Bigquad early access fix

src/deck/drivers/src/Kconfig

@@ -65,18 +65,23 @@ config DECK_BIGQUAD
         accessories such as external receiver (CPPM input) and GPS.
         It can also monitor battery voltage and current.
 
-config DECK_BIGQUAD_ENABLE
-    bool "Enable Bigquad deck capabilities"
+config DECK_BIGQUAD_BAT_VOLT_MULT_MV
+    int "Battery voltage divider multiplier (in mV)."
     depends on DECK_BIGQUAD
-    default n
+    default 7800
+
+config DECK_BIGQUAD_BAT_AMP_PER_VOLT_MA
+    int "Battery ampere per volt (in mA)."
+    depends on DECK_BIGQUAD
+    default 1000
 
 config DECK_BIGQUAD_ENABLE_OSD
-    depends on DECK_BIGQUAD_ENABLE
+    depends on DECK_BIGQUAD
     bool "Enable Bigquad deck OSD"
     default n
 
 config DECK_BIGQUAD_ENABLE_PM
-    depends on DECK_BIGQUAD_ENABLE
+    depends on DECK_BIGQUAD
     bool "Enable Bigquad deck PM"
     default n
 

src/deck/drivers/src/bigquad.c

@@ -44,11 +44,11 @@
 #include "task.h"
 
 #define BIGQUAD_BAT_VOLT_PIN       DECK_GPIO_MISO
-#define BIGQUAD_BAT_VOLT_MULT      7.8f
+#define BIGQUAD_BAT_VOLT_MULT      (CONFIG_DECK_BIGQUAD_BAT_VOLT_MULT_MV / 1000.0)
 #define BIGQUAD_BAT_CURR_PIN       DECK_GPIO_SCK
-#define BIGQUAD_BAT_AMP_PER_VOLT   1.0f
+#define BIGQUAD_BAT_AMP_PER_VOLT   (CONFIG_DECK_BIGQUAD_BAT_AMP_PER_VOLT_MA / 1000.0)
 
-#ifdef CONFIG_DECK_BIGQUAD_ENABLE
+#ifdef CONFIG_DECK_BIGQUAD
 
 //Hardware configuration
 static bool isInit;
@@ -83,6 +83,10 @@ static void bigquadInit(DeckInfo *info)
   DEBUG_PRINT("Switching to brushless.\n");
   motorsInit(motorMapBigQuadDeck);
   extRxInit();
+
+  // Ignore charging/charged state to allow low-battery warning.
+  pmIgnoreChargedState(true);
+
 #ifdef CONFIG_DECK_BIGQUAD_ENABLE_PM
   pmEnableExtBatteryVoltMeasuring(BIGQUAD_BAT_VOLT_PIN, BIGQUAD_BAT_VOLT_MULT);
   pmEnableExtBatteryCurrMeasuring(BIGQUAD_BAT_CURR_PIN, BIGQUAD_BAT_AMP_PER_VOLT);
@@ -132,4 +136,5 @@ PARAM_GROUP_START(deck)
 PARAM_ADD_CORE(PARAM_UINT8 | PARAM_RONLY, bcBigQuad, &isInit)
 
 PARAM_GROUP_STOP(deck)
-#endif // CONFIG_DECK_BIGQUAD_ENABLE
+
+#endif // CONFIG_DECK_BIGQUAD

src/hal/interface/pm.h

@@ -132,6 +132,12 @@ void pmEnableExtBatteryCurrMeasuring(const deckPin_t pin, float ampPerVolt);
  */
 float pmMeasureExtBatteryCurrent(void);
 
+/*
+ * Ignore charging/charge state in the PM state machine.
+ * This can be useful if a platform doesn't have a charger.
+ */
+void pmIgnoreChargedState(bool ignore);
+
 /**
  * Register a callback to be run when the NRF51 signals shutdown
  */

src/hal/src/pm_stm32f4.c

@@ -57,9 +57,10 @@ typedef struct _PmSyslinkInfo
     uint8_t flags;
     struct
     {
-      uint8_t chg    : 1;
-      uint8_t pgood  : 1;
-      uint8_t unused : 6;
+      uint8_t isCharging   : 1;
+      uint8_t usbPluggedIn : 1;
+      uint8_t canCharge    : 1;
+      uint8_t unused       : 5;
     };
   };
   float vBat;
@@ -102,6 +103,8 @@ static PmSyslinkInfo pmSyslinkInfo;
 
 static uint8_t batteryLevel;
 
+static bool ignoreChargedState = false;
+
 static void pmSetBatteryVoltage(float voltage);
 
 const static float LiPoTypicalChargeCurve[10] =
@@ -256,8 +259,17 @@ static void pmGracefulShutdown()
 void pmSyslinkUpdate(SyslinkPacket *slp)
 {
   if (slp->type == SYSLINK_PM_BATTERY_STATE) {
+    // First byte of the packet contains some PM flags such as USB power, charging etc.
     memcpy(&pmSyslinkInfo, &slp->data[0], sizeof(pmSyslinkInfo));
-    pmSetBatteryVoltage(pmSyslinkInfo.vBat);
+
+    // If using voltage measurements from external battery, we'll set the
+    // voltage to this instead of the one sent from syslink.
+    if (isExtBatVoltDeckPinSet) {
+      pmSetBatteryVoltage(extBatteryVoltage);
+    } else {
+      pmSetBatteryVoltage(pmSyslinkInfo.vBat);
+    }
+
 #ifdef PM_SYSTLINK_INLCUDE_TEMP
     temp = pmSyslinkInfo.temp;
 #endif
@@ -273,31 +285,37 @@ void pmSetChargeState(PMChargeStates chgState)
 
 PMStates pmUpdateState()
 {
-  PMStates state;
-  bool isCharging = pmSyslinkInfo.chg;
-  bool isPgood = pmSyslinkInfo.pgood;
-  uint32_t batteryLowTime;
+  bool usbPluggedIn = pmSyslinkInfo.usbPluggedIn;
+  bool isCharging = pmSyslinkInfo.isCharging;
+  PMStates nextState;
 
-  batteryLowTime = xTaskGetTickCount() - batteryLowTimeStamp;
+  uint32_t batteryLowTime = xTaskGetTickCount() - batteryLowTimeStamp;
 
-  if (isPgood && !isCharging)
+  if (ignoreChargedState)
   {
-    state = charged;
+    // For some scenarios we might not care about the charging/charged state.
+    nextState = battery;
   }
-  else if (isPgood && isCharging)
+  else if (usbPluggedIn && !isCharging)
   {
-    state = charging;
+    nextState = charged;
   }
-  else if (!isPgood && !isCharging && (batteryLowTime > PM_BAT_LOW_TIMEOUT))
+  else if (usbPluggedIn && isCharging)
   {
-    state = lowPower;
+    nextState = charging;
   }
   else
   {
-    state = battery;
+    nextState = battery;
   }
 
-  return state;
+  if (nextState == battery && batteryLowTime > PM_BAT_LOW_TIMEOUT)
+  {
+    // This is to avoid setting state to lowPower when we're plugged in to USB.
+    nextState = lowPower;
+  }
+
+  return nextState;
 }
 
 void pmEnableExtBatteryCurrMeasuring(const deckPin_t pin, float ampPerVolt)
@@ -346,6 +364,10 @@ float pmMeasureExtBatteryVoltage(void)
   return voltage;
 }
 
+void pmIgnoreChargedState(bool ignore) {
+  ignoreChargedState = ignore;
+}
+
 bool pmIsBatteryLow(void) {
   return (pmState == lowPower);
 }