AMiRo-OS

#include <cstdint>

  uint32_t nodeDistThresh = 1;

      // -----------------------------

      public : Global()

      : HW_I2C1(&I2CD1),

        HW_I2C2(&I2CD2),

        HW_PCA9544(&HW_I2C2, 0x07u),

        V_I2C2{{VI2CDriver(&HW_PCA9544, 0), VI2CDriver(&HW_PCA9544, 1),

                VI2CDriver(&HW_PCA9544, 2), VI2CDriver(&HW_PCA9544, 3)}},

        vcnl4020{{/* front left  */ VCNL4020(&V_I2C2[0], &vcnl4020_config),

                  /* left wheel  */ VCNL4020(&V_I2C2[1], &vcnl4020_config),

                  /* right wheel */ VCNL4020(&V_I2C2[2], &vcnl4020_config),

                  /* front right */ VCNL4020(&V_I2C2[3], &vcnl4020_config)}},

        hmc5883l(&HW_I2C1, &hmc5883l_config),

        HW_SPI1_ACCEL(&SPID1, &accel_spi1_config),

        HW_SPI1_GYRO(&SPID1, &gyro_spi1_config),

        lis331dlh(&HW_SPI1_ACCEL),

        l3g4200d(&HW_SPI1_GYRO),

        ina219(HW_I2C2, 0x40u),

        ltc4412(),

        at24c01(0x400u / 0x08u, 0x08u, 500u, &HW_I2C2),

        memory(at24c01, /*BMSV*/ 1, /*bmsv*/ 3, /*HMV*/ 1,

               /*hmv*/ 0), // bmsv changed von 2 auf 3

        increments(&QEID3, &QEID4),

        motorcontrol(&PWMD2, &increments, GPIOB, GPIOB_POWER_EN, &memory),

        distcontrol(&motorcontrol, &increments),

        odometry(&increments, &l3g4200d),

        sercanmux1(&SD1, &CAND1, CAN::DI_WHEEL_DRIVE_ID),

        robot(&CAND1),

        userThread() {