File content as of revision 11:3b241ecb75ed:

#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;
}

Ticker & pulse() {
    static Ticker pulse;
    return pulse;   
}
    
MODSERIAL & pc() {
//    static MODSERIAL pc(USBTX, USBRX);   //PC USB tx, rx pin
    static MODSERIAL pc(p9, p10);        //XBee tx, rx pins
    return pc;
}

//MODSERIAL & xb() {
//    static MODSERIAL xb(p9, p10);        //XBee tx, rx pins
//    return xb;
//}

LocalFileSystem & local() {
    static LocalFileSystem local("local");
    return local;    
} 

SpiADC & adc() {
    static SpiADC adc(p5,p6,p7,p8,LED2);
    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;       
}

omegaPX209 & depth() {
    static omegaPX209 depth(p19); // pin
    return depth;
}

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;
}

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;
}