sl-jetson
cea3eaff97
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
51 lines
1.6 KiB
C
51 lines
1.6 KiB
C
/* DEPRECATED: STM32/Mamba firmware -- replaced by ESP32-S3. Do not modify. */
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#ifndef BATTERY_H
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#define BATTERY_H
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/*
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* battery.h — Vbat ADC reading for CRSF telemetry (Issue #103)
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*
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* Hardware: ADC3 channel IN11 on PC1 (ADC_BATT 1, Mamba F722).
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* Voltage divider: 10 kΩ / 1 kΩ → 11:1 ratio.
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* Resolution: 12-bit (0–4095), Vref = 3.3 V.
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*
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* Filtered output in millivolts. Reading is averaged over
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* BATTERY_SAMPLES conversions (software oversampling) to reduce noise.
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*/
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#include <stdint.h>
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/* Initialise ADC3 for single-channel Vbat reading on PC1. */
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void battery_init(void);
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/*
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* battery_read_mv() — blocking single-shot read; returns Vbat in mV.
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* Takes ~1 µs (12-bit conversion at 36 MHz APB2 / 8 prescaler = 4.5 MHz ADC clk).
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* Returns 0 if ADC not initialised or conversion times out.
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*/
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uint32_t battery_read_mv(void);
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/*
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* battery_estimate_pct() — coarse SoC estimate from Vbat (mV).
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* Works for 3S LiPo (10.5–12.6 V) and 4S (14.0–16.8 V).
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* Detection is automatic based on voltage.
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* Returns 0–100, or 255 if voltage is out of range.
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*/
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uint8_t battery_estimate_pct(uint32_t voltage_mv);
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/*
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* battery_accumulate_coulombs() — periodically integrate battery current.
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* Call every 10-20 ms (50-100 Hz) from main loop to accumulate coulombs.
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* Reads motor currents from INA219 sensors.
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*/
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void battery_accumulate_coulombs(void);
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/*
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* battery_get_soc_coulomb() — get coulomb-based SoC estimate.
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* Returns 0–100 (percent), or 255 if coulomb counter not yet valid.
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* Preferred over voltage-based when valid.
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*/
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uint8_t battery_get_soc_coulomb(void);
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#endif /* BATTERY_H */
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