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
Diff: System/StaticDefs.cpp
- Revision:
- 10:085ab7328054
- Parent:
- 9:d5fcdcb3c89d
- Child:
- 11:3b241ecb75ed
diff -r d5fcdcb3c89d -r 085ab7328054 System/StaticDefs.cpp --- a/System/StaticDefs.cpp Fri Oct 20 11:41:22 2017 +0000 +++ b/System/StaticDefs.cpp Mon Oct 23 12:50:53 2017 +0000 @@ -1,53 +1,79 @@ #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". +//Declare static global variables using 'construct on use' idiom to ensure they +// are always constructed correctly and avoid "static initialization order fiasco". -Timer &systemTime() -{ +Timer & systemTime() { static Timer s; return s; } -Serial & pc() -{ - //static MODSERIAL p(USBTX, USBRX, 512, 512); // tx, rx - static Serial p(USBTX, USBRX); +Ticker & pulse() { + static Ticker pulse; + return pulse; +} + +Serial & pc() { + static Serial p(USBTX, USBRX); // tx, rx return p; } -SpiADC & adc() -{ - static SpiADC adc; +LocalFileSystem & local() { + static LocalFileSystem local("local"); + return local; +} + +SpiADC & adc() { + static SpiADC adc(p5,p6,p7,p8,LED2); return adc; } -LinearActuator & bce() -{ +LinearActuator & bce() { static LinearActuator bce(0.01, p25, p29, p30, p18, 0); //interval , pwm, dir, reset, limit switch, adc channel return bce; } -LinearActuator & batt() -{ +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; -} +omegaPX209 & depth() { + static omegaPX209 depth(p19); // pin + return depth; +} -PIDController & DepthController() -{ - static PIDController DepthController; - return DepthController; +IMU & imu() { + static IMU imu(p13,p14); // tx, rx pin + return imu; +} + +OuterLoop & depthLoop() { + static OuterLoop depthLoop(0.1, 0); // interval, sensor type + return depthLoop; +} + +OuterLoop & pitchLoop() { + static OuterLoop pitchLoop(0.1, 1); // interval, sensor type + return pitchLoop; } -IMU & Microstrain() -{ - static IMU Microstrain; - return Microstrain; +DigitalOut & led1() { + static DigitalOut led1(LED1); + return led1; +} + +DigitalOut & led2() { + static DigitalOut led2(LED2); + return led2; +} + +DigitalOut & led3() { + static DigitalOut led3(LED3); + return led3; +} + +DigitalOut & led4() { + static DigitalOut led4(LED4); + return led4; } \ No newline at end of file