Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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bat_checker.c
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1 /*
2  * Copyright (C) 2012 Thomas Kolb
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
30 #include "modules/energy/bat_checker.h"
31 #include "generated/airframe.h"
32 #include "generated/modules.h"
33 #include "subsystems/electrical.h"
34 #include "mcu_periph/gpio.h"
35 #include "led.h"
36 
37 #if (!defined BAT_CHECKER_GPIO && !defined BAT_CHECKER_LED)
38 #error You must define BAT_CHECKER_GPIO or BAT_CHECKER_LED in your airframe file.
39 #endif
40 
41 // in case GPIO logic is inverted
42 #ifndef BAT_CHECKER_GPIO_ON
43 #define BAT_CHECKER_GPIO_ON gpio_set
44 #endif
45 #ifndef BAT_CHECKER_GPIO_OFF
46 #define BAT_CHECKER_GPIO_OFF gpio_clear
47 #endif
48 
49 void init_bat_checker(void)
50 {
51 #ifdef BAT_CHECKER_LED
52  LED_INIT(BAT_CHECKER_LED);
53  LED_OFF(BAT_CHECKER_LED);
54 #endif
55 #ifdef BAT_CHECKER_GPIO
56  gpio_setup_output(BAT_CHECKER_GPIO);
57 #endif
58 }
59 
60 void bat_checker_periodic(void)
61 {
62 
63  if (electrical.bat_critical) {
64 #ifdef BAT_CHECKER_LED
65  LED_ON(BAT_CHECKER_LED);
66 #endif
67 #ifdef BAT_CHECKER_GPIO
68  BAT_CHECKER_GPIO_ON(BAT_CHECKER_GPIO);
69 #endif
70  } else if (electrical.bat_low) {
71 #ifdef BAT_CHECKER_LED
72  LED_TOGGLE(BAT_CHECKER_LED);
73 #endif
74 #ifdef BAT_CHECKER_GPIO
75  gpio_toggle(BAT_CHECKER_GPIO);
76 #endif
77  } else {
78 #ifdef BAT_CHECKER_LED
79  LED_OFF(BAT_CHECKER_LED);
80 #endif
81 #ifdef BAT_CHECKER_GPIO
82  BAT_CHECKER_GPIO_OFF(BAT_CHECKER_GPIO);
83 #endif
84  }
85 
86 }
electrical.h
LED_OFF
#define LED_OFF(i)
Definition: led_hw.h:52
gpio_setup_output
void gpio_setup_output(ioportid_t port, uint16_t gpios)
Setup one or more pins of the given GPIO port as outputs.
Definition: gpio_arch.c:33
LED_ON
#define LED_ON(i)
Definition: led_hw.h:51
LED_TOGGLE
#define LED_TOGGLE(i)
Definition: led_hw.h:53
LED_INIT
#define LED_INIT(i)
Definition: led_hw.h:50
BAT_CHECKER_GPIO_ON
#define BAT_CHECKER_GPIO_ON
Definition: bat_checker.c:43
Electrical::bat_low
bool bat_low
battery low status
Definition: electrical.h:49
bat_checker_periodic
void bat_checker_periodic(void)
Definition: bat_checker.c:60
bat_checker.h
led.h
arch independent LED (Light Emitting Diodes) API
gpio_toggle
static void gpio_toggle(ioportid_t port, uint16_t pin)
Toggle a gpio output to low level.
Definition: gpio_arch.h:118
Electrical::bat_critical
bool bat_critical
battery critical status
Definition: electrical.h:50
gpio.h
init_bat_checker
void init_bat_checker(void)
Definition: bat_checker.c:49
electrical
struct Electrical electrical
Definition: electrical.c:66
BAT_CHECKER_GPIO_OFF
#define BAT_CHECKER_GPIO_OFF
Definition: bat_checker.c:46