sl-firmware
00c97bd902
## Summary - config.h: CH1[0]=steer, CH2[1]=throttle (was CH4/CH3); CRSF_FAILSAFE_MS→500ms - include/battery.h + src/battery.c: ADC3 Vbat reading on PC1 (11:1 divider) battery_read_mv(), battery_estimate_pct() for 3S/4S auto-detection - include/crsf.h + src/crsf.c: CRSF telemetry TX uplink crsf_send_battery() — type 0x08, voltage/current/SoC to ELRS TX module crsf_send_flight_mode() — type 0x21, "ARMED\0"/"DISARM\0" for handset OSD - src/main.c: battery_init() after crsf_init(); 1Hz telemetry tick calls crsf_send_battery(vbat_mv, 0, soc_pct) + crsf_send_flight_mode(armed) - test/test_crsf_frames.py: 28 pytest tests — CRC8-DVB-S2, battery frame layout/encoding, flight-mode frame, battery_estimate_pct SoC math Existing (already complete from crsf-elrs branch): CRSF frame decoder UART4 420000 baud DMA circular + IDLE interrupt Mode manager: RC↔autonomous blend, CH6 3-pos switch, 500ms smooth transition Failsafe in main.c: disarm if crsf_state.last_rx_ms stale > CRSF_FAILSAFE_MS CH5 arm switch with ARMING_HOLD_MS interlock + edge detection RC override: mode_manager blends steer/speed per mode (CH6) Closes #103 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
36 lines
1.1 KiB
C
36 lines
1.1 KiB
C
#ifndef BATTERY_H
|
||
#define BATTERY_H
|
||
|
||
/*
|
||
* battery.h — Vbat ADC reading for CRSF telemetry (Issue #103)
|
||
*
|
||
* Hardware: ADC3 channel IN11 on PC1 (ADC_BATT 1, Mamba F722).
|
||
* Voltage divider: 10 kΩ / 1 kΩ → 11:1 ratio.
|
||
* Resolution: 12-bit (0–4095), Vref = 3.3 V.
|
||
*
|
||
* Filtered output in millivolts. Reading is averaged over
|
||
* BATTERY_SAMPLES conversions (software oversampling) to reduce noise.
|
||
*/
|
||
|
||
#include <stdint.h>
|
||
|
||
/* Initialise ADC3 for single-channel Vbat reading on PC1. */
|
||
void battery_init(void);
|
||
|
||
/*
|
||
* battery_read_mv() — blocking single-shot read; returns Vbat in mV.
|
||
* Takes ~1 µs (12-bit conversion at 36 MHz APB2 / 8 prescaler = 4.5 MHz ADC clk).
|
||
* Returns 0 if ADC not initialised or conversion times out.
|
||
*/
|
||
uint32_t battery_read_mv(void);
|
||
|
||
/*
|
||
* battery_estimate_pct() — coarse SoC estimate from Vbat (mV).
|
||
* Works for 3S LiPo (10.5–12.6 V) and 4S (14.0–16.8 V).
|
||
* Detection is automatic based on voltage.
|
||
* Returns 0–100, or 255 if voltage is out of range.
|
||
*/
|
||
uint8_t battery_estimate_pct(uint32_t voltage_mv);
|
||
|
||
#endif /* BATTERY_H */
|