sl-jetson
cea3eaff97
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
105 lines
3.6 KiB
C
105 lines
3.6 KiB
C
/* DEPRECATED: STM32/Mamba firmware -- replaced by ESP32-S3. Do not modify. */
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#ifndef POWER_MGMT_H
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#define POWER_MGMT_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* power_mgmt — STM32F7 STOP-mode sleep/wake manager (Issue #178).
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*
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* State machine:
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* PM_ACTIVE ──(idle ≥ PM_IDLE_TIMEOUT_MS or sleep cmd)──► PM_SLEEP_PENDING
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* PM_SLEEP_PENDING ──(fade complete, ≥ PM_FADE_MS)──► PM_SLEEPING (WFI)
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* PM_SLEEPING ──(EXTI wake)──► PM_WAKING ──(clocks restored)──► PM_ACTIVE
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*
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* Any call to power_mgmt_activity() during SLEEP_PENDING or SLEEPING
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* immediately transitions back toward PM_ACTIVE.
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*
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* Wake sources (EXTI, falling edge on UART idle-high RX pin or IMU INT):
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* EXTI1 PA1 UART4_RX — CRSF/ELRS start bit
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* EXTI7 PB7 USART1_RX — JLink start bit
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* EXTI4 PC4 MPU6000 INT — IMU motion (handler owned by mpu6000.c)
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*
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* Peripheral gating on sleep entry (clock disable, state preserved):
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* Disabled: SPI3/I2S3 (audio amp), SPI2 (OSD), USART6, UART5 (debug)
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* Active: SPI1 (IMU), UART4 (CRSF), USART1 (JLink), I2C1 (baro/mag)
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*
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* Sleep LED (LED1, active-low PC15):
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* PM_SLEEP_PENDING: triangle-wave pulse, period PM_LED_PERIOD_MS
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* All other states: 0 (caller uses normal LED logic)
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*
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* IWDG:
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* Fed immediately before WFI. STOP wakeup <10 ms typical — well within
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* WATCHDOG_TIMEOUT_MS (50 ms).
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*
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* Safety interlock:
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* Caller MUST NOT call power_mgmt_tick() while armed; call
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* power_mgmt_activity() instead to keep the idle timer reset.
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*
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* JLink integration:
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* JLINK_CMD_SLEEP (0x09) → power_mgmt_request_sleep()
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* Any valid JLink frame → power_mgmt_activity() (handled in main loop)
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*/
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typedef enum {
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PM_ACTIVE = 0, /* Normal, all peripherals running */
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PM_SLEEP_PENDING = 1, /* Idle timeout reached; LED fade-out in progress */
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PM_SLEEPING = 2, /* In STOP mode (WFI); execution blocked in tick() */
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PM_WAKING = 3, /* Transitional; clocks/peripherals being restored */
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} PowerState;
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/* ---- API ---- */
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/*
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* power_mgmt_init() — configure wake EXTI lines (EXTI1, EXTI7).
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* Call after crsf_init() and jlink_init().
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*/
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void power_mgmt_init(void);
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/*
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* power_mgmt_activity() — record cmd_vel event (CRSF frame, JLink frame).
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* Resets idle timer; aborts any pending/active sleep.
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*/
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void power_mgmt_activity(void);
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/*
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* power_mgmt_request_sleep() — force sleep regardless of idle timer
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* (called on JLINK_CMD_SLEEP). Next tick() enters PM_SLEEP_PENDING.
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*/
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void power_mgmt_request_sleep(void);
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/*
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* power_mgmt_tick(now_ms) — drive state machine. May block in WFI during
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* STOP mode. Returns state after this tick.
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* MUST NOT be called while balance_state == BALANCE_ARMED.
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*/
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PowerState power_mgmt_tick(uint32_t now_ms);
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/* power_mgmt_state() — non-blocking read of current state. */
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PowerState power_mgmt_state(void);
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/*
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* power_mgmt_led_brightness() — 0-255 brightness for sleep-pending pulse.
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* Returns 0 when not in PM_SLEEP_PENDING; caller uses normal LED logic.
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*/
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uint8_t power_mgmt_led_brightness(void);
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/*
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* power_mgmt_current_ma() — estimated total current draw (mA) based on
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* gating state; populated in JLINK_TLM_POWER telemetry.
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*/
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uint16_t power_mgmt_current_ma(void);
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/* power_mgmt_idle_ms() — ms elapsed since last power_mgmt_activity() call. */
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uint32_t power_mgmt_idle_ms(void);
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/*
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* power_mgmt_notify_battery(vbat_mv) — Issue #467 integration.
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* Called by battery_adc_check_pm() after BATTERY_ADC_LOW_HOLD_MS of sustained
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* critical voltage. Forces PM_SLEEP_PENDING to protect the LiPo.
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*/
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void power_mgmt_notify_battery(uint32_t vbat_mv);
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#endif /* POWER_MGMT_H */
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