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>
40 lines
1.3 KiB
C
40 lines
1.3 KiB
C
#ifndef LVC_H
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#define LVC_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* lvc.h -- Low Voltage Cutoff (LVC) protection (Issue #613)
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*
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* 3-stage battery voltage protection using battery_read_mv():
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*
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* LVC_WARNING (21.0 V) -- periodic buzzer alert; full power maintained
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* LVC_CRITICAL (19.8 V) -- faster buzzer; motor commands scaled to 50%
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* LVC_CUTOFF (18.6 V) -- error buzzer; motors disabled; latched until reboot
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*
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* Recovery uses LVC_HYSTERESIS_MV to prevent threshold chatter.
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* CUTOFF is one-way: once latched, only a power-cycle clears it.
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*
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* Integration:
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* lvc_init() -- call once during system init
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* lvc_tick(now_ms, vbat_mv) -- call each main loop tick (1 kHz)
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* lvc_get_power_scale() -- returns 0/50/100; apply to motor speed
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* lvc_is_cutoff() -- true when motors must be disabled
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*/
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typedef enum {
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LVC_NORMAL = 0, /* Vbat >= WARNING threshold */
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LVC_WARNING = 1, /* Vbat < 21.0 V -- alert only */
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LVC_CRITICAL = 2, /* Vbat < 19.8 V -- 50% power */
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LVC_CUTOFF = 3, /* Vbat < 18.6 V -- motors off */
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} LvcState;
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void lvc_init(void);
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void lvc_tick(uint32_t now_ms, uint32_t vbat_mv);
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LvcState lvc_get_state(void);
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uint8_t lvc_get_power_scale(void); /* 100 = full, 50 = critical, 0 = cutoff */
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bool lvc_is_cutoff(void);
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#endif /* LVC_H */
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