StaticDefs.hpp

00001 #ifndef AUTOPILOTSTATICDEFS_H_
00002 #define AUTOPILOTSTATICDEFS_H_
00003 
00004 #include "mbed.h"
00005 #include "MODSERIAL.h"
00006 #include "ltc1298.hpp"
00007 #include "LinearActuator.hpp"
00008 #include "IMU.h"
00009 #include "omegaPX209.hpp"
00010 #include "PosVelFilter.hpp"
00011 #include "OuterLoop.hpp"
00012 #include "StateMachine.hpp"
00013 
00014 #include "ConfigFileIO.hpp"
00015 #include "SequenceController.hpp"
00016 #include "MbedLogger.hpp"
00017 #include "SDFileSystem.h"
00018 #include "ServoDriver.hpp"
00019 #include "Gui.hpp"
00020 #include "Sensors.hpp"
00021 
00022 //Declare static global variables using 'construct on use' idiom to ensure they are always constructed correctly
00023 // and avoid "static initialization order fiasco".
00024 
00025 Timer                       &   systemTime();
00026 Ticker                      &   pulse();
00027 
00028 //MODSERIAL                   &   pc();
00029 MODSERIAL                   &   xbee();
00030 
00031 LocalFileSystem             &   local();
00032 
00033 SpiADC                      &   adc();
00034 LinearActuator              &   bce();
00035 LinearActuator              &   batt();
00036 
00037 omegaPX209                  &   depth();
00038 OuterLoop                   &   depthLoop();
00039 
00040 IMU                         &   imu();
00041 Sensors                     &   sensors();
00042 
00043 OuterLoop                   &   pitchLoop();
00044 
00045 StateMachine                &   stateMachine();
00046 
00047 MbedLogger                  &   mbedLogger();       //internal memory log files
00048 
00049 //SDFileSystem                &   sd_card();          //SD card file system
00050 //MbedLogger                  &   sdLogger();         //sd log files
00051 
00052 ConfigFileIO                &   configFileIO();
00053 
00054 SequenceController          &   sequenceController();
00055 LegController               &   legController();
00056 
00057 //servo driver
00058 ServoDriver & rudder();     //new 06/06/2018
00059 OuterLoop                   &   headingLoop();  //change 06/08/2018
00060 OuterLoop                   &   altimLoop();  //change 03may2019
00061 
00062 // leds for debugging, global for use in any function
00063 DigitalOut                  &   led1();
00064 DigitalOut                  &   led2();
00065 DigitalOut                  &   led3();
00066 DigitalOut                  &   led4();
00067 DigitalIn                   &  motorDisconnect();    // is this right?  is it basically global?
00068 
00069 Gui                         &   gui();
00070 
00071 #endif