update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
System/StaticDefs.cpp@16:3363b9f14913, 2017-11-06 (annotated)
- Committer:
- tnhnrl
- Date:
- Mon Nov 06 22:57:56 2017 +0000
- Revision:
- 16:3363b9f14913
- Parent:
- 14:85b64a4d08e8
- Child:
- 17:7c16b5671d0e
Update to FSG test program used in the LASR pool
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mkelly10 | 9:d5fcdcb3c89d | 1 | #include "StaticDefs.hpp" |
mkelly10 | 9:d5fcdcb3c89d | 2 | |
danstrider | 10:085ab7328054 | 3 | //Declare static global variables using 'construct on use' idiom to ensure they |
danstrider | 10:085ab7328054 | 4 | // are always constructed correctly and avoid "static initialization order fiasco". |
mkelly10 | 9:d5fcdcb3c89d | 5 | |
danstrider | 10:085ab7328054 | 6 | Timer & systemTime() { |
mkelly10 | 9:d5fcdcb3c89d | 7 | static Timer s; |
mkelly10 | 9:d5fcdcb3c89d | 8 | return s; |
mkelly10 | 9:d5fcdcb3c89d | 9 | } |
mkelly10 | 9:d5fcdcb3c89d | 10 | |
danstrider | 10:085ab7328054 | 11 | Ticker & pulse() { |
danstrider | 10:085ab7328054 | 12 | static Ticker pulse; |
danstrider | 10:085ab7328054 | 13 | return pulse; |
danstrider | 10:085ab7328054 | 14 | } |
danstrider | 10:085ab7328054 | 15 | |
danstrider | 11:3b241ecb75ed | 16 | MODSERIAL & pc() { |
tnhnrl | 16:3363b9f14913 | 17 | static MODSERIAL pc(USBTX, USBRX); //PC USB tx, rx pin |
tnhnrl | 16:3363b9f14913 | 18 | //static MODSERIAL pc(p9, p10); //XBee tx, rx pins |
danstrider | 11:3b241ecb75ed | 19 | return pc; |
mkelly10 | 9:d5fcdcb3c89d | 20 | } |
mkelly10 | 9:d5fcdcb3c89d | 21 | |
danstrider | 11:3b241ecb75ed | 22 | //MODSERIAL & xb() { |
danstrider | 11:3b241ecb75ed | 23 | // static MODSERIAL xb(p9, p10); //XBee tx, rx pins |
danstrider | 11:3b241ecb75ed | 24 | // return xb; |
danstrider | 11:3b241ecb75ed | 25 | //} |
danstrider | 11:3b241ecb75ed | 26 | |
danstrider | 10:085ab7328054 | 27 | LocalFileSystem & local() { |
danstrider | 10:085ab7328054 | 28 | static LocalFileSystem local("local"); |
danstrider | 10:085ab7328054 | 29 | return local; |
danstrider | 10:085ab7328054 | 30 | } |
danstrider | 10:085ab7328054 | 31 | |
danstrider | 10:085ab7328054 | 32 | SpiADC & adc() { |
danstrider | 10:085ab7328054 | 33 | static SpiADC adc(p5,p6,p7,p8,LED2); |
mkelly10 | 9:d5fcdcb3c89d | 34 | return adc; |
mkelly10 | 9:d5fcdcb3c89d | 35 | } |
mkelly10 | 9:d5fcdcb3c89d | 36 | |
danstrider | 10:085ab7328054 | 37 | LinearActuator & bce() { |
mkelly10 | 9:d5fcdcb3c89d | 38 | static LinearActuator bce(0.01, p25, p29, p30, p18, 0); //interval , pwm, dir, reset, limit switch, adc channel |
mkelly10 | 9:d5fcdcb3c89d | 39 | return bce; |
mkelly10 | 9:d5fcdcb3c89d | 40 | } |
mkelly10 | 9:d5fcdcb3c89d | 41 | |
danstrider | 10:085ab7328054 | 42 | LinearActuator & batt() { |
mkelly10 | 9:d5fcdcb3c89d | 43 | static LinearActuator batt(0.01, p23, p21, p22, p17, 1); //interval , pwm, dir, reset, limit switchm, adc channel |
mkelly10 | 9:d5fcdcb3c89d | 44 | return batt; |
mkelly10 | 9:d5fcdcb3c89d | 45 | } |
mkelly10 | 9:d5fcdcb3c89d | 46 | |
danstrider | 10:085ab7328054 | 47 | omegaPX209 & depth() { |
danstrider | 10:085ab7328054 | 48 | static omegaPX209 depth(p19); // pin |
danstrider | 10:085ab7328054 | 49 | return depth; |
danstrider | 10:085ab7328054 | 50 | } |
mkelly10 | 9:d5fcdcb3c89d | 51 | |
danstrider | 10:085ab7328054 | 52 | IMU & imu() { |
danstrider | 10:085ab7328054 | 53 | static IMU imu(p13,p14); // tx, rx pin |
danstrider | 10:085ab7328054 | 54 | return imu; |
danstrider | 10:085ab7328054 | 55 | } |
danstrider | 10:085ab7328054 | 56 | |
danstrider | 10:085ab7328054 | 57 | OuterLoop & depthLoop() { |
danstrider | 10:085ab7328054 | 58 | static OuterLoop depthLoop(0.1, 0); // interval, sensor type |
danstrider | 10:085ab7328054 | 59 | return depthLoop; |
danstrider | 10:085ab7328054 | 60 | } |
danstrider | 10:085ab7328054 | 61 | |
danstrider | 10:085ab7328054 | 62 | OuterLoop & pitchLoop() { |
danstrider | 10:085ab7328054 | 63 | static OuterLoop pitchLoop(0.1, 1); // interval, sensor type |
danstrider | 10:085ab7328054 | 64 | return pitchLoop; |
mkelly10 | 9:d5fcdcb3c89d | 65 | } |
mkelly10 | 9:d5fcdcb3c89d | 66 | |
tnhnrl | 16:3363b9f14913 | 67 | StateMachine & stateMachine() { |
tnhnrl | 16:3363b9f14913 | 68 | static StateMachine stateMachine; |
tnhnrl | 16:3363b9f14913 | 69 | return stateMachine; |
tnhnrl | 16:3363b9f14913 | 70 | } |
tnhnrl | 16:3363b9f14913 | 71 | |
danstrider | 10:085ab7328054 | 72 | DigitalOut & led1() { |
danstrider | 10:085ab7328054 | 73 | static DigitalOut led1(LED1); |
danstrider | 10:085ab7328054 | 74 | return led1; |
danstrider | 10:085ab7328054 | 75 | } |
danstrider | 10:085ab7328054 | 76 | |
danstrider | 10:085ab7328054 | 77 | DigitalOut & led2() { |
danstrider | 10:085ab7328054 | 78 | static DigitalOut led2(LED2); |
danstrider | 10:085ab7328054 | 79 | return led2; |
danstrider | 10:085ab7328054 | 80 | } |
danstrider | 10:085ab7328054 | 81 | |
danstrider | 10:085ab7328054 | 82 | DigitalOut & led3() { |
danstrider | 10:085ab7328054 | 83 | static DigitalOut led3(LED3); |
danstrider | 10:085ab7328054 | 84 | return led3; |
danstrider | 10:085ab7328054 | 85 | } |
danstrider | 10:085ab7328054 | 86 | |
danstrider | 10:085ab7328054 | 87 | DigitalOut & led4() { |
danstrider | 10:085ab7328054 | 88 | static DigitalOut led4(LED4); |
danstrider | 10:085ab7328054 | 89 | return led4; |
mkelly10 | 9:d5fcdcb3c89d | 90 | } |