sl-perception
410ace3540
Add coulomb counter for accurate SoC estimation independent of load: - New coulomb_counter module: integrate current over time to track Ah consumed * coulomb_counter_init(capacity_mah) initializes with battery capacity * coulomb_counter_accumulate(current_ma) integrates current at 100 Hz * coulomb_counter_get_soc_pct() returns SoC 0-100% (255 = invalid) * coulomb_counter_reset() for charge-complete reset - Battery module integration: * battery_accumulate_coulombs() reads motor INA219 currents and accumulates * battery_get_soc_coulomb() returns coulomb-based SoC with fallback to voltage * Initialize coulomb counter at startup with DEFAULT_BATTERY_CAPACITY_MAH - Telemetry updates: * JLink STATUS: use coulomb SoC if available, fallback to voltage-based * CRSF battery frame: now includes remaining capacity in mAh (from coulomb counter) * CRSF capacity field was always 0; now reflects actual remaining mAh - Mainloop integration: * Call battery_accumulate_coulombs() every tick for continuous integration * INA219 motor currents + 200 mA subsystem baseline = total battery draw Motor current sources (INA219 addresses 0x40/0x41) provide most power draw; Jetson ROS2 battery_node already prioritizes coulomb-based soc_pct from STATUS frame. Default capacity: 2200 mAh (typical lab 3S LiPo); configurable via firmware parameter. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
70 lines
2.3 KiB
C
70 lines
2.3 KiB
C
#ifndef CRSF_H
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#define CRSF_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* CRSF/ExpressLRS RC receiver state.
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*
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* Updated from ISR context on every valid frame.
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* Read from main loop — values are naturally atomic (8/16-bit on Cortex-M).
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* last_rx_ms == 0 means no frame received yet (USB-only mode).
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*/
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typedef struct {
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uint16_t channels[16]; /* Raw CRSF values, 172 (988µs) – 1811 (2012µs) */
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uint32_t last_rx_ms; /* HAL_GetTick() at last valid RC frame */
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bool armed; /* CH5 arm switch: true when channels[4] > CRSF_ARM_THRESHOLD */
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/* Link statistics (from 0x14 frames, optional) */
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int8_t rssi_dbm; /* Uplink RSSI in dBm (negative, e.g. -85) */
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uint8_t link_quality; /* Uplink link quality 0–100 % */
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int8_t snr; /* Uplink SNR in dB */
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} CRSFState;
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/*
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* crsf_init() — configure UART4 (PA0=TX, PA1=RX) at 420000 baud with
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* DMA1 circular RX and IDLE interrupt. Call once before safety_init().
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*/
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void crsf_init(void);
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/*
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* crsf_parse_byte() — feed one byte into the frame parser.
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* Called automatically from DMA/IDLE ISR. Available for unit tests.
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*/
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void crsf_parse_byte(uint8_t byte);
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/*
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* crsf_to_range() — map raw CRSF value (172–1811) linearly to [min, max].
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* Clamps at boundaries. Midpoint 992 → (min+max)/2.
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*/
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int16_t crsf_to_range(uint16_t val, int16_t min, int16_t max);
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/*
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* crsf_send_battery() — transmit CRSF battery-sensor telemetry frame (type 0x08)
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* back to the ELRS TX module over UART4 TX. Call at CRSF_TELEMETRY_HZ (1 Hz).
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*
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* voltage_mv : battery voltage in millivolts (e.g. 12600 for 3S full)
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* capacity_mah : remaining battery capacity in mAh (Issue #325, coulomb counter)
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* remaining_pct: state-of-charge 0–100 % (255 = unknown)
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*
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* Frame: [0xC8][12][0x08][v16_hi][v16_lo][c16_hi][c16_lo][cap24×3][rem][CRC]
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* voltage unit: 100 mV (12600 mV → 126)
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* capacity unit: mAh (3-byte big-endian, max 16.7M mAh)
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*/
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void crsf_send_battery(uint32_t voltage_mv, uint32_t capacity_mah,
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uint8_t remaining_pct);
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/*
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* crsf_send_flight_mode() — transmit CRSF flight-mode frame (type 0x21)
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* for display on the pilot's handset OSD.
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*
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* armed: true → "ARMED\0"
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* false → "DISARM\0"
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*/
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void crsf_send_flight_mode(bool armed);
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extern volatile CRSFState crsf_state;
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#endif /* CRSF_H */
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