diff --git a/AMS_Master_Code/.vscode/launch.json b/AMS_Master_Code/.vscode/launch.json
index e713b61..4fa138f 100644
--- a/AMS_Master_Code/.vscode/launch.json
+++ b/AMS_Master_Code/.vscode/launch.json
@@ -40,7 +40,6 @@
"request": "attach",
"type": "cortex-debug",
"servertype": "openocd",
- "preLaunchTask": "Build STM",
"device": "stm32h7a3xxq.s",
"configFiles": [
"openocd.cfg"
diff --git a/AMS_Master_Code/Core/Inc/NTC.h b/AMS_Master_Code/Core/Inc/NTC.h
index 7934f44..6c0d10b 100644
--- a/AMS_Master_Code/Core/Inc/NTC.h
+++ b/AMS_Master_Code/Core/Inc/NTC.h
@@ -1,4 +1,5 @@
#include <math.h>
+#include <stdint.h>
#define USE_CALC
@@ -18,10 +19,10 @@
// With R_T/R_0 and R_0 = R_T@25C
// R_T/R_0 = 1 / V_REF / ADC - 1
+[[gnu::optimize("fast-math")]]
static inline uint16_t ntc_mv_to_celsius(int16_t adc) {
- float log_ohms = logf(1/((VREF/adc)-1));
+ 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?
diff --git a/AMS_Master_Code/Core/Inc/config_ADBMS6830.h b/AMS_Master_Code/Core/Inc/config_ADBMS6830.h
index 4b60e4c..2fdaa6a 100644
--- a/AMS_Master_Code/Core/Inc/config_ADBMS6830.h
+++ b/AMS_Master_Code/Core/Inc/config_ADBMS6830.h
@@ -4,13 +4,17 @@
#include "main.h"
#define N_BMS 1
-#define ADBMS_SPI_TIMEOUT 100 // Timeout in ms
+#define N_CELLS 16
+#define ADBMS_MAX_CHIP_TEMP 110 // max temperature of ADBMS6830B (not battery) in C
+#define ADBMS_SPI_TIMEOUT 50 // Timeout in ms
-[[maybe_unused]] static inline void mcuAdbmsCSLow() {
+[[maybe_unused, gnu::always_inline]]
+static inline void mcuAdbmsCSLow() {
HAL_GPIO_WritePin(AMS_CS_GPIO_Port, AMS_CS_Pin, GPIO_PIN_RESET);
}
-[[maybe_unused]] static inline void mcuAdbmsCSHigh() {
+[[maybe_unused, gnu::always_inline]]
+static inline void mcuAdbmsCSHigh() {
HAL_GPIO_WritePin(AMS_CS_GPIO_Port, AMS_CS_Pin, GPIO_PIN_SET);
}
diff --git a/AMS_Master_Code/Core/Inc/swo_log.h b/AMS_Master_Code/Core/Inc/swo_log.h
index 1eb1e68..ed95e66 100644
--- a/AMS_Master_Code/Core/Inc/swo_log.h
+++ b/AMS_Master_Code/Core/Inc/swo_log.h
@@ -93,8 +93,7 @@ static inline void __swo_print(unsigned int channel, const char *str) {
}
}
-[[maybe_unused]]
-static void debug_clear_console() {
+static inline void debug_clear_console() {
for (int i = 0; i < LOG_LEVEL_NOISY; i++) {
#if USE_ANSI_ESCAPE_CODES
__swo_print(i, "\033[2J\033[;H"); // clear screen
@@ -104,44 +103,58 @@ static void debug_clear_console() {
}
}
-#define debug_log(level, msg, ...) \
- do { \
- if (DEBUG_CHANNEL_ENABLED(level)) { \
- char __swo_buffer[MAX_MESSAGE_LENGTH]; \
- size_t len = \
- snprintf(__swo_buffer, sizeof(__swo_buffer), msg, ##__VA_ARGS__); \
- __swo_putc('\n', level); \
- /* Print timestamp if enabled */ \
- if (PRINT_TIMESTAMP) { \
- char __time_buffer[16]; \
- if (USE_ANSI_ESCAPE_CODES) { \
- snprintf(__time_buffer, sizeof(__time_buffer), \
- "\033[90m[%lu]\033[0m ", HAL_GetTick()); \
- } else { \
- snprintf(__time_buffer, sizeof(__time_buffer), "[%lu] ", \
- HAL_GetTick()); \
- } \
- __swo_print(level, __time_buffer); \
- } \
- __swo_print(level, log_level_names[level]); \
- __swo_print(level, __swo_buffer); \
- if (len >= sizeof(__swo_buffer)) { \
- __swo_print(level, " [message length exceeded] "); \
- } \
- } \
- } while (0)
+[[gnu::format(printf, 2, 3)]]
+static inline void debug_log(enum log_level_t level, const char *msg, ...) {
+ if (!DEBUG_CHANNEL_ENABLED(level)) {
+ return;
+ }
+
+ char __swo_buffer[MAX_MESSAGE_LENGTH];
+ va_list args;
+ va_start(args, msg);
+ size_t len = vsnprintf(__swo_buffer, sizeof(__swo_buffer), msg, args);
+ va_end(args);
+
+ __swo_putc('\n', level);
+
+ /* Print timestamp if enabled */
+ if (PRINT_TIMESTAMP) {
+ char __time_buffer[16];
+ if (USE_ANSI_ESCAPE_CODES) {
+ snprintf(__time_buffer, sizeof(__time_buffer),
+ "\033[90m[%lu]\033[0m ", HAL_GetTick());
+ } else {
+ snprintf(__time_buffer, sizeof(__time_buffer), "[%lu] ",
+ HAL_GetTick());
+ }
+ __swo_print(level, __time_buffer);
+ }
+
+ __swo_print(level, log_level_names[level]);
+ __swo_print(level, __swo_buffer);
+
+ if (len >= sizeof(__swo_buffer)) {
+ __swo_print(level, " [message length exceeded] ");
+ }
+}
-#define debug_log_cont(level, msg, ...) \
- do { \
- if (DEBUG_CHANNEL_ENABLED(level)) { \
- char __swo_buffer[MAX_MESSAGE_LENGTH]; \
- size_t len = \
- snprintf(__swo_buffer, sizeof(__swo_buffer), msg, ##__VA_ARGS__); \
- __swo_print(level, __swo_buffer); \
- if (len >= sizeof(__swo_buffer)) { \
- __swo_print(level, " [message length exceeded] "); \
- } \
- } \
- } while (0)
+[[gnu::format(printf, 2, 3)]]
+static inline void debug_log_cont(enum log_level_t level, const char *msg, ...) {
+ if (!DEBUG_CHANNEL_ENABLED(level)) {
+ return;
+ }
+
+ char __swo_buffer[MAX_MESSAGE_LENGTH];
+ va_list args;
+ va_start(args, msg);
+ size_t len = vsnprintf(__swo_buffer, sizeof(__swo_buffer), msg, args);
+ va_end(args);
+
+ __swo_print(level, __swo_buffer);
+
+ if (len >= sizeof(__swo_buffer)) {
+ __swo_print(level, " [message length exceeded] ");
+ }
+}
#endif /* __SWO_LOG_H */
diff --git a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Abstraction.h b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Abstraction.h
index 406e92c..8b1fdca 100644
--- a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Abstraction.h
+++ b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Abstraction.h
@@ -8,10 +8,7 @@
#ifndef INC_ADBMS_ABSTRACTION_H_
#define INC_ADBMS_ABSTRACTION_H_
-#include "ADBMS_CMD_MAKROS.h"
#include "ADBMS_Driver.h"
-#include "ADBMS_LL_Driver.h"
-#include "main.h"
#define mV_from_ADBMS6830(x) (((((int16_t)(x))) * 0.150) + 1500)
diff --git a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Driver.h b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Driver.h
index 6c8a037..020b3f1 100644
--- a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Driver.h
+++ b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_Driver.h
@@ -83,7 +83,7 @@ typedef struct {
uint32_t bmsID;
struct ADBMS6830_Internal_Status status;
- uint16_t internalDieTemp;
+ int16_t internalDieTemp;
uint16_t analogSupplyVoltage;
uint16_t digitalSupplyVoltage;
uint16_t sumOfCellMeasurements;
diff --git a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_HighLevel.h b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_HighLevel.h
index 2222503..ced8255 100644
--- a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_HighLevel.h
+++ b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Inc/ADBMS_HighLevel.h
@@ -30,6 +30,4 @@ extern Cell_Module modules[N_BMS];
extern uint32_t balancedCells;
extern bool BalancingActive;
-extern uint8_t numberofCells;
-
#endif /* INC_AMS_HIGHLEVEL_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 73a0156..cb785ce 100644
--- 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
@@ -9,9 +9,7 @@
#define ADBMS_LL_DRIVER_H_
#include "config_ADBMS6830.h"
-#include "stm32h7xx_hal.h"
#include <stdint.h>
-#define TARGET_STM32
uint8_t adbmsDriverInit(SPI_HandleTypeDef* hspi);
diff --git a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_Abstraction.c b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_Abstraction.c
index 93f794c..9a219cb 100644
--- a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_Abstraction.c
+++ b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_Abstraction.c
@@ -13,8 +13,6 @@
#include <stddef.h>
#include "NTC.h"
-extern uint8_t numberofCells;
-
static const char* const HAL_Statuses[] = {"HAL_OK", "HAL_ERROR", "HAL_BUSY", "HAL_TIMEOUT"};
#define CHECK_RETURN(x) \
@@ -91,8 +89,7 @@ HAL_StatusTypeDef initAMS(SPI_HandleTypeDef* hspi) {
}
HAL_StatusTypeDef amsWakeUp() {
- uint8_t buffer[CMD_BUFFER_SIZE(CFG_GROUP_A_SIZE)] = {0};
- return readCMD(RDCFGA, buffer, CFG_GROUP_A_SIZE);
+ return __pollCMD(PLADC, 100); //wake up ADBMS6830, wait for T_wake = 200 us (100 cycles at 500 kHz)
}
HAL_StatusTypeDef amsCellMeasurement(Cell_Module (*module)[N_BMS]) {
@@ -264,8 +261,7 @@ HAL_StatusTypeDef amsCheckUnderOverVoltage(Cell_Module (*module)[N_BMS]) {
(*module)[i].overVoltage = 0;
(*module)[i].underVoltage = 0;
- for (size_t j = 0; j < numberofCells;
- j++) { // ov/uv flags are 1-bit flags for each cell C0UV, C0OV, C1UV, C1OV, ...
+ for (size_t j = 0; j < N_CELLS; j++) { // ov/uv flags are 1-bit flags for each cell C0UV, C0OV, C1UV, C1OV, ...
(*module)[i].underVoltage |= (ov_uv_data >> (j * 2)) & 0x01;
(*module)[i].overVoltage |= (ov_uv_data >> (j * 2 + 1)) & 0x01;
}
diff --git a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_HighLevel.c b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_HighLevel.c
index e30a1ed..afd150f 100644
--- a/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_HighLevel.c
+++ b/AMS_Master_Code/Core/Lib/ADBMS6830B_Driver/Core/Src/ADBMS_HighLevel.c
@@ -18,8 +18,6 @@ Cell_Module modules[N_BMS] = {};
uint32_t balancedCells = 0;
bool balancingActive = false;
-uint8_t numberofCells = 16;
-
uint8_t packetChecksumFails = 0;
#define MAX_PACKET_CHECKSUM_FAILS 5
@@ -37,7 +35,7 @@ static constexpr ADBMS_DetailedStatus NO_ERROR = {ADBMS_NO_ERROR};
ADBMS_DetailedStatus AMS_Init(SPI_HandleTypeDef* hspi) {
debug_log(LOG_LEVEL_INFO, "ADBMS6830B HAL - configured for %d controllers and %d cells per controller...", N_BMS,
- numberofCells);
+ N_CELLS);
if (initAMS(hspi) != HAL_OK) {
debug_log(LOG_LEVEL_ERROR, "ADBMS6830B HAL - initialization failed");
return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_FAULT, -1};
@@ -106,8 +104,7 @@ ADBMS_DetailedStatus AMS_Idle_Loop() {
return (ADBMS_DetailedStatus){ADBMS_UNDERVOLT, match - 1};
}
- // TODO: replace with the correct threshold for the internal die temperature
- if ((match = any(module.internalDieTemp > 28000 || module.status.THSD))) {
+ if ((match = any(module.internalDieTemp > ADBMS_MAX_CHIP_TEMP || module.status.THSD))) {
return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_OVERTEMP, match - 1};
}
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 a35c61c..f951a04 100644
--- 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
@@ -15,6 +15,13 @@
#define INITIAL_COMMAND_PEC 0x0010
#define INITIAL_DATA_PEC 0x0010
+// CRC polynomial constants
+#define CRC15_POLY 0xC599
+#define CRC10_POLY 0x8F
+#define CRC15_REMAINDER_MASK 0x4000
+#define CRC10_REMAINDER_MASK 0x200
+#define CRC10_RESULT_MASK 0x3FF
+
SPI_HandleTypeDef* adbmsspi;
uint8_t adbmsDriverInit(SPI_HandleTypeDef* hspi) {
@@ -49,8 +56,8 @@ static uint16_t computeCRC15(const uint8_t* data, size_t length) {
for (size_t i = 0; i < length; i++) {
remainder ^= (data[i] << 7);
for (int b = 0; b < 8; b++) {
- if (remainder & 0x4000) {
- remainder = (uint16_t)((remainder << 1) ^ 0xC599);
+ if (remainder & CRC15_REMAINDER_MASK) {
+ remainder = (uint16_t)((remainder << 1) ^ CRC15_POLY);
} else {
remainder <<= 1;
}
@@ -81,13 +88,12 @@ static uint8_t checkCommandPEC(uint8_t* data, uint8_t datalen) {
static uint16_t computeCRC10(const uint8_t* data, size_t length, bool rx_cmd) {
uint16_t remainder = INITIAL_DATA_PEC;
- const uint16_t poly = 0x8F;
for (size_t i = 0; i < length; i++) {
remainder ^= (uint16_t)(data[i] << 2);
for (int b = 0; b < 8; b++) {
- if (remainder & 0x200) {
- remainder = (uint16_t)((remainder << 1) ^ poly);
+ if (remainder & CRC10_REMAINDER_MASK) {
+ remainder = (uint16_t)((remainder << 1) ^ CRC10_POLY);
} else {
remainder <<= 1;
}
@@ -98,14 +104,14 @@ static uint16_t computeCRC10(const uint8_t* data, size_t length, bool rx_cmd) {
if (rx_cmd) {
remainder ^= (uint16_t)((data[length] & 0xFC) << 2);
for (int b = 0; b < 6; b++) {
- if (remainder & 0x200) {
- remainder = (uint16_t)((remainder << 1) ^ poly);
+ if (remainder & CRC10_REMAINDER_MASK) {
+ remainder = (uint16_t)((remainder << 1) ^ CRC10_POLY);
} else {
remainder <<= 1;
}
}
}
- return (uint16_t)(remainder & 0x3FF);
+ return (uint16_t)(remainder & CRC10_RESULT_MASK);
}
static uint8_t calculateDataPEC(uint8_t* data, uint8_t datalen) {
@@ -242,10 +248,27 @@ HAL_StatusTypeDef ___readCMD(uint16_t command, uint8_t * buffer, size_t arglen)
}
}
+ if (arglen == 0) {
+ return HAL_OK; //no data to check
+ }
+
//check data PEC
for (size_t i = 0; i < N_BMS; i++) {
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: ");
+ for (size_t j = 0; j < arglen + 2; j++) {
+ debug_log_cont(LOG_LEVEL_ERROR, "%02X ", buffer[offset + j]);
+ }
+ debug_log_cont(LOG_LEVEL_ERROR, "| %02X %02X ", buffer[offset + arglen], buffer[offset + arglen + 1]); //print out the DPEC
+ debug_log(LOG_LEVEL_ERROR, " DATA ^");
+ //print out spaces until start of DPEC
+ for (size_t j = 0; j < arglen - 1; j++) {
+ debug_log_cont(LOG_LEVEL_ERROR, (arglen < 2) ? "" : "^^^");
+ }
+ debug_log_cont(LOG_LEVEL_ERROR, "^^ ");
+ debug_log_cont(LOG_LEVEL_ERROR, " PEC ^");
return HAL_ERROR;
}
}
@@ -271,5 +294,5 @@ HAL_StatusTypeDef __pollCMD(uint16_t command, uint8_t waitTime) {
return status;
}
- return ((buffer[4 + (N_BMS * 2)] & 0x0F) == 0x0) ? HAL_BUSY : HAL_OK; //SDO goes high when data is ready
+ return ((buffer[sizeof buffer] & 0x0F) == 0x0) ? HAL_BUSY : HAL_OK; //SDO goes high when data is ready
}
\ No newline at end of file