sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
50 lines
1.5 KiB
C
50 lines
1.5 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);
|
||
|
||
/*
|
||
* battery_accumulate_coulombs() — periodically integrate battery current.
|
||
* Call every 10-20 ms (50-100 Hz) from main loop to accumulate coulombs.
|
||
* Reads motor currents from INA219 sensors.
|
||
*/
|
||
void battery_accumulate_coulombs(void);
|
||
|
||
/*
|
||
* battery_get_soc_coulomb() — get coulomb-based SoC estimate.
|
||
* Returns 0–100 (percent), or 255 if coulomb counter not yet valid.
|
||
* Preferred over voltage-based when valid.
|
||
*/
|
||
uint8_t battery_get_soc_coulomb(void);
|
||
|
||
#endif /* BATTERY_H */
|