sl-firmware
3e60d7552a
- Add include/lvc.h + src/lvc.c: 3-stage low voltage cutoff state machine WARNING 21.0V: MELODY_LOW_BATTERY buzzer, full motor power CRITICAL 19.8V: double-beep every 10s, 50% motor power scaling CUTOFF 18.6V: MELODY_ERROR one-shot, motors disabled + latched 200mV hysteresis on recovery; CUTOFF latched until reboot - Add JLINK_TLM_LVC (0x8B, 4 bytes): voltage_mv, percent, protection_state jlink_send_lvc_tlm() frame encoder in jlink.c - Wire into main.c: lvc_init() at startup; lvc_tick() each 1kHz loop tick lvc_is_cutoff() triggers safety_arm_cancel + balance_disarm + motor_driver_estop lvc_get_power_scale() applied to ESC speed command (100/50/0%) 1Hz JLINK_TLM_LVC telemetry with fuel-gauge percent field - Add LVC thresholds to config.h (LVC_WARNING/CRITICAL/CUTOFF/HYSTERESIS_MV) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>