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cc0ffd1999
STM32F7 ADC driver for battery voltage/current monitoring using DMA-based continuous sampling, IIR low-pass filter, voltage divider calibration, and USART telemetry to Jetson. Integrates with power management for low-battery sleep (Issue #467). Implementation: - include/battery_adc.h: New driver header with calibration struct and public API (init, tick, get_voltage_mv, get_current_ma, calibrate, publish, check_pm, is_low, is_critical) - src/battery_adc.c: ADC3 continuous-scan DMA (DMA2_Stream0/Ch2), 4x hardware oversampling of both Vbat (PC1/IN11) and Ibat (PC3/IN13), IIR LPF (alpha=1/8, cutoff ~4 Hz at 100 Hz tick rate), calibration with ±500 mV offset clamp, 3S/4S auto-detection, 1 Hz USART publish - include/jlink.h + src/jlink.c: Add JLINK_TLM_BATTERY (0x82) telemetry type and jlink_tlm_battery_t (10-byte packed struct), implement jlink_send_battery_telemetry() using CRC16-XModem framing - include/power_mgmt.h + src/power_mgmt.c: Add power_mgmt_notify_battery() — triggers STOP-mode sleep when Vbat sustains critical level (Issue #467) - test/test_battery_adc.c: 27 unit tests (27/27 passing): voltage conversion, calibration offset/scale, IIR LPF convergence, SoC estimation (3S/4S), low/critical flags, PM notification timing, calibration reset, publish rate-limiting Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>