cleanup part 1

AMS_Master_Code/Core/Inc/NTC.h

@@ -1,3 +1,5 @@
+#ifndef INC_NTC_H_
+#define INC_NTC_H_
 #include <math.h>
 #include <stdint.h>
 
@@ -21,9 +23,10 @@
 
 [[gnu::optimize("fast-math")]]
 static inline uint16_t ntc_mv_to_celsius(int16_t adc) {
-  float log_ohms = logf(1 / ((VREF / adc) - 1));
+  const float log_ohms = logf(1 / ((VREF / adc) - 1));
   return (uint16_t) (TEMP_CONV / (NTC_A1 + NTC_B1 * log_ohms + NTC_C1 * log_ohms * log_ohms + NTC_D1 * log_ohms * log_ohms * log_ohms) - CELSIUS_TO_KELVIN_SCALED);
 }
 #else
 // Lookup Table coming soon; not really needed but fun?
 #endif
+#endif

AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_CMD_MAKROS.h

@@ -8,7 +8,6 @@
 #ifndef INC_ADBMS_CMD_MAKROS_H_
 #define INC_ADBMS_CMD_MAKROS_H_
 
-#include <stdint.h>
 #define WRCFGA 0x0001 // Write Configuration Register Group A
 #define RDCFGA 0x0002 // Read Configuration Register Group A
 #define WRCFGB 0x0024 // Write Configuration Register Group B

AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Driver.h

@@ -89,8 +89,6 @@ typedef struct {
     int16_t auxVoltages[MAXIMUM_AUX_VOLTAGES];
 } Cell_Module;
 
-extern uint32_t error_sources; // Bitfield of error sources
-extern SlaveErrorData error_data[NUM_ERROR_KINDS];
 extern Cell_Module modules[N_BMS];
 
 [[gnu::nonnull]] ADBMS_DetailedStatus AMS_Init(SPI_HandleTypeDef* hspi);

AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Error.h

@@ -1,18 +0,0 @@
-//
-// Created by kbracher on 2/6/25.
-//
-
-#ifndef AMS_MASTER_CODE_ADBMS_ERROR_H
-#define AMS_MASTER_CODE_ADBMS_ERROR_H
-
-#include "ADBMS_Driver.h"
-#include <limits.h>
-
-static_assert(sizeof(error_sources) * CHAR_BIT >= NUM_ERROR_KINDS,
-              "error_sources is too small to hold all error sources");
-
-void set_error_source(ADBMS_Status source);
-void clear_error_source(ADBMS_Status source);
-
-
-#endif //AMS_MASTER_CODE_ADBMS_ERROR_H

AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_HighLevel.h

@@ -1,33 +0,0 @@
-/*
- * AMS_HighLevel.h
- *
- *  Created on: 20.07.2022
- *      Author: max
- */
-
-#ifndef INC_AMS_HIGHLEVEL_H_
-#define INC_AMS_HIGHLEVEL_H_
-
-#include "ADBMS_Abstraction.h"
-#include "ADBMS_CMD_MAKROS.h"
-#include "ADBMS_LL_Driver.h"
-#include "config_ADBMS6830.h"
-
-#include <stdbool.h>
-
-typedef enum {
-  AMSDEACTIVE,
-  AMSIDLE,
-  AMSCHARGING,
-  AMSIDLEBALANCING,
-  AMSDISCHARGING,
-  AMSWARNING,
-  AMSERROR
-} amsState;
-
-extern amsState currentAMSState;
-extern Cell_Module modules[N_BMS];
-extern uint32_t balancedCells;
-extern bool BalancingActive;
-
-#endif /* INC_AMS_HIGHLEVEL_H_ */

AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_Abstraction.c

@@ -103,7 +103,7 @@ HAL_StatusTypeDef amsAuxAndStatusMeasurement(Cell_Module (*module)[N_BMS]) {
     uint8_t rxbuf[CMD_BUFFER_SIZE(STATUS_GROUP_C_SIZE)] = {};
     CHECK_RETURN(readCMD(RDSTATC, rxbuf, STATUS_GROUP_C_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, STATUS_GROUP_C_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, STATUS_GROUP_C_SIZE);
         (*module)[i].status.CS_FLT   = rxbuf[offset + 0] | (rxbuf[offset + 1] << 8);
         (*module)[i].status.CCTS     = rxbuf[offset + 2] | (rxbuf[offset + 3] << 8);
         (*module)[i].status.VA_OV    = (rxbuf[offset + 4] >> 7) & 0x01;
@@ -136,7 +136,7 @@ HAL_StatusTypeDef amsAuxAndStatusMeasurement(Cell_Module (*module)[N_BMS]) {
     for (size_t group = 0; group < 4; group++) {
         CHECK_RETURN(readCMD(auxCommands[group], rxbuf, auxGroupSizes[group]));
         for (size_t i = 0; i < N_BMS; i++) {
-            size_t offset = BUFFER_BMS_OFFSET(i, auxGroupSizes[group]);
+            const size_t offset = BUFFER_BMS_OFFSET(i, auxGroupSizes[group]);
             for (size_t j = 0; j < auxVoltagesPerGroup[group]; j++) {
                 (*module)[i].auxVoltages[group * 3 + j] = mV_from_ADBMS6830(rxbuf[offset + j * 2] | (rxbuf[offset + j * 2 + 1] << 8));
             }
@@ -146,13 +146,13 @@ HAL_StatusTypeDef amsAuxAndStatusMeasurement(Cell_Module (*module)[N_BMS]) {
 
     CHECK_RETURN(readCMD(RDSTATA, rxbuf, STATUS_GROUP_A_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, STATUS_GROUP_A_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, STATUS_GROUP_A_SIZE);
         (*module)[i].internalDieTemp = (mV_from_ADBMS6830(rxbuf[offset + 2] | (rxbuf[offset + 3] << 8)) / 7.5f) - 273; //datasheet page 72
     }
 
     CHECK_RETURN(readCMD(RDSTATB, rxbuf, STATUS_GROUP_B_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, STATUS_GROUP_B_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, STATUS_GROUP_B_SIZE);
         (*module)[i].digitalSupplyVoltage = mV_from_ADBMS6830(rxbuf[offset + 0] | (rxbuf[offset + 1] << 8));
         (*module)[i].analogSupplyVoltage = mV_from_ADBMS6830(rxbuf[offset + 2] | (rxbuf[offset + 3] << 8));
         (*module)[i].refVoltage = mV_from_ADBMS6830(rxbuf[offset + 4] | (rxbuf[offset + 5] << 8));
@@ -175,12 +175,12 @@ HAL_StatusTypeDef amsConfigBalancing(const uint32_t channels[static N_BMS], uint
     CHECK_RETURN(readCMD(RDPWMB, rxbufB, PWM_GROUP_B_SIZE));
 
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offsetA = BUFFER_BMS_OFFSET(i, PWM_GROUP_A_SIZE);
+        const size_t offsetA = BUFFER_BMS_OFFSET(i, PWM_GROUP_A_SIZE);
-        size_t offsetB = BUFFER_BMS_OFFSET(i, PWM_GROUP_B_SIZE);
+        const size_t offsetB = BUFFER_BMS_OFFSET(i, PWM_GROUP_B_SIZE);
 
         for (size_t c = 0; c < 16; c += 2) {
-            uint8_t high = (channels[i] & (1 << (c + 1))) ? (dutyCycle << 4) : 0;
+            const uint8_t high = (channels[i] & (1 << (c + 1))) ? (dutyCycle << 4) : 0;
-            uint8_t low = (channels[i] & (1 << c)) ? dutyCycle : 0;
+            const uint8_t low = (channels[i] & (1 << c)) ? dutyCycle : 0;
 
             if (c < 12) {
                 rxbufA[offsetA + (c / 2)] = high | low;
@@ -231,7 +231,7 @@ HAL_StatusTypeDef amsConfigOverUnderVoltage(uint16_t overVoltage, uint16_t under
     }
 
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, CFG_GROUP_B_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, CFG_GROUP_B_SIZE);
 
         // UV
         buffer[offset + 0] = (uint8_t)(underVoltage & 0xFF);
@@ -253,7 +253,7 @@ HAL_StatusTypeDef amsCheckUnderOverVoltage(Cell_Module (*module)[N_BMS]) {
     CHECK_RETURN(readCMD(RDSTATD, regbuffer, STATUS_GROUP_D_SIZE));
 
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, STATUS_GROUP_D_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, STATUS_GROUP_D_SIZE);
         uint32_t ov_uv_data = 0;
         ov_uv_data = (regbuffer[offset + 0] << 0) | (regbuffer[offset + 1] << 8) | (regbuffer[offset + 2] << 16) |
                      (regbuffer[offset + 3] << 24);
@@ -289,7 +289,7 @@ HAL_StatusTypeDef amsReadCellVoltages(Cell_Module (*module)[N_BMS]) {
 
     CHECK_RETURN(readCMD(RDCVA, rxbuffer, CV_GROUP_A_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
         (*module)[i].cellVoltages[0] = mV_from_ADBMS6830(rxbuffer[offset + 0] | (rxbuffer[offset + 1] << 8));
         (*module)[i].cellVoltages[1] = mV_from_ADBMS6830(rxbuffer[offset + 2] | (rxbuffer[offset + 3] << 8));
         (*module)[i].cellVoltages[2] = mV_from_ADBMS6830(rxbuffer[offset + 4] | (rxbuffer[offset + 5] << 8));
@@ -297,7 +297,7 @@ HAL_StatusTypeDef amsReadCellVoltages(Cell_Module (*module)[N_BMS]) {
 
     CHECK_RETURN(readCMD(RDCVB, rxbuffer, CV_GROUP_A_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
         (*module)[i].cellVoltages[3] = mV_from_ADBMS6830(rxbuffer[offset + 0] | (rxbuffer[offset + 1] << 8));
         (*module)[i].cellVoltages[4] = mV_from_ADBMS6830(rxbuffer[offset + 2] | (rxbuffer[offset + 3] << 8));
         (*module)[i].cellVoltages[5] = mV_from_ADBMS6830(rxbuffer[offset + 4] | (rxbuffer[offset + 5] << 8));
@@ -305,7 +305,7 @@ HAL_StatusTypeDef amsReadCellVoltages(Cell_Module (*module)[N_BMS]) {
 
     CHECK_RETURN(readCMD(RDCVC, rxbuffer, CV_GROUP_A_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
         (*module)[i].cellVoltages[6] = mV_from_ADBMS6830(rxbuffer[offset + 0] | (rxbuffer[offset + 1] << 8));
         (*module)[i].cellVoltages[7] = mV_from_ADBMS6830(rxbuffer[offset + 2] | (rxbuffer[offset + 3] << 8));
         (*module)[i].cellVoltages[8] = mV_from_ADBMS6830(rxbuffer[offset + 4] | (rxbuffer[offset + 5] << 8));
@@ -313,7 +313,7 @@ HAL_StatusTypeDef amsReadCellVoltages(Cell_Module (*module)[N_BMS]) {
 
     CHECK_RETURN(readCMD(RDCVD, rxbuffer, CV_GROUP_A_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
         (*module)[i].cellVoltages[9] = mV_from_ADBMS6830(rxbuffer[offset + 0] | (rxbuffer[offset + 1] << 8));
         (*module)[i].cellVoltages[10] = mV_from_ADBMS6830(rxbuffer[offset + 2] | (rxbuffer[offset + 3] << 8));
         (*module)[i].cellVoltages[11] = mV_from_ADBMS6830(rxbuffer[offset + 4] | (rxbuffer[offset + 5] << 8));
@@ -321,7 +321,7 @@ HAL_StatusTypeDef amsReadCellVoltages(Cell_Module (*module)[N_BMS]) {
 
     CHECK_RETURN(readCMD(RDCVE, rxbuffer, CV_GROUP_A_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
         (*module)[i].cellVoltages[12] = mV_from_ADBMS6830(rxbuffer[offset + 0] | (rxbuffer[offset + 1] << 8));
         (*module)[i].cellVoltages[13] = mV_from_ADBMS6830(rxbuffer[offset + 2] | (rxbuffer[offset + 3] << 8));
         (*module)[i].cellVoltages[14] = mV_from_ADBMS6830(rxbuffer[offset + 4] | (rxbuffer[offset + 5] << 8));
@@ -329,7 +329,7 @@ HAL_StatusTypeDef amsReadCellVoltages(Cell_Module (*module)[N_BMS]) {
 
     CHECK_RETURN(readCMD(RDCVF, rxbuffer, CV_GROUP_A_SIZE));
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, CV_GROUP_A_SIZE);
         (*module)[i].cellVoltages[15] = mV_from_ADBMS6830(rxbuffer[offset + 0] | (rxbuffer[offset + 1] << 8));
     }
 
@@ -352,7 +352,7 @@ HAL_StatusTypeDef amsSendI2C(const uint8_t addresses[static N_BMS], uint8_t* dat
     }
 
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, COMM_GROUP_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, COMM_GROUP_SIZE);
 
         if (!(bms_mask & (1 << i))) {
             buffer[offset + 0] = I2C_SEND_NOTRANSFER;
@@ -362,12 +362,12 @@ HAL_StatusTypeDef amsSendI2C(const uint8_t addresses[static N_BMS], uint8_t* dat
         }
     }
 
-    size_t packet_count =
+    const size_t packet_count =
         ((max_datalen + 1) / 3) + ((max_datalen + 1) % 3 != 0); // number of 3 byte packets needed to send all data
 
   for (size_t i = 0; i < (packet_count * 3); i++) { //i - 1 is the number of data bytes sent so far (1 byte for the address)
         for (size_t j = 0; j < N_BMS; j++) {
-            size_t offset = BUFFER_BMS_OFFSET(j, COMM_GROUP_SIZE);
+            const size_t offset = BUFFER_BMS_OFFSET(j, COMM_GROUP_SIZE);
             if (!(bms_mask & (1 << j)))
                 continue; // skip BMS that are not selected
 
@@ -426,7 +426,7 @@ HAL_StatusTypeDef amsReadI2C(const uint8_t addresses[static N_BMS], uint8_t* dat
     }
 
     for (size_t i = 0; i < N_BMS; i++) {
-        size_t offset = BUFFER_BMS_OFFSET(i, COMM_GROUP_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(i, COMM_GROUP_SIZE);
 
         if (!(bms_mask & (1 << i))) {
             buffer[offset + 0] = I2C_SEND_NOTRANSFER;
@@ -436,7 +436,7 @@ HAL_StatusTypeDef amsReadI2C(const uint8_t addresses[static N_BMS], uint8_t* dat
         }
     }
 
-    size_t packet_count = ((max_datalen + 1) / 3) + ((max_datalen + 1) % 3 != 0);
+    const size_t packet_count = ((max_datalen + 1) / 3) + ((max_datalen + 1) % 3 != 0);
 
     for (size_t i = 0; i < (packet_count * 3);
          i++) { // i - 1 is the number of data bytes sent so far (1 byte for the address)
@@ -480,7 +480,7 @@ HAL_StatusTypeDef amsReadI2C(const uint8_t addresses[static N_BMS], uint8_t* dat
             CHECK_RETURN(readCMD(RDCOMM, buffer, COMM_GROUP_SIZE));
 
             for (size_t j = 0; j < N_BMS; j++) {
-                size_t offset = BUFFER_BMS_OFFSET(j, COMM_GROUP_SIZE);
+                const size_t offset = BUFFER_BMS_OFFSET(j, COMM_GROUP_SIZE);
 
                 if (!(bms_mask & (1 << j)))
                     continue; // skip BMS that are not selected
@@ -504,7 +504,7 @@ HAL_StatusTypeDef amsReadI2C(const uint8_t addresses[static N_BMS], uint8_t* dat
     CHECK_RETURN(readCMD(RDCOMM, buffer, COMM_GROUP_SIZE));
 
     for (size_t j = 0; j < N_BMS; j++) {
-        size_t offset = BUFFER_BMS_OFFSET(j, COMM_GROUP_SIZE);
+        const size_t offset = BUFFER_BMS_OFFSET(j, COMM_GROUP_SIZE);
 
         if (!(bms_mask & (1 << j)))
             continue; // skip BMS that are not selected

AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_Error.c

@@ -1,17 +0,0 @@
-#include "ADBMS_Error.h"
-#include "stm32h7xx_hal.h"
-
-SlaveErrorData error_data[NUM_ERROR_KINDS] = {};
-uint32_t error_sources = 0;
-
-void set_error_source(ADBMS_Status source) {
-  if (!(error_sources & (1 << source))) {
-    error_data[source].errors_since = HAL_GetTick();
-  }
-  error_sources |= (1 << source);
-}
-
-void clear_error_source(ADBMS_Status source) {
-  error_data[source].errors_since = 0;
-  error_sources &= ~(1 << source);
-}

AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_HighLevel.c

@@ -4,8 +4,6 @@
  *  Created on: 20.07.2022
  *      Author: max
  */
-
-#include "ADBMS_HighLevel.h"
 #include "ADBMS_Abstraction.h"
 #include "ADBMS_Driver.h"
 #include "config_ADBMS6830.h"
@@ -17,8 +15,6 @@
 #include "swo_log.h"
 
 Cell_Module modules[N_BMS] = {};
-uint32_t balancedCells = 0;
-bool balancingActive = false;
 
 uint8_t packetChecksumFails = 0;
 #define MAX_PACKET_CHECKSUM_FAILS 5

AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_LL_Driver.c

@@ -34,9 +34,8 @@ uint8_t adbmsDriverInit(SPI_HandleTypeDef* hspi) {
   return 0;
 }
 
-static HAL_StatusTypeDef mcuSPITransmit(uint8_t* buffer, uint8_t buffersize) {
+static HAL_StatusTypeDef mcuSPITransmit(const uint8_t* buffer, uint8_t buffersize) {
-    HAL_StatusTypeDef status;
+    const HAL_StatusTypeDef status = HAL_SPI_Transmit(adbmsspi, buffer, buffersize, ADBMS_SPI_TIMEOUT);
-    status = HAL_SPI_Transmit(adbmsspi, buffer, buffersize, ADBMS_SPI_TIMEOUT);
     __HAL_SPI_CLEAR_OVRFLAG(adbmsspi);
     return status;
 }
@@ -45,7 +44,7 @@ static HAL_StatusTypeDef mcuSPIReceive(uint8_t* buffer, uint8_t buffersize) {
     return HAL_SPI_Receive(adbmsspi, buffer, buffersize, ADBMS_SPI_TIMEOUT);
 }
 
-static HAL_StatusTypeDef mcuSPITransmitReceive(uint8_t* rxbuffer, uint8_t* txbuffer, uint8_t buffersize) {
+static HAL_StatusTypeDef mcuSPITransmitReceive(uint8_t* rxbuffer, const uint8_t* txbuffer, uint8_t buffersize) {
     return HAL_SPI_TransmitReceive(adbmsspi, txbuffer, rxbuffer, buffersize, ADBMS_SPI_TIMEOUT);
 }
 
@@ -70,17 +69,17 @@ static uint16_t computeCRC15(const uint8_t* data, size_t length) {
 
 static uint8_t calculateCommandPEC(uint8_t* data, uint8_t datalen) {
     if (datalen < 3) { return 1; }
-    uint16_t pec = computeCRC15(data, datalen - 2);
+    const uint16_t pec = computeCRC15(data, datalen - 2);
     data[datalen - 2] = (uint8_t)((pec >> 7) & 0xFF);
     data[datalen - 1] = (uint8_t)((pec << 1) & 0xFF);
     return 0;
 }
 
-static uint8_t checkCommandPEC(uint8_t* data, uint8_t datalen) {
+static uint8_t checkCommandPEC(const uint8_t* data, uint8_t datalen) {
     if (datalen <= 3) { return 255; }
-    uint16_t pec = computeCRC15(data, datalen - 2);
+    const uint16_t pec = computeCRC15(data, datalen - 2);
-    uint8_t pech = (uint8_t)((pec >> 7) & 0xFF);
+    const uint8_t pech = (uint8_t)((pec >> 7) & 0xFF);
-    uint8_t pecl = (uint8_t)((pec << 1) & 0xFF);
+    const uint8_t pecl = (uint8_t)((pec << 1) & 0xFF);
     return ((pech == data[datalen - 2]) && (pecl == data[datalen - 1])) ? 0 : 1;
 }
 
@@ -118,13 +117,13 @@ static uint16_t computeCRC10(const uint8_t* data, size_t length, bool rx_cmd) {
 
 static uint8_t calculateDataPEC(uint8_t* data, uint8_t datalen) {
     if (datalen < 3) { return 1; }
-    uint16_t crcVal = computeCRC10(data, datalen - 2, true);
+    const uint16_t crcVal = computeCRC10(data, datalen - 2, true);
     data[datalen - 2] = (uint8_t)((crcVal >> 8) & 0xFF);
     data[datalen - 1] = (uint8_t)(crcVal & 0xFF);
     return 0;
 }
 
-static uint8_t checkDataPEC(uint8_t* data, uint8_t len) {
+static uint8_t checkDataPEC(const uint8_t* data, uint8_t len) {
     if (len <= 2) { return 255; }
     // Zero remainder means a valid CRC.
     return (computeCRC10(data, len, false) == 0) ? 0 : 1;
@@ -133,7 +132,7 @@ static uint8_t checkDataPEC(uint8_t* data, uint8_t len) {
 static const char* const HAL_Statuses[] = {"HAL_OK", "HAL_ERROR", "HAL_BUSY", "HAL_TIMEOUT"};
 
 static void print_spi_details() {
-  uint32_t spi_error = HAL_SPI_GetError(adbmsspi);
+  const uint32_t spi_error = HAL_SPI_GetError(adbmsspi);
 
   typedef struct {
     uint32_t mask;
@@ -176,15 +175,12 @@ HAL_StatusTypeDef ___writeCMD(uint16_t command, uint8_t * args, size_t arglen) {
     if (DEBUG_CHANNEL_ENABLED(LOG_LEVEL_NOISY)) {
       debug_log(LOG_LEVEL_NOISY, "%lu W | %02X %02X ", HAL_GetTick(), args[0], args[1]);
 
-      //print out data bytes
-      if (arglen > 0) {
         for (size_t i = 0; i < N_BMS; i++) {
           debug_log_cont(LOG_LEVEL_NOISY, "%d: ", i);
           for (size_t j = 0; j < arglen; j++) {
             debug_log_cont(LOG_LEVEL_NOISY, "%02X ", args[BUFFER_BMS_OFFSET(i, arglen) + j]);
           }
         }
-      }
     }
 
     calculateCommandPEC(args, 4);
@@ -223,7 +219,7 @@ HAL_StatusTypeDef ___readCMD(uint16_t command, uint8_t * buffer, size_t arglen)
   calculateCommandPEC(buffer, 4);
 
   mcuAdbmsCSLow();
-  HAL_StatusTypeDef status = mcuSPITransmitReceive(buffer, buffer, CMD_BUFFER_SIZE(arglen));
+  const HAL_StatusTypeDef status = mcuSPITransmitReceive(buffer, buffer, CMD_BUFFER_SIZE(arglen));
   mcuAdbmsCSHigh();
 
   if (status != HAL_OK) {
@@ -256,7 +252,7 @@ HAL_StatusTypeDef ___readCMD(uint16_t command, uint8_t * buffer, size_t arglen)
 
   //check data PEC
   for (size_t i = 0; i < N_BMS; i++) {
-    size_t offset = BUFFER_BMS_OFFSET(i, arglen);
+    const size_t offset = BUFFER_BMS_OFFSET(i, arglen);
     if (checkDataPEC(&buffer[offset], arglen + 2) != 0) {
       debug_log(LOG_LEVEL_ERROR, "Invalid data PEC when reading BMS %d", i);
       debug_log(LOG_LEVEL_ERROR, "Received: ");
@@ -286,7 +282,7 @@ HAL_StatusTypeDef __pollCMD(uint16_t command, uint8_t waitTime) {
   calculateCommandPEC(buffer, 4);
 
   mcuAdbmsCSLow();
-  HAL_StatusTypeDef status = mcuSPITransmitReceive(buffer, buffer, sizeof buffer);
+  const HAL_StatusTypeDef status = mcuSPITransmitReceive(buffer, buffer, sizeof buffer);
   mcuAdbmsCSHigh();
 
   if (status != HAL_OK) {

AMS_Master_Code/Core/Lib/logger/isotp_log_backend.c

@@ -33,8 +33,8 @@ static bool buffer_message(const log_message_t* message) {
     uint32_t* write_pos = using_buffer_2 ? &message_buffer.write_pos_2 : &message_buffer.write_pos;
     
     /* Calculate buffer offset - buffer 2 starts at ISOTP_LOG_BUFFER_1_BYTES */
-    uint32_t buffer_offset = using_buffer_2 ? ISOTP_LOG_BUFFER_1_BYTES : 0;
+    const uint32_t buffer_offset = using_buffer_2 ? ISOTP_LOG_BUFFER_1_BYTES : 0;
-    uint32_t max_size = using_buffer_2 ? ISOTP_LOG_BUFFER_2_BYTES : ISOTP_LOG_BUFFER_1_BYTES;  // Each buffer has its own size
+    const uint32_t max_size = using_buffer_2 ? ISOTP_LOG_BUFFER_2_BYTES : ISOTP_LOG_BUFFER_1_BYTES;  // Each buffer has its own size
     
     /* Check if we have enough space in the current buffer */
     if (*write_pos + message->message_length > max_size) {
@@ -54,7 +54,7 @@ static bool buffer_message(const log_message_t* message) {
 /* Swap buffers and prepare for sending */
 static bool swap_buffers_for_sending() {
     /* Don't swap if there's nothing to send */
-    uint32_t* current_pos = using_buffer_2 ? &message_buffer.write_pos_2 : &message_buffer.write_pos;
+    const uint32_t* current_pos = using_buffer_2 ? &message_buffer.write_pos_2 : &message_buffer.write_pos;
     if (*current_pos == 0) {
         return false;
     }
@@ -102,7 +102,7 @@ void isotp_log_backend_init(void) {
     isotp_backend_registered = log_register_backend(&isotp_backend);
 
     /* Set up ISO-TP connection */
-    int status = isotp_add_connection(ISOTP_LOG_FC_CAN_ID, ISOTP_LOG_CAN_ID, ISOTP_FLAGS_NONE);
+    const int status = isotp_add_connection(ISOTP_LOG_FC_CAN_ID, ISOTP_LOG_CAN_ID, ISOTP_FLAGS_NONE);
     if (status < 0) {
         log_error("Failed to add ISO-TP connection: %s", isotp_status_to_string((isotp_status_t)status));
         return;
@@ -154,12 +154,12 @@ static void isotp_backend_flush(void) {
     /* Swap buffers if we have data to send and we're ready to send */
     if (streaming_enabled) {
         /* Get the buffer that is currently being written to */
-        uint32_t buffer_offset = !using_buffer_2 ? 0 : ISOTP_LOG_BUFFER_1_BYTES;
+        const uint32_t buffer_offset = !using_buffer_2 ? 0 : ISOTP_LOG_BUFFER_1_BYTES;
-        uint32_t buffer_size = !using_buffer_2 ? message_buffer.write_pos : message_buffer.write_pos_2;
+        const uint32_t buffer_size = !using_buffer_2 ? message_buffer.write_pos : message_buffer.write_pos_2;
         
         /* Only send if we have data and a previous send is not in progress */
         if (buffer_size > 0) {
-            isotp_status_t status = isotp_add_message(
+            const isotp_status_t status = isotp_add_message(
                 isotp_connection_id, 
                 message_buffer.buffer + buffer_offset, 
                 buffer_size

AMS_Master_Code/Core/Lib/logger/log.c

@@ -11,7 +11,7 @@
 #include "stm32h7xx_hal.h"
 
 /* Backend management */
-static const log_backend_t* registered_backends[MAX_LOG_BACKENDS] = {0};
+static const log_backend_t* registered_backends[MAX_LOG_BACKENDS] = {};
 static uint8_t backend_count = 0;
 
 /* Register a new logging backend */

AMS_Master_Code/Core/Src/battery.c

@@ -46,7 +46,7 @@ static inline void update_error_window(bool error, int id) {
 }
 
 HAL_StatusTypeDef battery_init(SPI_HandleTypeDef *hspi) { 
-    auto ret = AMS_Init(hspi);
+    const auto ret = AMS_Init(hspi);
     if (ret.status != ADBMS_NO_ERROR) {
         debug_log(LOG_LEVEL_ERROR, "Failed to initialize BMS: %s",
                   ADBMS_Status_ToString(ret.status));
@@ -61,7 +61,7 @@ HAL_StatusTypeDef battery_init(SPI_HandleTypeDef *hspi) {
 
 [[gnu::optimize("no-math-errno")]]
 HAL_StatusTypeDef battery_update() {
-  auto ret = AMS_Idle_Loop();
+  const auto ret = AMS_Idle_Loop();
   if (ret.status != ADBMS_NO_ERROR) {
     debug_log(LOG_LEVEL_ERROR, "Error while updating battery data: %s",
               ADBMS_Status_ToString(ret.status));
@@ -72,7 +72,7 @@ HAL_StatusTypeDef battery_update() {
     if (ret.status == ADBMS_OVERVOLT || ret.status == ADBMS_UNDERVOLT) {
       if (ret.bms_id != -1 && ret.bms_id < N_BMS) {
         const char* error_type = (ret.status == ADBMS_OVERVOLT) ? "overvoltage" : "undervoltage";
-        uint32_t voltage_flags = (ret.status == ADBMS_OVERVOLT) ? 
+        const uint32_t voltage_flags = (ret.status == ADBMS_OVERVOLT) ?
                                 modules[ret.bms_id].overVoltage : 
                                 modules[ret.bms_id].underVoltage;
         
@@ -117,7 +117,7 @@ HAL_StatusTypeDef battery_update() {
       
       // Second pass: calculate variance
       for (size_t j = 0; j < N_CELLS; j++) {
-        float diff = modules[i].cellVoltages[j] - mean;
+        const float diff = modules[i].cellVoltages[j] - mean;
         variance += diff * diff;
       }
       variance /= N_CELLS;

AMS_Master_Code/Core/Src/can.c

@@ -35,7 +35,7 @@ void can_init(FDCAN_HandleTypeDef *handle) {
   ftcan_add_filter(CAN_ID_AMS_DETAILS_FC, 0xFFF);
   ftcan_add_filter(ISOTP_LOG_FC_CAN_ID, 0xFFF);
 
-  auto status = isotp_add_connection(CAN_ID_AMS_DETAILS_FC, CAN_ID_AMS_DETAILS, ISOTP_FLAGS_NONE);
+  const auto status = isotp_add_connection(CAN_ID_AMS_DETAILS_FC, CAN_ID_AMS_DETAILS, ISOTP_FLAGS_NONE);
   if (status < 0) {
     log_warning("Failed to add ISO-TP connection: %s", isotp_status_to_string((isotp_status_t)status));
   }
@@ -58,7 +58,7 @@ HAL_StatusTypeDef can_send_status() {
   } else {
     data[7] = 0xFF;
   }
-  HAL_StatusTypeDef ret = ftcan_transmit(CAN_ID_AMS_STATUS, data, sizeof(data));
+  const HAL_StatusTypeDef ret = ftcan_transmit(CAN_ID_AMS_STATUS, data, sizeof(data));
   if (ret != HAL_OK) {
     return ret;
   }
@@ -71,7 +71,7 @@ HAL_StatusTypeDef can_send_status() {
 HAL_StatusTypeDef can_send_details() {
   static uint8_t module_index = 0;
   static uint8_t data[103] = {}; //sizeof(Cell_Module) + 10 + 1
-  auto module = &modules[module_index];
+  const auto module = &modules[module_index];
   auto data_ptr = &data[1];
 
   isotp_status_t status = isotp_try_add_message(isotp_connection_id, data, sizeof(data));
@@ -164,7 +164,7 @@ void ftcan_msg_received_cb(uint16_t id, size_t len, const uint8_t *data) {
   switch (id) {
     case ISOTP_LOG_FC_CAN_ID:
     case CAN_ID_AMS_DETAILS_FC:
-      auto status = isotp_handle_incoming(id, data, len);
+      const auto status = isotp_handle_incoming(id, data, len);
       if (status != ISOTP_OK) {
         log_debug("Error when handling flow control: %s", isotp_status_to_string(status));
       }
@@ -172,5 +172,7 @@ void ftcan_msg_received_cb(uint16_t id, size_t len, const uint8_t *data) {
     case CAN_ID_AMS_IN:
       ts_sm_handle_ams_in(data);
       break;
+    default:
+        break;
   }
 }

AMS_Master_Code/Core/Src/imd_monitoring.c

@@ -32,7 +32,7 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *handle) {
   if (handle != htim || htim->Channel != HAL_TIM_ACTIVE_CHANNEL_1) {
     return;
   }
-  uint32_t period = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
+  const uint32_t period = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
   if (period == 0) {
     // First edge, ignore
     return;
@@ -40,7 +40,7 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *handle) {
   imd_data.last_high = HAL_GetTick();
 
   imd_data.freq = FREQ_TIMER / period;
-  uint32_t high_time = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+  const uint32_t high_time = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
   imd_data.duty_cycle = (100 * high_time) / period;
 
   // Check PWM frequency for state determination

AMS_Master_Code/Core/Src/print_master_status.c

@@ -12,7 +12,7 @@
 #include "swo_log_backend.h"
 
 void print_master_status() {
-  auto backend = swo_log_get_backend();
+  const auto backend = swo_log_get_backend();
 
   if (!backend->is_enabled(LOG_LEVEL_INFO)) {
     return; // No need to print if the backend is not enabled for this log level

AMS_Master_Code/Core/Src/print_module_status.c

@@ -8,7 +8,7 @@
 #include "swo_log_backend.h"
 
 void print_battery_info() {
-  auto backend = swo_log_get_backend();
+  const auto backend = swo_log_get_backend();
 
   if (!backend->is_enabled(LOG_LEVEL_INFO)) {
     return; // No need to print if the backend is not enabled for this log level

AMS_Master_Code/Core/Src/shunt_monitoring.c

@@ -35,14 +35,14 @@ void shunt_handle_can_msg(uint16_t id, const uint8_t *data) {
   shunt_data.last_message = HAL_GetTick();
 
   // All result messages contain a big-endian 6-byte integer
-  uint64_t result = ftcan_unmarshal_unsigned(&data, 6);
+  const uint64_t result = ftcan_unmarshal_unsigned(&data, 6);
 
   switch (id) {
   case CAN_ID_SHUNT_CURRENT:
     shunt_data.current = result;
     if (shunt_data.last_current_message > 0) {
-      uint32_t now = HAL_GetTick();
+      const uint32_t now = HAL_GetTick();
-      float dt = (now - shunt_data.last_current_message) * 0.001f;
+      const float dt = (now - shunt_data.last_current_message) * 0.001f;
       shunt_data.current_counter += shunt_data.current * dt;
     }
     shunt_data.last_current_message = HAL_GetTick();

AMS_Master_Code/Core/Src/soc_estimation.c

@@ -32,7 +32,7 @@ void soc_init() {
 }
 
 void soc_update() {
-  uint32_t now = HAL_GetTick();
+  const uint32_t now = HAL_GetTick();
   if (abs(shunt_data.current) >= SOC_ESTIMATION_NO_CURRENT_THRESH) {
     last_current_time = now;
     if (!current_was_flowing) {
@@ -51,15 +51,15 @@ void soc_update() {
     current_soc = soc_for_ocv(min_voltage);
   } else {
     // Otherwise, use the current counter to update SoC
-    float as_delta = shunt_data.current_counter - mAs_before_current;
+    const float as_delta = shunt_data.current_counter - mAs_before_current;
-    float soc_delta = as_delta / SOC_ESTIMATION_BATTERY_CAPACITY * 100;
+    const float soc_delta = as_delta / SOC_ESTIMATION_BATTERY_CAPACITY * 100;
     current_soc = soc_before_current - soc_delta;
   }
 }
 
 float soc_for_ocv(uint16_t ocv) {
   size_t i = 0;
-  size_t array_length = sizeof(OCV_SOC_PAIRS) / sizeof(*OCV_SOC_PAIRS);
+  const size_t array_length = sizeof(OCV_SOC_PAIRS) / sizeof(*OCV_SOC_PAIRS);
   // Find the index of the first element with OCV greater than the target OCV
   while (i < array_length && OCV_SOC_PAIRS[i].ocv <= ocv) {
     i++;
@@ -78,13 +78,13 @@ float soc_for_ocv(uint16_t ocv) {
   }
 
   // Perform linear interpolation
-  uint16_t ocv1 = OCV_SOC_PAIRS[i - 1].ocv;
+  const uint16_t ocv1 = OCV_SOC_PAIRS[i - 1].ocv;
-  uint16_t ocv2 = OCV_SOC_PAIRS[i].ocv;
+  const uint16_t ocv2 = OCV_SOC_PAIRS[i].ocv;
-  float soc1 = OCV_SOC_PAIRS[i - 1].soc;
+  const float soc1 = OCV_SOC_PAIRS[i - 1].soc;
-  float soc2 = OCV_SOC_PAIRS[i].soc;
+  const float soc2 = OCV_SOC_PAIRS[i].soc;
 
-  float slope = (soc2 - soc1) / (ocv2 - ocv1);
+  const float slope = (soc2 - soc1) / (ocv2 - ocv1);
-  float interpolated_soc = soc1 + slope * (ocv - ocv1);
+  const float interpolated_soc = soc1 + slope * (ocv - ocv1);
 
   return interpolated_soc;
 }

AMS_Master_Code/Core/Src/status_led.c

@@ -19,15 +19,15 @@ typedef enum {
 
 uint32_t count = 0;
 bool main_led = false;
-LedColor led_1 = (LedColor) {.red = 0, .green = 0, .blue = 0};
+auto led_1 = (LedColor) {.red = 0, .green = 0, .blue = 0};
-LedColor led_2 = (LedColor) {.red = 0, .green = 0, .blue = 0};
+auto led_2 = (LedColor) {.red = 0, .green = 0, .blue = 0};
 #define ITER_COUNT 20
 #define INTERN_ERROR_COUNT 7500
 
 static void set_led_color_hw(LedColor color) {
-    GPIO_PinState red = color.red ? GPIO_PIN_RESET : GPIO_PIN_SET;
+    const GPIO_PinState red = color.red ? GPIO_PIN_RESET : GPIO_PIN_SET;
-    GPIO_PinState green = color.green ? GPIO_PIN_RESET : GPIO_PIN_SET;
+    const GPIO_PinState green = color.green ? GPIO_PIN_RESET : GPIO_PIN_SET;
-    GPIO_PinState blue = color.blue ? GPIO_PIN_RESET : GPIO_PIN_SET;
+    const GPIO_PinState blue = color.blue ? GPIO_PIN_RESET : GPIO_PIN_SET;
 
     HAL_GPIO_WritePin(STATUS_LED_R_GPIO_Port, STATUS_LED_R_Pin, red);
     HAL_GPIO_WritePin(STATUS_LED_G_GPIO_Port, STATUS_LED_G_Pin, green);

AMS_Master_Code/Core/Src/ts_state_machine.c

@@ -27,7 +27,7 @@ void ts_sm_update() {
     ts_state.current_state = TS_ERROR;
   }
 
-  auto old_state = ts_state.current_state;
+  const auto old_state = ts_state.current_state;
 
   switch (ts_state.current_state) {
   case TS_INACTIVE:
@@ -106,7 +106,7 @@ TSState ts_sm_update_precharge() {
   }
   if (shunt_data.voltage_veh > MIN_VEHICLE_SIDE_VOLTAGE &&
       shunt_data.voltage_veh > 0.95 * shunt_data.voltage_bat) {
-    uint32_t now = HAL_GetTick();
+    const uint32_t now = HAL_GetTick();
     if (precharge_95_reached_timestamp == 0) {
       precharge_95_reached_timestamp = now;
     } else if ((now - precharge_95_reached_timestamp) >=
@@ -133,7 +133,7 @@ TSState ts_sm_update_discharge() {
 TSState ts_sm_update_error() {
   static uint32_t no_error_since = 0;
   if (ts_state.error_source == 0) {
-    uint32_t now = HAL_GetTick();
+    const uint32_t now = HAL_GetTick();
     if (no_error_since == 0) {
       no_error_since = now;
     } else if (now - no_error_since > NO_ERROR_TIME) {
@@ -205,7 +205,7 @@ void ts_sm_set_relay_position(Relay relay, int closed) {
   static int pos_closed = 0;
   static int pre_closed = 0;
 
-  GPIO_PinState state = closed ? GPIO_PIN_SET : GPIO_PIN_RESET;
+  const GPIO_PinState state = closed ? GPIO_PIN_SET : GPIO_PIN_RESET;
   switch (relay) {
   case RELAY_NEG:
     ts_sm_check_close_wait(&neg_closed, closed);
@@ -227,7 +227,7 @@ void ts_sm_check_close_wait(int *is_closed, int should_close) {
   if (should_close != *is_closed) {
     *is_closed = should_close;
     if (should_close) {
-      uint32_t dt = HAL_GetTick() - last_close_timestamp;
+      const uint32_t dt = HAL_GetTick() - last_close_timestamp;
       if (dt < RELAY_CLOSE_WAIT) {
         HAL_Delay(RELAY_CLOSE_WAIT - dt);
       }