sl-mechanical
a2c554c232
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs - cad/: dimensions.scad FC params → ESP32-S3 BALANCE params - chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/ FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout - CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC - USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era) - AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE) - projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN - jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge - jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC - jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py, stm32_cmd_node.py → esp32_cmd_node.py, mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated - scripts/flash_firmware.py: DFU/STM32 → pio run -t upload - src/ include/: ARCHIVED headers added (legacy code preserved) - test/: ARCHIVED notices; STM32F722 comments marked LEGACY - ui/diagnostics_panel.html: Board/STM32 → ESP32-S3 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
51 lines
1.6 KiB
C
51 lines
1.6 KiB
C
/* ARCHIVED: Legacy STM32F722/Mamba F722S era code. NOT used in current hardware. */
|
||
#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 */
|