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feat(firmware): Power management — sleep modes + wake sources + power consumption profiling #178

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opened 2026-03-02 10:37:20 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 10:37:20 -05:00
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Summary

STM32 power management for extending battery life during idle periods.

Requirements

  • Sleep modes: Enter STOP2 mode when robot is idle (no cmd_vel for 30s), wake on CRSF/serial/IMU
  • Wake sources: CRSF frame, Jetson serial command, IMU motion detect (significant motion interrupt)
  • Peripheral gating: Disable unused peripherals (I2S, SPI, unused UARTs) when not needed
  • Power profiling: Report current consumption per subsystem via telemetry
  • Sleep indicator: LED pattern for sleep mode (slow pulse), distinct from error blink
  • Fast wake: <50ms from STOP2 to full operation
  • ROS2 integration: Jetson can command STM32 sleep/wake via serial protocol

Agent: sl-firmware

Labels: phase-2, power

## Summary STM32 power management for extending battery life during idle periods. ## Requirements - **Sleep modes**: Enter STOP2 mode when robot is idle (no cmd_vel for 30s), wake on CRSF/serial/IMU - **Wake sources**: CRSF frame, Jetson serial command, IMU motion detect (significant motion interrupt) - **Peripheral gating**: Disable unused peripherals (I2S, SPI, unused UARTs) when not needed - **Power profiling**: Report current consumption per subsystem via telemetry - **Sleep indicator**: LED pattern for sleep mode (slow pulse), distinct from error blink - **Fast wake**: <50ms from STOP2 to full operation - **ROS2 integration**: Jetson can command STM32 sleep/wake via serial protocol ## Agent: sl-firmware ## Labels: phase-2, power
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#178
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