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device/bootloader: swarmit: add threshold for battery almost full level #123

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Merged
aabadie merged 1 commit into from
Feb 5, 2026
Merged

device/bootloader: swarmit: add threshold for battery almost full level #123

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11 changes: 10 additions & 1 deletion device/bootloader/Source/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
#define BATTERY_UPDATE_DELAY (1000U)
#define POSITION_UPDATE_DELAY_MS (100U) ///< 100ms delay between each position update

#define BATTERY_VOLTAGE_FULL (2900)
#define BATTERY_VOLTAGE_WARNING (1500)

extern volatile __attribute__((section(".shared_data"))) ipc_shared_data_t ipc_shared_data;
Expand All @@ -51,6 +52,7 @@ typedef struct {

static const gpio_t _status_red_led = { .port = DB_RGB_LED_PWM_RED_PORT, .pin = DB_RGB_LED_PWM_RED_PIN };
static const gpio_t _status_green_led = { .port = DB_RGB_LED_PWM_GREEN_PORT, .pin = DB_RGB_LED_PWM_GREEN_PIN };
static const gpio_t _status_blue_led = { .port = DB_RGB_LED_PWM_BLUE_PORT, .pin = DB_RGB_LED_PWM_BLUE_PIN };

static bootloader_app_data_t _bootloader_vars = { 0 };

Expand Down Expand Up @@ -323,6 +325,7 @@ int main(void) {
// Status LEDs
db_gpio_init(&_status_red_led, DB_GPIO_OUT);
db_gpio_init(&_status_green_led, DB_GPIO_OUT);
db_gpio_init(&_status_blue_led, DB_GPIO_OUT);

// Periodic Timer and Lighthouse initialization
db_timer_init(1);
Expand Down Expand Up @@ -390,12 +393,18 @@ int main(void) {
_bootloader_vars.battery_update = false;
uint16_t battery_level = battery_level_read();
ipc_shared_data.battery_level = battery_level;
if (battery_level > BATTERY_VOLTAGE_WARNING) {
if (battery_level > BATTERY_VOLTAGE_FULL) {
db_gpio_clear(&_status_red_led);
db_gpio_clear(&_status_green_led);
db_gpio_toggle(&_status_blue_led);
} else if (battery_level > BATTERY_VOLTAGE_WARNING) {
db_gpio_clear(&_status_red_led);
db_gpio_toggle(&_status_green_led);
db_gpio_clear(&_status_blue_led);
} else {
db_gpio_toggle(&_status_red_led);
db_gpio_clear(&_status_green_led);
db_gpio_clear(&_status_blue_led);
}
}

Expand Down
7 changes: 6 additions & 1 deletion swarmit/testbed/controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@
SERIAL_PORT_DEFAULT = get_default_port()
BROADCAST_ADDRESS = 0xFFFFFFFFFFFFFFFF
VOLTAGE_MAX = 3000 # mV
VOLTAGE_FULL = 2900 # mV
VOLTAGE_WARNING = 1500 # mV


Expand Down Expand Up @@ -119,7 +120,11 @@ def addr_to_hex(addr: int) -> str:


def battery_level_color(level: int):
return "green" if level > VOLTAGE_WARNING else "red"
if level > VOLTAGE_FULL:
return "cyan"
if level > VOLTAGE_WARNING:
return "green"
return "red"


def generate_status(status_data, devices=[], status_message="found"):
Expand Down
4 changes: 2 additions & 2 deletions swarmit/tests/test_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -209,7 +209,7 @@ def test_controller_status(capsys):
out, _ = capsys.readouterr()
assert "No device found" in out

node1 = SwarmitNode(address=0x01, adapter=test_adapter)
node1 = SwarmitNode(address=0x01, adapter=test_adapter, battery=2950)
node2 = SwarmitNode(address=0x02, adapter=test_adapter, battery=2100)
node3 = SwarmitNode(address=0x03, adapter=test_adapter, battery=1500)
nodes = [node1, node2, node3]
Expand All @@ -222,7 +222,7 @@ def test_controller_status(capsys):
assert f"{node1.address:08X}" in out
assert f"{node2.address:08X}" in out
assert f"{node3.address:08X}" in out
assert f"{2500/1000:.2f}V" in out
assert f"{2950/1000:.2f}V" in out
assert f"{2100/1000:.2f}V" in out
assert f"{1500/1000:.2f}V" in out

Expand Down