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@52:f207567d3ea4, 2018-06-06 (annotated)

Committer:
tnhnrl
Date:
Wed Jun 06 19:18:47 2018 +0000
Revision:
52:f207567d3ea4
Parent:
51:c5c40272ecc3
Child:
54:d4990fb68404
version with non-working motors

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"
mkelly10 51:c5c40272ecc3 17 // #include "SDFileSystem.h"
tnhnrl 45:16b8162188ca 18 #include "ServoDriver.hpp"
tnhnrl 45:16b8162188ca 19
tnhnrl 45:16b8162188ca 20 //Declare static global variables using 'construct on use' idiom to ensure they are always constructed correctly
tnhnrl 45:16b8162188ca 21 // and avoid "static initialization order fiasco".
tnhnrl 45:16b8162188ca 22
tnhnrl 45:16b8162188ca 23 Timer & systemTime();
tnhnrl 45:16b8162188ca 24 Ticker & pulse();
tnhnrl 45:16b8162188ca 25
tnhnrl 45:16b8162188ca 26 MODSERIAL & pc();
tnhnrl 45:16b8162188ca 27 //MODSERIAL & xb();
tnhnrl 45:16b8162188ca 28 MODSERIAL & datalogger();
tnhnrl 45:16b8162188ca 29
tnhnrl 45:16b8162188ca 30 LocalFileSystem & local();
tnhnrl 45:16b8162188ca 31
tnhnrl 45:16b8162188ca 32 SpiADC & adc();
tnhnrl 45:16b8162188ca 33 LinearActuator & bce();
tnhnrl 45:16b8162188ca 34 LinearActuator & batt();
tnhnrl 45:16b8162188ca 35
tnhnrl 45:16b8162188ca 36 omegaPX209 & depth();
tnhnrl 45:16b8162188ca 37 OuterLoop & depthLoop();
tnhnrl 45:16b8162188ca 38
tnhnrl 45:16b8162188ca 39 IMU & imu();
tnhnrl 45:16b8162188ca 40 OuterLoop & pitchLoop();
tnhnrl 45:16b8162188ca 41
tnhnrl 45:16b8162188ca 42 StateMachine & stateMachine();
tnhnrl 45:16b8162188ca 43
tnhnrl 45:16b8162188ca 44 MbedLogger & mbedLogger(); //internal memory log files
tnhnrl 45:16b8162188ca 45
mkelly10 51:c5c40272ecc3 46 // SDFileSystem & sd_card(); //SD card file system
tnhnrl 45:16b8162188ca 47 MbedLogger & sdLogger(); //sd log files
tnhnrl 45:16b8162188ca 48
tnhnrl 45:16b8162188ca 49 ConfigFileIO & configFileIO();
tnhnrl 45:16b8162188ca 50
tnhnrl 45:16b8162188ca 51 SequenceController & sequenceController();
tnhnrl 45:16b8162188ca 52
tnhnrl 45:16b8162188ca 53 //servo driver
tnhnrl 52:f207567d3ea4 54 ServoDriver & rudder(); //new 06/06/2018
tnhnrl 45:16b8162188ca 55 OuterLoop & rudderLoop();
tnhnrl 45:16b8162188ca 56
tnhnrl 45:16b8162188ca 57 // leds for debugging, global for use in any function
tnhnrl 45:16b8162188ca 58 DigitalOut & led1();
tnhnrl 45:16b8162188ca 59 DigitalOut & led2();
tnhnrl 45:16b8162188ca 60 DigitalOut & led3();
tnhnrl 45:16b8162188ca 61 DigitalOut & led4();
tnhnrl 45:16b8162188ca 62
tnhnrl 45:16b8162188ca 63 #endif