diff --git a/AMS_Master_Code/Core/Inc/swo_log.h b/AMS_Master_Code/Core/Inc/swo_log.h
index d3ed1f7..a727821 100644
--- a/AMS_Master_Code/Core/Inc/swo_log.h
+++ b/AMS_Master_Code/Core/Inc/swo_log.h
@@ -52,6 +52,12 @@ static inline uint32_t __swo_putc(uint32_t c, unsigned int channel) {
return (c);
}
+#define DEBUG_CHANNEL_ENABLED(channel) ({ \
+ unsigned int ch = (channel); \
+ (ch < 32) ? __ITM_channel_enabled(ch) : false; \
+})
+
+[[gnu::nonnull(1), gnu::null_terminated_string_arg(1)]]
static inline void __swo_print(const char *str, unsigned int channel) {
if (!__ITM_channel_enabled(channel)) {
return;
@@ -61,22 +67,18 @@ static inline void __swo_print(const char *str, unsigned int channel) {
}
}
-// Print a message to the SWO interface
-//
-// Each log level is printed to a different ITM channel
-[[gnu::format(printf, 2, 3)]]
-static inline void debug_log(enum log_level_t level, const char *msg, ...) {
- va_list args;
- va_start(args, msg);
- char buffer[MAX_MESSAGE_LENGTH];
- size_t len = vsnprintf(buffer, sizeof(buffer), msg, args);
- va_end(args);
- __swo_print(log_level_names[level], level);
- __swo_print(buffer, level);
- if (len >= sizeof(buffer)) {
- __swo_print(" [message length exceeded] ", level);
- }
- __swo_putc('\n', level);
-}
+#define DEBUG_LOG(level, msg, ...) \
+ do { \
+ if (DEBUG_CHANNEL_ENABLED(level)) { \
+ char buffer[MAX_MESSAGE_LENGTH]; \
+ size_t len = snprintf(buffer, sizeof(buffer), msg, ##__VA_ARGS__); \
+ __swo_print(log_level_names[level], level); \
+ __swo_print(buffer, level); \
+ if (len >= sizeof(buffer)) { \
+ __swo_print(" [message length exceeded] ", level); \
+ } \
+ __swo_putc('\n', level); \
+ } \
+ } while (0)
#endif /* __SWO_LOG_H */
diff --git a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_LL_Driver.h b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_LL_Driver.h
index f3ccee8..11088e1 100755
--- a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_LL_Driver.h
+++ b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_LL_Driver.h
@@ -8,6 +8,7 @@
#ifndef ADBMS_LL_DRIVER_H_
#define ADBMS_LL_DRIVER_H_
+#include "config_ADBMS6830.h"
#include "stm32h7xx_hal.h"
#include <stdint.h>
#define TARGET_STM32
@@ -20,14 +21,48 @@ typedef uint32_t uint32;
uint8 adbmsDriverInit(SPI_HandleTypeDef* hspi);
-uint8 writeCMD(uint16 command, uint8* args, uint8 arglen);
-uint8 readCMD(uint16 command, uint8* buffer, uint8 buflen);
-uint8 pollCMD(uint16 command);
+//2 command + 2 PEC + (data + 2 DPEC) per BMS
+#define CMD_BUFFER_SIZE(datalen) (4 + (N_BMS * (datalen + 2)))
+
+//macro to function for better type checking (access attribute)
+[[gnu::access(read_only, 4, 1)]]
+static inline void __modify_writeCMD_args(size_t arglen, uint8_t args[static restrict N_BMS * (arglen + 2)], uint8_t bms, uint8_t * restrict data) {
+ for (uint8_t i = 0; i < arglen; i++) {
+ args[(bms * (arglen + 2)) + i] = data[i];
+ }
+}
+
+#define modify_writeCMD_args(args, bms, data) \
+ static_assert(bms < N_BMS, "bms out of range"); \
+ __modify_writeCMD_args(args.arglen, args.args + 4, bms, data)
+
+
+HAL_StatusTypeDef ___writeCMD(uint16_t command, uint8_t * args, size_t arglen);
+
+[[gnu::access(read_write, 2, 4), gnu::nonnull(2), gnu::always_inline]] //add dummy size variable for bounds checking, should be optimized out
+static inline HAL_StatusTypeDef __writeCMD(uint16_t command, uint8_t * args, size_t arglen, size_t _) {
+ return ___writeCMD(command, args, arglen);
+}
+
+#define writeCMD(command, args, arglen) \
+ __writeCMD(command, args, arglen, CMD_BUFFER_SIZE(arglen))
+
+[[gnu::access(read_write, 2, 3), gnu::nonnull(2)]]
+HAL_StatusTypeDef __readCMD(uint16_t command, uint8_t * buffer, size_t buflen);
+
+#define readCMD(command, buffer, buflen) ({ \
+ HAL_StatusTypeDef status = __readCMD(command, buffer, buflen); \
+ buffer += 4; /* skip command and PEC */ \
+ status; \
+})
+
+uint8_t pollCMD(uint16_t command);
+
void mcuAdbmsCSLow();
void mcuAdbmsCSHigh();
uint8 wakeUpCmd();
-static inline void mcuDelay(uint16 delay) { HAL_Delay(delay); };
+static inline void mcuDelay(uint16_t delay) { HAL_Delay(delay); };
#endif /* ADBMS_LL_DRIVER_H_ */
diff --git a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_LL_Driver.c b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_LL_Driver.c
index 4c85cdf..2c96b39 100755
--- a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_LL_Driver.c
+++ b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_LL_Driver.c
@@ -8,8 +8,11 @@
#include "ADBMS_LL_Driver.h"
#include "ADBMS_CMD_MAKROS.h"
#include "config_ADBMS6830.h"
+#include "stm32h7xx_hal.h"
+#include "swo_log.h"
#include <stdbool.h>
#include <stdint.h>
+#include <strings.h>
#define INITIAL_COMMAND_PEC 0x0010
#define INITIAL_DATA_PEC 0x0010
@@ -19,7 +22,7 @@
SPI_HandleTypeDef* adbmsspi;
uint8_t command_queue[N_BMS][12] = {0};
-uint8 adbmsDriverInit(SPI_HandleTypeDef* hspi) {
+uint8_t adbmsDriverInit(SPI_HandleTypeDef* hspi) {
mcuAdbmsCSLow();
HAL_Delay(1);
mcuAdbmsCSHigh();
@@ -27,42 +30,34 @@ uint8 adbmsDriverInit(SPI_HandleTypeDef* hspi) {
return 0;
}
-uint8 mcuSPITransmit(uint8* buffer, uint8 buffersize) {
- HAL_StatusTypeDef status;
- uint8 rxbuf[buffersize];
- status = HAL_SPI_TransmitReceive(adbmsspi, buffer, rxbuf, buffersize,
- ADBMS_SPI_TIMEOUT);
- __HAL_SPI_CLEAR_OVRFLAG(adbmsspi);
- return status;
+static HAL_StatusTypeDef mcuSPITransmit(uint8_t* buffer, uint8_t buffersize) {
+ HAL_StatusTypeDef status;
+ status = HAL_SPI_Transmit(adbmsspi, buffer, buffersize, ADBMS_SPI_TIMEOUT);
+ __HAL_SPI_CLEAR_OVRFLAG(adbmsspi);
+ return status;
}
-uint8 mcuSPIReceive(uint8* buffer, uint8 buffersize) {
- HAL_StatusTypeDef status;
- status = HAL_SPI_Receive(adbmsspi, buffer, buffersize, ADBMS_SPI_TIMEOUT);
- return status;
+static HAL_StatusTypeDef mcuSPIReceive(uint8_t* buffer, uint8_t buffersize) {
+ return HAL_SPI_Receive(adbmsspi, buffer, buffersize, ADBMS_SPI_TIMEOUT);
}
-uint8 mcuSPITransmitReceive(uint8* rxbuffer, uint8* txbuffer,
- uint8 buffersize) {
- HAL_StatusTypeDef status;
- status = HAL_SPI_TransmitReceive(adbmsspi, txbuffer, rxbuffer, buffersize,
- ADBMS_SPI_TIMEOUT);
- return status;
+static HAL_StatusTypeDef mcuSPITransmitReceive(uint8_t* rxbuffer, uint8_t* txbuffer, uint8_t buffersize) {
+ return HAL_SPI_TransmitReceive(adbmsspi, txbuffer, rxbuffer, buffersize, ADBMS_SPI_TIMEOUT);
}
//command PEC calculation
//CRC-15
//x^15 + x^14 + x^10 + x^8 + x^7 + x^4 + x^3 + 1
-static uint16 updateCommandPEC(uint16 currentPEC, uint8 din) {
+static uint16 updateCommandPEC(uint16 currentPEC, uint8_t din) {
din = (din >> 7) & 0x01;
- uint8 in0 = din ^ ((currentPEC >> 14) & 0x01);
- uint8 in3 = in0 ^ ((currentPEC >> 2) & 0x01);
- uint8 in4 = in0 ^ ((currentPEC >> 3) & 0x01);
- uint8 in7 = in0 ^ ((currentPEC >> 6) & 0x01);
- uint8 in8 = in0 ^ ((currentPEC >> 7) & 0x01);
- uint8 in10 = in0 ^ ((currentPEC >> 9) & 0x01);
- uint8 in14 = in0 ^ ((currentPEC >> 13) & 0x01);
+ uint8_t in0 = din ^ ((currentPEC >> 14) & 0x01);
+ uint8_t in3 = in0 ^ ((currentPEC >> 2) & 0x01);
+ uint8_t in4 = in0 ^ ((currentPEC >> 3) & 0x01);
+ uint8_t in7 = in0 ^ ((currentPEC >> 6) & 0x01);
+ uint8_t in8 = in0 ^ ((currentPEC >> 7) & 0x01);
+ uint8_t in10 = in0 ^ ((currentPEC >> 9) & 0x01);
+ uint8_t in14 = in0 ^ ((currentPEC >> 13) & 0x01);
uint16 newPEC = 0;
@@ -85,12 +80,12 @@ static uint16 updateCommandPEC(uint16 currentPEC, uint8 din) {
return newPEC;
}
-static uint8 calculateCommandPEC(uint8_t* data, uint8_t datalen) {
+static uint8_t calculateCommandPEC(uint8_t* data, uint8_t datalen) {
uint16 currentpec = INITIAL_COMMAND_PEC;
if (datalen >= 3) {
for (int i = 0; i < (datalen - 2); i++) {
for (int n = 0; n < 8; n++) {
- uint8 din = data[i] << (n);
+ uint8_t din = data[i] << (n);
currentpec = updateCommandPEC(currentpec, din);
}
}
@@ -103,7 +98,7 @@ static uint8 calculateCommandPEC(uint8_t* data, uint8_t datalen) {
}
}
-static uint8 checkCommandPEC(uint8* data, uint8 datalen) {
+static uint8_t checkCommandPEC(uint8_t* data, uint8_t datalen) {
if (datalen <= 3) {
return 255;
}
@@ -112,13 +107,13 @@ static uint8 checkCommandPEC(uint8* data, uint8 datalen) {
for (int i = 0; i < (datalen - 2); i++) {
for (int n = 0; n < 8; n++) {
- uint8 din = data[i] << (n);
+ uint8_t din = data[i] << (n);
currentpec = updateCommandPEC(currentpec, din);
}
}
- uint8 pechigh = (currentpec >> 7) & 0xFF;
- uint8 peclow = (currentpec << 1) & 0xFF;
+ uint8_t pechigh = (currentpec >> 7) & 0xFF;
+ uint8_t peclow = (currentpec << 1) & 0xFF;
if ((pechigh == data[datalen - 2]) && (peclow == data[datalen - 1])) {
return 0;
@@ -174,7 +169,7 @@ static uint16_t pec10_calc(bool rx_cmd, int len, uint8_t* data) {
typedef uint16_t crc;
static crc F_CRC_CalculaCheckSum(uint8_t const AF_Datos[], uint16_t VF_nBytes);
-static uint8 calculateDataPEC(uint8_t* data, uint8_t datalen) {
+static uint8_t calculateDataPEC(uint8_t* data, uint8_t datalen) {
if (datalen >= 3) {
@@ -185,7 +180,7 @@ static uint8 calculateDataPEC(uint8_t* data, uint8_t datalen) {
data[datalen - 2] = (currentpec >> 8) & 0xFF;
data[datalen - 1] = currentpec & 0xFF;
- volatile uint8 result = pec10_calc(true, datalen, data);
+ volatile uint8_t result = pec10_calc(true, datalen, data);
return 0;
} else {
@@ -193,7 +188,7 @@ static uint8 calculateDataPEC(uint8_t* data, uint8_t datalen) {
}
}
-static uint8 checkDataPEC(uint8* data, uint8 len) {
+static uint8_t checkDataPEC(uint8_t* data, uint8_t len) {
if (len <= 2) {
return 255;
}
@@ -238,12 +233,12 @@ static crc F_CRC_CalculaCheckSum(uint8_t const AF_Datos[], uint16_t VF_nBytes) {
return (VP_CRCTableValue ^ 0x0000);
}
-static uint16 updateDataPEC(uint16 currentPEC, uint8 din) {
+static uint16 updateDataPEC(uint16 currentPEC, uint8_t din) {
din = (din >> 7) & 0x01;
- uint8 in0 = din ^ ((currentPEC >> 9) & 0x01);
- uint8 in2 = in0 ^ ((currentPEC >> 1) & 0x01);
- uint8 in3 = in0 ^ ((currentPEC >> 2) & 0x01);
- uint8 in7 = in0 ^ ((currentPEC >> 6) & 0x01);
+ uint8_t in0 = din ^ ((currentPEC >> 9) & 0x01);
+ uint8_t in2 = in0 ^ ((currentPEC >> 1) & 0x01);
+ uint8_t in3 = in0 ^ ((currentPEC >> 2) & 0x01);
+ uint8_t in7 = in0 ^ ((currentPEC >> 6) & 0x01);
uint16 newPEC = 0;
@@ -259,78 +254,93 @@ static uint16 updateDataPEC(uint16 currentPEC, uint8 din) {
return newPEC;
}
-
-uint8 writeCMD(uint16 command, uint8* args, uint8 arglen) {
- uint8 ret;
+
+HAL_StatusTypeDef ___writeCMD(uint16_t command, uint8_t * args, size_t arglen) {
+ HAL_StatusTypeDef ret = HAL_OK;
if (arglen > 0) {
- uint8 buffer[6 + arglen]; //command + PEC (2 bytes) + data + DPEC (2 bytes)
- buffer[0] = (command >> 8) & 0xFF;
- buffer[1] = (command) & 0xFF;
+ args[0] = (command >> 8) & 0xFF;
+ args[1] = (command) & 0xFF;
- calculateCommandPEC(buffer, 4);
+ if (DEBUG_CHANNEL_ENABLED(LOG_LEVEL_NOISY)) {
+ debug_log(LOG_LEVEL_NOISY, "%d W | %x %x ", HAL_GetTick(), args[0], args[1]);
- for (uint8 i = 0; i < arglen; i++) {
- buffer[4 + i] = args[i];
+ //print out data bytes
+ for (size_t i = 0; i < N_BMS; i++) {
+ debug_log(LOG_LEVEL_NOISY, "%d: ", i);
+ for (size_t j = 0; j < arglen; j++) {
+ debug_log(LOG_LEVEL_NOISY, "%x ", args[4 + (i * (arglen + 2)) + j]);
+ }
+ }
+
+ debug_log(LOG_LEVEL_NOISY, "\n");
}
- calculateDataPEC(&buffer[4], arglen + 2); //DPEC is calculated over the data, not the command, and placed at the end of the data
+ calculateCommandPEC(args, 4);
+ for (size_t i = 0; i < N_BMS; i++) {
+ calculateDataPEC(&args[4 + (i * (arglen + 2))], arglen + 2); //DPEC is calculated over the data, not the command, and placed at the end of the data
+ }
+
mcuAdbmsCSLow();
- ret = mcuSPITransmit(buffer, 6 + arglen);
+ ret = mcuSPITransmit(args, CMD_BUFFER_SIZE(arglen));
mcuAdbmsCSHigh();
} else {
- uint8 buffer[4];
- buffer[0] = (command >> 8) & 0xFF;
- buffer[1] = (command) & 0xFF;
- calculateCommandPEC(buffer, 4);
+ args[0] = (command >> 8) & 0xFF;
+ args[1] = (command) & 0xFF;
+ calculateCommandPEC(args, 4);
mcuAdbmsCSLow();
-
- ret = mcuSPITransmit(buffer, 4);
-
+ ret = mcuSPITransmit(args, 4);
mcuAdbmsCSHigh();
}
return ret;
}
-uint8 readCMD(uint16 command, uint8* buffer, uint8 buflen) {
- uint8 txbuffer[6 + buflen];
- uint8 rxbuffer[6 + buflen];
- txbuffer[0] = (command >> 8) & 0xFF;
- txbuffer[1] = (command)&0xFF;
- calculateCommandPEC(txbuffer, 4);
+
+HAL_StatusTypeDef __readCMD(uint16_t command, uint8_t * buffer, size_t buflen) {
+ buffer[0] = (command >> 8) & 0xFF;
+ buffer[1] = (command)&0xFF;
+ calculateCommandPEC(buffer, 4);
mcuAdbmsCSLow();
- uint8 status = mcuSPITransmitReceive(rxbuffer, txbuffer, 6 + buflen);
+ HAL_StatusTypeDef status = mcuSPITransmitReceive(buffer, buffer, buflen);
mcuAdbmsCSHigh();
- if (status != 0) {
- return status;
- }
+ if (status != HAL_OK) return status;
- for (uint8 i = 0; i < buflen; i++) {
- buffer[i] = rxbuffer[i + 4];
- }
-
- [[maybe_unused]] uint8 commandCounter = rxbuffer[sizeof(rxbuffer) - 2] & 0xFC; //command counter is bits 7-2
+ //[[maybe_unused]] uint8_t commandCounter = buffer[sizeof(buffer) - 2] & 0xFC; //command counter is bits 7-2
//TODO: check command counter?
+
+ if (DEBUG_CHANNEL_ENABLED(LOG_LEVEL_NOISY)) {
+ debug_log(LOG_LEVEL_NOISY, "%d R | %x %x ", HAL_GetTick(), command >> 8, command & 0xFF);
+
+ //print out data bytes
+ for (size_t i = 0; i < N_BMS; i++) {
+ debug_log(LOG_LEVEL_NOISY, "%d: ", i);
+ for (size_t j = 0; j < buflen; j++) {
+ debug_log(LOG_LEVEL_NOISY, "%x ", buffer[4 + (i * (buflen + 2)) + j]);
+ }
+ }
+
+ debug_log(LOG_LEVEL_NOISY, "\n");
+ }
- return checkDataPEC(&rxbuffer[4], buflen + 2);
+ return checkDataPEC(&buffer[4], buflen + 2);
}
//check poll command - no data PEC sent back
-uint8 pollCMD(uint16 command) {
- uint8 txbuffer[5] = {};
- uint8 rxbuffer[5] = {};
+uint8_t pollCMD(uint16_t command) {
+ uint8_t txbuffer[5] = {};
+ uint8_t rxbuffer[5] = {};
txbuffer[0] = (command >> 8) & 0xFF;
txbuffer[1] = (command)&0xFF;
calculateCommandPEC(txbuffer, 4);
mcuAdbmsCSLow();
- uint8 status = mcuSPITransmitReceive(rxbuffer, txbuffer, 5);
+ uint8_t status = mcuSPITransmitReceive(rxbuffer, txbuffer, 5);
mcuAdbmsCSHigh();
if (status != 0) {