Diff: System/StaticDefs.cpp

Revision:

9:d5fcdcb3c89d

Child:

10:085ab7328054

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/StaticDefs.cpp	Fri Oct 20 11:41:22 2017 +0000
@@ -0,0 +1,53 @@
+#include "StaticDefs.hpp"
+
+//Declare static global variables using 'construct on use' idiom to ensure they are always constructed correctly
+// and avoid "static initialization order fiasco".
+
+Timer &systemTime()
+{
+    static Timer s;
+    return s;
+}
+
+Serial & pc()
+{
+    //static MODSERIAL p(USBTX, USBRX, 512, 512); // tx, rx
+    static Serial p(USBTX, USBRX);
+    return p;
+}
+
+SpiADC & adc()
+{
+    static SpiADC adc;
+    return adc;
+}
+
+LinearActuator & bce()
+{
+    static LinearActuator bce(0.01, p25, p29, p30, p18, 0); //interval , pwm, dir, reset, limit switch, adc channel
+    return bce;
+}
+
+LinearActuator & batt()
+{
+    static LinearActuator batt(0.01, p23, p21, p22, p17, 1); //interval , pwm, dir, reset, limit switchm, adc channel
+    return batt;       
+}
+
+LocalFileSystem & local()
+{
+    static LocalFileSystem local("local");
+    return local;    
+} 
+
+PIDController & DepthController()
+{
+    static PIDController DepthController;
+    return DepthController;
+}
+
+IMU & Microstrain()
+{
+    static IMU Microstrain;
+    return Microstrain;    
+}
\ No newline at end of file