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>
50 lines
1.5 KiB
C
50 lines
1.5 KiB
C
#ifndef BATTERY_H
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#define BATTERY_H
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/*
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* battery.h — Vbat ADC reading for CRSF telemetry (Issue #103)
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*
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* Hardware: ADC3 channel IN11 on PC1 (ADC_BATT 1, Mamba F722).
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* Voltage divider: 10 kΩ / 1 kΩ → 11:1 ratio.
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* Resolution: 12-bit (0–4095), Vref = 3.3 V.
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*
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* Filtered output in millivolts. Reading is averaged over
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* BATTERY_SAMPLES conversions (software oversampling) to reduce noise.
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*/
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#include <stdint.h>
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/* Initialise ADC3 for single-channel Vbat reading on PC1. */
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void battery_init(void);
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/*
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* battery_read_mv() — blocking single-shot read; returns Vbat in mV.
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* Takes ~1 µs (12-bit conversion at 36 MHz APB2 / 8 prescaler = 4.5 MHz ADC clk).
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* Returns 0 if ADC not initialised or conversion times out.
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*/
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uint32_t battery_read_mv(void);
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/*
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* battery_estimate_pct() — coarse SoC estimate from Vbat (mV).
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* Works for 3S LiPo (10.5–12.6 V) and 4S (14.0–16.8 V).
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* Detection is automatic based on voltage.
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* Returns 0–100, or 255 if voltage is out of range.
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*/
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uint8_t battery_estimate_pct(uint32_t voltage_mv);
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/*
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* battery_accumulate_coulombs() — periodically integrate battery current.
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* Call every 10-20 ms (50-100 Hz) from main loop to accumulate coulombs.
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* Reads motor currents from INA219 sensors.
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*/
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void battery_accumulate_coulombs(void);
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/*
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* battery_get_soc_coulomb() — get coulomb-based SoC estimate.
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* Returns 0–100 (percent), or 255 if coulomb counter not yet valid.
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* Preferred over voltage-based when valid.
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*/
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uint8_t battery_get_soc_coulomb(void);
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#endif /* BATTERY_H */
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