sl-firmware
7785a16bff
- Add include/lvc.h + src/lvc.c: 3-stage low voltage cutoff state machine WARNING 21.0V: MELODY_LOW_BATTERY buzzer, full motor power CRITICAL 19.8V: double-beep every 10s, 50% motor power scaling CUTOFF 18.6V: MELODY_ERROR one-shot, motors disabled + latched 200mV hysteresis on recovery; CUTOFF latched until reboot - Add JLINK_TLM_LVC (0x8B, 4 bytes): voltage_mv, percent, protection_state jlink_send_lvc_tlm() frame encoder in jlink.c - Wire into main.c: lvc_init() at startup; lvc_tick() each 1kHz loop tick lvc_is_cutoff() triggers safety_arm_cancel + balance_disarm + motor_driver_estop lvc_get_power_scale() applied to ESC speed command (100/50/0%) 1Hz JLINK_TLM_LVC telemetry with fuel-gauge percent field - Add LVC thresholds to config.h (LVC_WARNING/CRITICAL/CUTOFF/HYSTERESIS_MV) 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
|
|
#define LVC_H
|
|
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
/*
|
|
* lvc.h -- Low Voltage Cutoff (LVC) protection (Issue #613)
|
|
*
|
|
* 3-stage battery voltage protection using battery_read_mv():
|
|
*
|
|
* LVC_WARNING (21.0 V) -- periodic buzzer alert; full power maintained
|
|
* LVC_CRITICAL (19.8 V) -- faster buzzer; motor commands scaled to 50%
|
|
* LVC_CUTOFF (18.6 V) -- error buzzer; motors disabled; latched until reboot
|
|
*
|
|
* Recovery uses LVC_HYSTERESIS_MV to prevent threshold chatter.
|
|
* CUTOFF is one-way: once latched, only a power-cycle clears it.
|
|
*
|
|
* Integration:
|
|
* lvc_init() -- call once during system init
|
|
* lvc_tick(now_ms, vbat_mv) -- call each main loop tick (1 kHz)
|
|
* lvc_get_power_scale() -- returns 0/50/100; apply to motor speed
|
|
* lvc_is_cutoff() -- true when motors must be disabled
|
|
*/
|
|
|
|
typedef enum {
|
|
LVC_NORMAL = 0, /* Vbat >= WARNING threshold */
|
|
LVC_WARNING = 1, /* Vbat < 21.0 V -- alert only */
|
|
LVC_CRITICAL = 2, /* Vbat < 19.8 V -- 50% power */
|
|
LVC_CUTOFF = 3, /* Vbat < 18.6 V -- motors off */
|
|
} LvcState;
|
|
|
|
void lvc_init(void);
|
|
void lvc_tick(uint32_t now_ms, uint32_t vbat_mv);
|
|
LvcState lvc_get_state(void);
|
|
uint8_t lvc_get_power_scale(void); /* 100 = full, 50 = critical, 0 = cutoff */
|
|
bool lvc_is_cutoff(void);
|
|
|
|
#endif /* LVC_H */
|