create dedicated modules namespace

CMakeLists.txt

@@ -25,6 +25,7 @@ set(SOURCES
     src/core/fsw.cpp
     src/core/flight_mode.cpp
     src/core/state.cpp
+    src/core/modules.cpp
     src/rfm/rfm.cpp
     src/sd/sd.cpp
     src/sd/hw_config.c

src/core/flight_mode.cpp

@@ -1,41 +1,41 @@
 #include "flight_mode.hpp"
 #include "../constants.hpp"
 #include "../pins.hpp"
-#include "../sd/sd.hpp"
 #include "hardware/gpio.h"
 #include "state.hpp"
+#include "modules.hpp"
 
 void FlightMode::execute() {
     float x, y, z;
 
-    state::altimeter::altimeter.read_altitude(&state::altimeter::altitude, constants::altimeter::ref_pressure);
-    state::altimeter::altimeter.read_pressure(&state::altimeter::pressure);
+    modules::altimeter.read_altitude(&state::altimeter::altitude, constants::altimeter::ref_pressure);
+    modules::altimeter.read_pressure(&state::altimeter::pressure);
 
-    state::imu::imu.read_gyro(&x, &y, &z);
+    modules::imu.read_gyro(&x, &y, &z);
     state::imu::gyro_x = x;
     state::imu::gyro_y = y;
     state::imu::gyro_z = z;
 
-    state::imu::imu.read_mag(&x, &y, &z);
+    modules::imu.read_mag(&x, &y, &z);
     state::imu::mag_x = x;
     state::imu::mag_y = y;
     state::imu::mag_z = z;
 
-    state::accel::accel.read_accel(&x, &y, &z);
+    modules::accel.read_accel(&x, &y, &z);
     state::accel::accel_x = x;
     state::accel::accel_y = y;
     state::accel::accel_z = z;
 
-    state::therm::temp = state::therm::therm.read_temperature();
-    state::therm::humidity = state::therm::therm.read_humidity();
+    state::therm::temp = modules::therm.read_temperature();
+    state::therm::humidity = modules::therm.read_humidity();
 
     if (!state::flight::altitude_armed && state::altimeter::altitude > constants::flight::arming_altitude) {
         state::flight::altitude_armed = true;
         // TODO: Log event
     }
 
-    state::sd::sd.log();
-    state::rfm::rfm.transmit();
+    // modules::sd.log();
+    // modules::rfm.transmit();
 }
 
 // Startup Mode
@@ -47,47 +47,47 @@ void StartupMode::execute() {
         // TODO: Log event
     }
     if (!state::altimeter::init) {
-        if (state::altimeter::altimeter.begin()) {
+        if (modules::altimeter.begin()) {
             state::altimeter::init = true;
         } else {
             // TODO: Log failure
         }
     }
     if (!state::imu::init) {
-        if (state::imu::imu.begin()) {
+        if (modules::imu.begin()) {
             state::imu::init = true;
         } else {
             // TODO: Log failure
         }
     }
     if (!state::accel::init) {
-        if (state::accel::accel.begin()) {
+        if (modules::accel.begin()) {
             state::accel::init = true;
         } else {
             // TODO: Log failure
         }
     }
     if (!state::therm::init) {
-        if (state::therm::therm.begin()) {
+        if (modules::therm.begin()) {
             state::therm::init = true;
         } else {
             // TODO: Log failure
         }
     }
-    if (!state::sd::init) {
-        if (state::sd::sd.begin()) {
-            state::sd::init = true;
-        } else {
-            // TODO: Log failure
-        }
-    }
-    if (!state::rfm::init) {
-        if (state::rfm::rfm.begin()) {
-            state::rfm::init = true;
-        } else {
-            // TODO: Log failure
-        }
-    }
+    // if (!state::sd::init) {
+    //     if (modules::sd.begin()) {
+    //         state::sd::init = true;
+    //     } else {
+    //         // TODO: Log failure
+    //     }
+    // }
+    // if (!state::rfm::init) {
+    //     if (modules::rfm.begin()) {
+    //         state::rfm::init = true;
+    //     } else {
+    //         // TODO: Log failure
+    //     }
+    // }
 }
 
 void StartupMode::transition() {

src/core/modules.cpp

@@ -0,0 +1,12 @@
+#include "modules.hpp"
+
+
+namespace modules {
+    BMP388 altimeter(I2C_PORT);
+    BNO055 imu(I2C_PORT);
+    LIS3DH accel(I2C_PORT);
+    Si7021 therm(I2C_PORT);
+
+    SD sd;
+    RFM rfm;
+};

src/core/modules.hpp

@@ -0,0 +1,23 @@
+#ifndef MODULES_HPP_
+#define MODULES_HPP_
+
+#include "bmp388.hpp"
+#include "bno055.hpp"
+#include "lis3dh.hpp"
+#include "si7021.hpp"
+
+#include "../rfm/rfm.hpp"
+#include "../sd/sd.hpp"
+
+
+namespace modules {
+    extern BMP388 altimeter;
+    extern BNO055 imu;
+    extern LIS3DH accel;
+    extern Si7021 therm;
+
+    extern SD sd;
+    extern RFM rfm;
+};
+
+#endif

src/core/state.cpp

@@ -33,7 +33,6 @@ namespace state {
         double pressure = -1;
         double altitude = -1;
 
-        BMP388 altimeter(I2C_PORT);
     } // namespace altimeter
     namespace gps {
         bool init = false;
@@ -51,32 +50,27 @@ namespace state {
         float gyro_y = -1;
         float gyro_z = -1;
 
-        BNO055 imu(I2C_PORT);
     } // namespace imu
     namespace accel {
         bool init = false;
         float accel_x = -1;
         float accel_y = -1;
         float accel_z = -1;
 
-        LIS3DH accel(I2C_PORT);
     } // namespace accel
     namespace therm {
         bool init = false;
         float temp = -1;
         float humidity = -1;
 
-        Si7021 therm(I2C_PORT);
     } // namespace therm
     namespace sd {
         bool init = false;
         FIL file;
 
-        SD sd;
     } // namespace sd
     namespace rfm {
         bool init = false;
 
-        RFM rfm;
     } // namespace rfm
 }; // namespace state

src/core/state.hpp

@@ -4,12 +4,6 @@
 #include "flight_mode.hpp"
 #include <stdint.h>
 
-#include "bmp388.hpp"
-#include "bno055.hpp"
-#include "lis3dh.hpp"
-#include "si7021.hpp"
-
-#include "../rfm/rfm.hpp"
 #include "../sd/sd.hpp"
 
 namespace state {
@@ -40,7 +34,6 @@ namespace state {
         extern double pressure;
         extern double altitude;
 
-        extern BMP388 altimeter;
     } // namespace altimeter
     namespace gps {
         extern bool init;
@@ -58,32 +51,27 @@ namespace state {
         extern float gyro_y;
         extern float gyro_z;
 
-        extern BNO055 imu;
     } // namespace imu
     namespace accel {
         extern bool init;
         extern float accel_x;
         extern float accel_y;
         extern float accel_z;
 
-        extern LIS3DH accel;
     } // namespace accel
     namespace therm {
         extern bool init;
         extern float temp;
         extern float humidity;
 
-        extern Si7021 therm;
     } // namespace therm
     namespace sd {
         extern bool init;
 
-        extern SD sd;
     } // namespace sd
     namespace rfm {
         extern bool init;
 
-        extern RFM rfm;
     } // namespace rfm
 }; // namespace state