StaticDefs.cpp

00001 #include "StaticDefs.hpp"
00002 
00003 //Declare static global variables using 'construct on use' idiom to ensure they 
00004 // are always constructed correctly and avoid "static initialization order fiasco".
00005 
00006 Timer & systemTime() {
00007     static Timer s;
00008     return s;
00009 }
00010 
00011 Ticker & pulse() {
00012     static Ticker pulse;
00013     return pulse;   
00014 }
00015     
00016 //MODSERIAL & pc() {
00017 //    //static MODSERIAL pc(USBTX, USBRX);
00018 //    return pc;
00019 //}
00020 
00021 MODSERIAL & xbee() {
00022    static MODSERIAL xb(p9, p10);        //XBee tx, rx pins
00023     //static MODSERIAL xb(USBTX, USBRX);        //if you want to send all the xbee() messages throught the USB connection 
00024     return xb;
00025 }
00026 
00027 LocalFileSystem & local() {
00028     static LocalFileSystem local("local");
00029     return local;    
00030 } 
00031 
00032 //SDFileSystem & sd_card() {
00033 //    static SDFileSystem sd_card(p11, p12, p13, p14, "sd");     //SDFileSystem sd_card(MOSI, MISO, SCK, CS, "sd");
00034 //    return sd_card;
00035 //}
00036 
00037 SpiADC & adc() {
00038     static SpiADC adc(p5,p6,p7,p8,LED2);
00039     return adc;
00040 }
00041 
00042 LinearActuator & bce() {        // pwm,dir,res,swt
00043     static LinearActuator bce(0.01,p22,p15,p16,p17,0); //interval , pwm, dir, reset, limit switch, adc channel (confirmed)
00044     return bce;
00045 }
00046 
00047 LinearActuator & batt() {        // pwm,dir,res,swt
00048     static LinearActuator batt(0.01,p21,p20,p19,p18,1); //interval , pwm, dir, reset, limit switch, adc channel (confirmed)
00049     return batt;       
00050 }
00051 
00052 ServoDriver & rudder() {
00053     static ServoDriver rudder(p26);     //current rudder pin on the latest drawing 06/11/2018
00054     return rudder;
00055 }
00056     
00057 //*************Need to adjust class**************
00058 omegaPX209 & depth() {
00059     static omegaPX209 depth(p19);   // pin
00060     return depth;
00061 }
00062 
00063 IMU & imu() {
00064     static IMU imu(p28, p27);       // tx, rx pin
00065     return imu;    
00066 }
00067 Sensors & sensors() {
00068     static Sensors sensors;
00069     return sensors;
00070 }
00071 
00072 OuterLoop & depthLoop() {
00073     static OuterLoop depthLoop(0.1, 0); // interval, sensor type
00074     return depthLoop;
00075 }
00076 
00077 OuterLoop & pitchLoop() {
00078     static OuterLoop pitchLoop(0.1, 1); // interval, sensor type
00079     return pitchLoop;
00080 }
00081 
00082 OuterLoop & headingLoop() {
00083     static OuterLoop headingLoop(0.1, 2); // interval, sensor type
00084     return headingLoop;
00085 }
00086 OuterLoop & altimLoop() {
00087     static OuterLoop altimLoop(0.1, 3); // interval, sensor type
00088     return  altimLoop;
00089 }
00090 
00091 
00092 StateMachine & stateMachine() {
00093     static StateMachine stateMachine;
00094     return stateMachine;
00095 }
00096 
00097 ConfigFileIO & configFileIO() {
00098     static ConfigFileIO configFileIO;
00099     return configFileIO;
00100 }
00101 
00102 SequenceController & sequenceController() {
00103     static SequenceController sequenceController;
00104     return sequenceController;
00105 }
00106 LegController & legController() {
00107     static LegController legController;
00108     return legController;
00109 }
00110 
00111 
00112 MbedLogger & mbedLogger() {
00113     static MbedLogger mbedLogger("/local/");        //local file system
00114     return mbedLogger;
00115 }
00116 
00117 //MbedLogger & sdLogger() {             // leaving this in with no SD card might be a problem.
00118 //    static MbedLogger sdLogger("/sd/");
00119 //    return sdLogger;
00120 //}
00121 
00122 DigitalOut & led1() {
00123     static DigitalOut led1(LED1);
00124     return led1;
00125 }
00126 
00127 DigitalOut & led2() {
00128     static DigitalOut led2(LED2);
00129     return led2;
00130 }
00131 
00132 DigitalOut & led3() {
00133     static DigitalOut led3(LED3);
00134     return led3;
00135 }
00136 
00137 DigitalOut & led4() {
00138     static DigitalOut led4(LED4);
00139     return led4;
00140 }
00141 DigitalIn & motorDisconnect() {
00142      static DigitalIn motorDisconnect(p24, PullDown);
00143      return motorDisconnect;
00144 }
00145 Gui & gui() {
00146     static Gui pythonGUI;
00147     return pythonGUI;
00148 }