sl-firmware
0207c29d8c
COMPILE FIXES: 1. battery.c: Added #include <stdbool.h> for bool type 2. main.c: Updated buzzer_play() to buzzer_play_melody(MELODY_STARTUP) 3. main.c: Replaced bno055_active with bno055_is_ready() calls 4. servo.c: Removed duplicate ServoState typedef from .c file 5. ultrasonic.c: Added forward declaration for HAL_TIM_IC_Init_Compat 6. fan.c: Fixed HAL_TIM_PWM_Start to use handle &htim1 instead of register 7. watchdog.c: Created static IWDG_HandleTypeDef and updated refresh call LINKER FIXES: 1. i2c1.h/c: Added i2c1_write() and i2c1_read() function implementations 2. servo.c: servo_tick() already exists (verified) 3. bno055.h/c: Added bno055_calibrated() function 4. main.c: Added imu_calibrated() wrapper for bno055_calibrated() 5. crsf.h/c: Added crsf_is_active() function All 11 errors fixed. Build should now succeed. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
91 lines
2.9 KiB
C
91 lines
2.9 KiB
C
/*
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* battery.c — Vbat ADC reading for CRSF telemetry uplink (Issue #103)
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*
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* Hardware: ADC3 channel IN11 on PC1 (ADC_BATT 1, Mamba F722S FC).
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* Voltage divider: 10 kΩ (upper) / 1 kΩ (lower) → VBAT_SCALE_NUM = 11.
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*
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* Vbat_mV = (raw × VBAT_AREF_MV × VBAT_SCALE_NUM) >> VBAT_ADC_BITS
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* = (raw × 3300 × 11) / 4096
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*/
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#include "battery.h"
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#include "config.h"
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#include "stm32f7xx_hal.h"
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#include <stdbool.h>
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static ADC_HandleTypeDef s_hadc;
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static bool s_ready = false;
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void battery_init(void) {
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__HAL_RCC_ADC3_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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/* PC1 → analog input (no pull, no speed) */
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GPIO_InitTypeDef gpio = {0};
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gpio.Pin = GPIO_PIN_1;
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gpio.Mode = GPIO_MODE_ANALOG;
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gpio.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOC, &gpio);
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/* ADC3 — single-conversion, software trigger, 12-bit right-aligned */
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s_hadc.Instance = ADC3;
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s_hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV8; /* APB2/8 */
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s_hadc.Init.Resolution = ADC_RESOLUTION_12B;
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s_hadc.Init.ScanConvMode = DISABLE;
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s_hadc.Init.ContinuousConvMode = DISABLE;
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s_hadc.Init.DiscontinuousConvMode = DISABLE;
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s_hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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s_hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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s_hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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s_hadc.Init.NbrOfConversion = 1;
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s_hadc.Init.DMAContinuousRequests = DISABLE;
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s_hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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if (HAL_ADC_Init(&s_hadc) != HAL_OK) return;
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/* Channel IN11 (PC1) with 480-cycle sampling for stability */
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ADC_ChannelConfTypeDef ch = {0};
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ch.Channel = ADC_CHANNEL_11;
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ch.Rank = 1;
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ch.SamplingTime = ADC_SAMPLETIME_480CYCLES;
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if (HAL_ADC_ConfigChannel(&s_hadc, &ch) != HAL_OK) return;
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s_ready = true;
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}
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uint32_t battery_read_mv(void) {
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if (!s_ready) return 0u;
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HAL_ADC_Start(&s_hadc);
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if (HAL_ADC_PollForConversion(&s_hadc, 2u) != HAL_OK) return 0u;
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uint32_t raw = HAL_ADC_GetValue(&s_hadc);
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HAL_ADC_Stop(&s_hadc);
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/* Vbat_mV = raw × (VREF_mV × scale) / ADC_counts */
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return (raw * (uint32_t)VBAT_AREF_MV * VBAT_SCALE_NUM) /
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((1u << VBAT_ADC_BITS));
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}
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/*
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* Coarse SoC estimate.
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* 3S LiPo: 9.9 V (0%) – 12.6 V (100%) — detect by Vbat < 13 V
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* 4S LiPo: 13.2 V (0%) – 16.8 V (100%) — detect by Vbat ≥ 13 V
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*/
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uint8_t battery_estimate_pct(uint32_t voltage_mv) {
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uint32_t v_min_mv, v_max_mv;
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if (voltage_mv >= 13000u) {
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/* 4S LiPo */
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v_min_mv = 13200u;
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v_max_mv = 16800u;
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} else {
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/* 3S LiPo */
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v_min_mv = 9900u;
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v_max_mv = 12600u;
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}
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if (voltage_mv <= v_min_mv) return 0u;
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if (voltage_mv >= v_max_mv) return 100u;
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return (uint8_t)(((voltage_mv - v_min_mv) * 100u) / (v_max_mv - v_min_mv));
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}
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