Merge branch 'master' into dev

* adds battery checker module

conf/modules/bat_checker.xml

@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+     Battery checker module
+     @define BAT_CHECKER_DELAY Number of seconds the battery voltage has to be
+                               below LOW_BAT_LEVEL before the warning signal is
+                               activated.
+     @define BAT_CHECKER_LED   The LED to use for the warning signal.
+     -->
+<module name="bat_checker">
+  <header>
+    <file name="bat_checker.h"/>
+  </header>
+  <init fun="init_bat_checker()"/>
+  <periodic fun="bat_checker_periodic()" freq="2" autorun="TRUE"/>
+  <makefile>
+    <define name="bat_checker_periodic_FREQ" value="2"/>
+    <file name="bat_checker.c"/>
+  </makefile>
+</module>
+

sw/airborne/boards/lisa_m_1.0.h

@@ -24,6 +24,7 @@
 #define LED_3_GPIO_PIN GPIO_Pin_2
 #define LED_3_AFIO_REMAP ((void)0)
 
+// GPIO pins
 #define LED_4_BANK
 #define LED_4_GPIO GPIOC
 #define LED_4_GPIO_CLK RCC_APB2Periph_GPIOC

sw/airborne/modules/bat_checker/bat_checker.c

@@ -0,0 +1,79 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2012  Thomas Kolb
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include "bat_checker.h"
+#include "generated/airframe.h"
+#include "subsystems/electrical.h"
+#include "led.h"
+
+#ifndef CRITIC_BAT_LEVEL
+#error You must define CRITIC_BAT_LEVEL to use this module!
+#endif
+
+#ifndef LOW_BAT_LEVEL
+#error You must define LOW_BAT_LEVEL to use this module!
+#endif
+
+#ifndef BAT_CHECKER_LED
+#error You must define BAT_CHECKER_LED in your airframe file.
+#endif
+
+#ifndef BAT_CHECKER_DELAY
+#warning BAT_CHECKER_DELAY is undefined. Falling back to 5 seconds.
+#define BAT_CHECKER_DELAY 5
+#endif
+
+// at this level, the buzzer will be activated periodically
+#define WARN_BAT_LEVEL1 (LOW_BAT_LEVEL*10)
+
+// at this level, the buzzer will be activated permanently
+#define WARN_BAT_LEVEL2 (CRITIC_BAT_LEVEL*10)
+
+#pragma message "Battery checker included!"
+
+void init_bat_checker(void) {
+  LED_INIT(BAT_CHECKER_LED);
+  LED_OFF(BAT_CHECKER_LED);
+}
+
+void bat_checker_periodic(void) {
+  static uint8_t bat_low_counter = 0;
+  if(electrical.vsupply < WARN_BAT_LEVEL1) {
+    if(bat_low_counter)
+      bat_low_counter--;
+  } else {
+    bat_low_counter = BAT_CHECKER_DELAY * bat_checker_periodic_FREQ;
+  }
+
+  if(!bat_low_counter) {
+    if(electrical.vsupply < WARN_BAT_LEVEL2) {
+      LED_ON(BAT_CHECKER_LED);
+    } else if(electrical.vsupply < WARN_BAT_LEVEL1) {
+      LED_TOGGLE(BAT_CHECKER_LED);
+    }
+  } else {
+    LED_OFF(BAT_CHECKER_LED);
+  }
+}
+

sw/airborne/modules/bat_checker/bat_checker.h

@@ -0,0 +1,31 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2012  Thomas Kolb
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef BAT_CHECKER_H
+#define BAT_CHECKER_H
+
+void init_bat_checker(void);
+void bat_checker_periodic(void);
+
+#endif // BAT_CHECKER_H