sl-firmware
4a46fad002
## 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>
90 lines
2.9 KiB
C
90 lines
2.9 KiB
C
/*
|
||
* battery.c — Vbat ADC reading for CRSF telemetry uplink (Issue #103)
|
||
*
|
||
* Hardware: ADC3 channel IN11 on PC1 (ADC_BATT 1, Mamba F722S FC).
|
||
* Voltage divider: 10 kΩ (upper) / 1 kΩ (lower) → VBAT_SCALE_NUM = 11.
|
||
*
|
||
* Vbat_mV = (raw × VBAT_AREF_MV × VBAT_SCALE_NUM) >> VBAT_ADC_BITS
|
||
* = (raw × 3300 × 11) / 4096
|
||
*/
|
||
|
||
#include "battery.h"
|
||
#include "config.h"
|
||
#include "stm32f7xx_hal.h"
|
||
|
||
static ADC_HandleTypeDef s_hadc;
|
||
static bool s_ready = false;
|
||
|
||
void battery_init(void) {
|
||
__HAL_RCC_ADC3_CLK_ENABLE();
|
||
__HAL_RCC_GPIOC_CLK_ENABLE();
|
||
|
||
/* PC1 → analog input (no pull, no speed) */
|
||
GPIO_InitTypeDef gpio = {0};
|
||
gpio.Pin = GPIO_PIN_1;
|
||
gpio.Mode = GPIO_MODE_ANALOG;
|
||
gpio.Pull = GPIO_NOPULL;
|
||
HAL_GPIO_Init(GPIOC, &gpio);
|
||
|
||
/* ADC3 — single-conversion, software trigger, 12-bit right-aligned */
|
||
s_hadc.Instance = ADC3;
|
||
s_hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV8; /* APB2/8 */
|
||
s_hadc.Init.Resolution = ADC_RESOLUTION_12B;
|
||
s_hadc.Init.ScanConvMode = DISABLE;
|
||
s_hadc.Init.ContinuousConvMode = DISABLE;
|
||
s_hadc.Init.DiscontinuousConvMode = DISABLE;
|
||
s_hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
|
||
s_hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
|
||
s_hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||
s_hadc.Init.NbrOfConversion = 1;
|
||
s_hadc.Init.DMAContinuousRequests = DISABLE;
|
||
s_hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
|
||
if (HAL_ADC_Init(&s_hadc) != HAL_OK) return;
|
||
|
||
/* Channel IN11 (PC1) with 480-cycle sampling for stability */
|
||
ADC_ChannelConfTypeDef ch = {0};
|
||
ch.Channel = ADC_CHANNEL_11;
|
||
ch.Rank = 1;
|
||
ch.SamplingTime = ADC_SAMPLETIME_480CYCLES;
|
||
if (HAL_ADC_ConfigChannel(&s_hadc, &ch) != HAL_OK) return;
|
||
|
||
s_ready = true;
|
||
}
|
||
|
||
uint32_t battery_read_mv(void) {
|
||
if (!s_ready) return 0u;
|
||
|
||
HAL_ADC_Start(&s_hadc);
|
||
if (HAL_ADC_PollForConversion(&s_hadc, 2u) != HAL_OK) return 0u;
|
||
uint32_t raw = HAL_ADC_GetValue(&s_hadc);
|
||
HAL_ADC_Stop(&s_hadc);
|
||
|
||
/* Vbat_mV = raw × (VREF_mV × scale) / ADC_counts */
|
||
return (raw * (uint32_t)VBAT_AREF_MV * VBAT_SCALE_NUM) /
|
||
((1u << VBAT_ADC_BITS));
|
||
}
|
||
|
||
/*
|
||
* Coarse SoC estimate.
|
||
* 3S LiPo: 9.9 V (0%) – 12.6 V (100%) — detect by Vbat < 13 V
|
||
* 4S LiPo: 13.2 V (0%) – 16.8 V (100%) — detect by Vbat ≥ 13 V
|
||
*/
|
||
uint8_t battery_estimate_pct(uint32_t voltage_mv) {
|
||
uint32_t v_min_mv, v_max_mv;
|
||
|
||
if (voltage_mv >= 13000u) {
|
||
/* 4S LiPo */
|
||
v_min_mv = 13200u;
|
||
v_max_mv = 16800u;
|
||
} else {
|
||
/* 3S LiPo */
|
||
v_min_mv = 9900u;
|
||
v_max_mv = 12600u;
|
||
}
|
||
|
||
if (voltage_mv <= v_min_mv) return 0u;
|
||
if (voltage_mv >= v_max_mv) return 100u;
|
||
|
||
return (uint8_t)(((voltage_mv - v_min_mv) * 100u) / (v_max_mv - v_min_mv));
|
||
}
|