108
tnhnrl 45:16b8162188ca 109 SequenceController & sequenceController() {
tnhnrl 45:16b8162188ca 110 static SequenceController sequenceController;
tnhnrl 45:16b8162188ca 111 return sequenceController;
tnhnrl 45:16b8162188ca 112 }
tnhnrl 45:16b8162188ca 113
tnhnrl 45:16b8162188ca 114 MbedLogger & mbedLogger() {
tnhnrl 45:16b8162188ca 115 static MbedLogger mbedLogger("/local/"); //local file system
tnhnrl 45:16b8162188ca 116 return mbedLogger;
tnhnrl 45:16b8162188ca 117 }
tnhnrl 45:16b8162188ca 118
tnhnrl 45:16b8162188ca 119 MbedLogger & sdLogger() {
tnhnrl 45:16b8162188ca 120 static MbedLogger sdLogger("/sd/");
tnhnrl 45:16b8162188ca 121 return sdLogger;
tnhnrl 45:16b8162188ca 122 }
tnhnrl 45:16b8162188ca 123
tnhnrl 45:16b8162188ca 124 DigitalOut & led1() {
tnhnrl 45:16b8162188ca 125 static DigitalOut led1(LED1);
tnhnrl 45:16b8162188ca 126 return led1;
tnhnrl 45:16b8162188ca 127 }
tnhnrl 45:16b8162188ca 128
tnhnrl 45:16b8162188ca 129 DigitalOut & led2() {
tnhnrl 45:16b8162188ca 130 static DigitalOut led2(LED2);
tnhnrl 45:16b8162188ca 131 return led2;
tnhnrl 45:16b8162188ca 132 }
tnhnrl 45:16b8162188ca 133
tnhnrl 45:16b8162188ca 134 DigitalOut & led3() {
tnhnrl 45:16b8162188ca 135 static DigitalOut led3(LED3);
tnhnrl 45:16b8162188ca 136 return led3;
tnhnrl 45:16b8162188ca 137 }
tnhnrl 45:16b8162188ca 138
tnhnrl 45:16b8162188ca 139 DigitalOut & led4() {
tnhnrl 45:16b8162188ca 140 static DigitalOut led4(LED4);
tnhnrl 45:16b8162188ca 141 return led4;
tnhnrl 45:16b8162188ca 142 }