add: log build information including commit branch, hash, and compile date

AMS_Master_Code/.gitignore

@@ -1,4 +1,4 @@
-/.vscode/
+/.vscode/*
 /build/
 /.cache/
 /.idea/
@@ -8,3 +8,4 @@ compile_commands.json
 STM32Make.make
 openocd.cfg
 .stm32env
+!/.vscode/launch.json

AMS_Master_Code/.vscode/launch.json

@@ -0,0 +1,60 @@
+{
+    "configurations": [
+        {
+            "showDevDebugOutput": "none",
+            "cwd": "${workspaceRoot}",
+            "executable": "./build/debug/AMS_Master_Nucleo.elf",
+            "name": "Debug STM32",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "preLaunchTask": "Build STM",
+            "device": "stm32h7a3xxq.s",
+            "configFiles": [
+                "openocd.cfg"
+            ],
+            "swoConfig": {
+                "enabled": true,
+                "source": "probe",
+                "swoFrequency": 10666666, 
+                "cpuFrequency": 64000000,
+                "decoders": [
+                    {
+                        "port": 0,
+                        "type": "console",
+                        "label": "SWO LOG",
+                        "encoding": "ascii"
+                    }
+                ]
+            }
+        },
+        {
+            "showDevDebugOutput": "none",
+            "cwd": "${workspaceRoot}",
+            "executable": "./build/debug/AMS_Master_Nucleo.elf",
+            "name": "Attach STM32",
+            "request": "attach",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "preLaunchTask": "Build STM",
+            "device": "stm32h7a3xxq.s",
+            "configFiles": [
+                "openocd.cfg"
+            ],
+            "swoConfig": {
+                "enabled": true,
+                "source": "probe",
+                "swoFrequency": 10666666, 
+                "cpuFrequency": 64000000,
+                "decoders": [
+                    {
+                        "port": 0,
+                        "type": "console",
+                        "label": "SWO LOG",
+                        "encoding": "ascii"
+                    }
+                ]
+            }
+        }
+    ]
+}

AMS_Master_Code/Core/Inc/swo_log.h

@@ -14,33 +14,57 @@
 #include <stdio.h>
 
 #define MAX_MESSAGE_LENGTH 256
+#define USE_MULTIPLE_CHANNELS false // if true, each log level has its own channel (FATAL : 0, ERROR : 1, etc.)
+#define USE_ANSI_ESCAPE_CODES true // if true, log messages will be colored according to their log level, and the console can be cleared
+
+#if !USE_MULTIPLE_CHANNELS
+#define DEBUG_CHANNEL 0 // channel to output messages on
+#define USE_CHANNEL_MASK_VARIABLE true
+#endif
+
+#if USE_CHANNEL_MASK_VARIABLE
+#define MASK_VARIABLE logging_mask // variable to store the channel mask, must be globally defined somewhere
+extern volatile uint32_t MASK_VARIABLE;
+#endif
 
 enum log_level_t {
-  LOG_LEVEL_NOISY,
-  LOG_LEVEL_DEBUG,
-  LOG_LEVEL_INFO,
-  LOG_LEVEL_WARNING,
+  LOG_LEVEL_FATAL,
   LOG_LEVEL_ERROR,
-  LOG_LEVEL_FATAL
+  LOG_LEVEL_WARNING,
+  LOG_LEVEL_INFO,
+  LOG_LEVEL_DEBUG,
+  LOG_LEVEL_NOISY
 };
 
-[[maybe_unused]] static const char * const log_level_names[] = {
-    "\033[37m[NOISY]\033[0m ",
-    "\033[37m[DEBUG]\033[0m ",
-    "\033[97m[INFO] \033[0m ",
-    "\033[93m[WARN] \033[0m ",
-    "\033[31m[ERROR]\033[0m ",
-    "\033[31m[FATAL]\033[0m "
-};
+#if USE_ANSI_ESCAPE_CODES
+[[maybe_unused]] static const char *const log_level_names[] = {
+    "\033[31m[FATAL]\033[0m ", "\033[31m[ERROR]\033[0m ",
+    "\033[93m[WARN] \033[0m ", "\033[97m[INFO] \033[0m ",
+    "\033[37m[DEBUG]\033[0m ", "\033[37m[NOISY]\033[0m "};
+#else
+[[maybe_unused]] static const char *const log_level_names[] = {
+    "[FATAL] ", "[ERROR] ", "[WARN]  ", "[INFO]  ", "[DEBUG] ", "[NOISY] "};
+#endif
 
 static inline bool __ITM_channel_enabled(uint32_t channel) {
-  return (ITM->TER & (1UL << channel)) != 0UL;
+#if !USE_MULTIPLE_CHANNELS
+	#if USE_CHANNEL_MASK_VARIABLE
+		return ((ITM->TER & (1UL << DEBUG_CHANNEL)) != 0UL) && 
+           ((MASK_VARIABLE & (1UL << channel)) != 0UL);
+	#else
+		channel = DEBUG_CHANNEL;
+	#endif
+#endif
+	return ((ITM->TER & (1UL << channel)) != 0UL);
 }
 
 // adapted from ITM_SendChar() in the CMSIS-Core
 //
 // channel should be between 0 and 31
 static inline uint32_t __swo_putc(uint32_t c, unsigned int channel) {
+#if !USE_MULTIPLE_CHANNELS
+  channel = DEBUG_CHANNEL;
+#endif
   if (((ITM->TCR & ITM_TCR_ITMENA_Msk) != 0UL) && /* ITM enabled */
       ((ITM->TER & (1UL << channel)) != 0UL))     /* ITM Port enabled */
   {
@@ -68,15 +92,27 @@ static inline void __swo_print(unsigned int channel, const char *str) {
   }
 }
 
+[[maybe_unused]]
+static 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
+#else
+    __swo_print(i, "\n\n\n\n\n-------------------\n\n\n\n\n"); // clear screen
+#endif
+  }
+}
+
 #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__);       \
+      char __swo_buffer[MAX_MESSAGE_LENGTH];                                   \
+      size_t len =                                                             \
+          snprintf(__swo_buffer, sizeof(__swo_buffer), msg, ##__VA_ARGS__);    \
       __swo_putc('\n', level);                                                 \
       __swo_print(level, log_level_names[level]);                              \
-      __swo_print(level, buffer);                                              \
-      if (len >= sizeof(buffer)) {                                             \
+      __swo_print(level, __swo_buffer);                                        \
+      if (len >= sizeof(__swo_buffer)) {                                       \
         __swo_print(level, " [message length exceeded] ");                     \
       }                                                                        \
     }                                                                          \
@@ -85,13 +121,13 @@ static inline void __swo_print(unsigned int channel, const char *str) {
 #define debug_log_cont(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(level, buffer);                                              \
-      if (len >= sizeof(buffer)) {                                             \
+      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] ");                     \
       }                                                                        \
-      __swo_putc('\n', level);                                                 \
     }                                                                          \
   } while (0)
 

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

@@ -20,7 +20,7 @@ static const char* const HAL_Statuses[] = {"HAL_OK", "HAL_ERROR", "HAL_BUSY", "H
     do {                                                                                                               \
         HAL_StatusTypeDef status = x;                                                                                  \
         if (status != 0) {                                                                                             \
-            debug_log(LOG_LEVEL_ERROR, "@%s:%s:%d: %s failed with status %d (%s)", __FILE_NAME__, __func__, __LINE__,  \
+            debug_log(LOG_LEVEL_ERROR, "in %s:%d@%s: %s failed with status %d (%s)", __FILE_NAME__, __LINE__, __func__,\
                       #x, status,                                                                                      \
                       (status < (sizeof(HAL_Statuses) / sizeof(HAL_Statuses[0]))) ? HAL_Statuses[status] : "Unknown"); \
             return status;                                                                                             \
@@ -57,9 +57,8 @@ HAL_StatusTypeDef amsReset() {
             for (size_t j = 0; j < SID_GROUP_SIZE; j++) {
                 id |= sidbuffer[BUFFER_BMS_OFFSET(i, SID_GROUP_SIZE) + j] << (j * 8);
             }
-            debug_log_cont(LOG_LEVEL_INFO, "0x%llx ", id);
+            debug_log_cont(LOG_LEVEL_INFO, "0x%lx%lx ", (uint32_t)(id >> 32), (uint32_t)(id & 0xFFFFFFFF)); //newlib does not support %llu
         }
-        debug_log_cont(LOG_LEVEL_INFO, "\n");
     }
 
     mcuDelay(10);

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

@@ -46,6 +46,8 @@ ADBMS_DetailedStatus AMS_Init(SPI_HandleTypeDef* hspi) {
     }
 
     pollingTimes = (struct pollingTimes){HAL_GetTick(), HAL_GetTick()};
+    packetChecksumFails = 0;
+    deviceSleeps = 0;
     return NO_ERROR;
 }
 
@@ -59,7 +61,7 @@ ADBMS_DetailedStatus AMS_Init(SPI_HandleTypeDef* hspi) {
                 break;                                                                                                 \
             }                                                                                                          \
         }                                                                                                              \
-        first_match;                                                                                                   \
+        first_match + 1;                                                                                               \
     })
 
 ADBMS_DetailedStatus AMS_Idle_Loop() {
@@ -70,11 +72,11 @@ ADBMS_DetailedStatus AMS_Idle_Loop() {
 
     packetChecksumFails += (amsAuxAndStatusMeasurement(&modules) == HAL_ERROR);
 
-    static int match = 0;
+    int match = 0;
     if ((match = any(module.status.SLEEP))) {
         deviceSleeps++;
         if (deviceSleeps > MAX_DEVICE_SLEEP) {
-            return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_TIMEOUT, match};
+            return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_TIMEOUT, match - 1};
         } else {
             amsReset();
         }
@@ -86,7 +88,7 @@ ADBMS_DetailedStatus AMS_Idle_Loop() {
         // iteration.
         amsClearFlag();
 
-        return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_FAULT, match};
+        return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_FAULT, match - 1};
     }
 
     packetChecksumFails += (amsCellMeasurement(&modules) == HAL_ERROR);
@@ -97,16 +99,16 @@ ADBMS_DetailedStatus AMS_Idle_Loop() {
     }
 
     if ((match = any(module.overVoltage))) {
-        return (ADBMS_DetailedStatus){ADBMS_OVERVOLT, match};
+        return (ADBMS_DetailedStatus){ADBMS_OVERVOLT, match - 1};
     }
 
     if ((match = any(module.underVoltage))) {
-        return (ADBMS_DetailedStatus){ADBMS_UNDERVOLT, match};
+        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))) { 
-        return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_OVERTEMP, match};
+        return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_OVERTEMP, match - 1};
     }
 
     // mcuDelay(10);

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

@@ -173,17 +173,17 @@ HAL_StatusTypeDef ___writeCMD(uint16_t command, uint8_t * args, size_t arglen) {
     args[1] = (command) & 0xFF;
 
     if (DEBUG_CHANNEL_ENABLED(LOG_LEVEL_NOISY)) {
-      debug_log(LOG_LEVEL_NOISY, "%lu W | %x %x ", HAL_GetTick(), args[0], args[1]);
+      debug_log(LOG_LEVEL_NOISY, "%lu W | %02X %02X ", HAL_GetTick(), args[0], args[1]);
 
       //print out data bytes
-      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, "%x ", args[4 + (i * (arglen + 2)) + j]);
+      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]);
+          }
         }
       }
-
-      debug_log_cont(LOG_LEVEL_NOISY, "\n");
     }
 
     calculateCommandPEC(args, 4);
@@ -232,17 +232,17 @@ HAL_StatusTypeDef ___readCMD(uint16_t command, uint8_t * buffer, size_t arglen)
                                                                                  //TODO: check command counter?
 
   if (DEBUG_CHANNEL_ENABLED(LOG_LEVEL_NOISY)) {
-    debug_log(LOG_LEVEL_NOISY, "%lu R | %x %x ", HAL_GetTick(), command >> 8, command & 0xFF);
+    debug_log(LOG_LEVEL_NOISY, "%lu R | %02X %02X ", HAL_GetTick(), command >> 8, command & 0xFF);
 
     //print out data bytes
-    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, "%x ", buffer[4 + (i * (arglen + 2)) + j]);
+    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 ", buffer[BUFFER_BMS_OFFSET(i, arglen) + j]);
+        }
       }
     }
-
-    debug_log_cont(LOG_LEVEL_NOISY, "\n");
   }
 
   //check data PEC

AMS_Master_Code/Core/Src/main.c

@@ -22,6 +22,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "ADBMS_Driver.h"
+#include "swo_log.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -58,7 +59,7 @@ static void MX_SPI1_Init(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-
+uint32_t volatile logging_mask = 0b11111; // no LOG_LEVEL_NOISY
 /* USER CODE END 0 */
 
 /**
@@ -95,15 +96,30 @@ int main(void)
   MX_GPIO_Init();
   MX_SPI1_Init();
   /* USER CODE BEGIN 2 */
-  AMS_Init(&hspi1);
+  debug_clear_console();
+  debug_log(LOG_LEVEL_INFO, "AMS_Master on %s (%s), compiled at %s", COMMIT_BRANCH, COMMIT_HASH, COMPILE_DATE);
+  debug_log(LOG_LEVEL_INFO, "Starting BMS...");
+  int status = -1;
+  while (status != ADBMS_NO_ERROR) {
+    status = AMS_Init(&hspi1).status;
+    if (status != ADBMS_NO_ERROR) {
+      debug_log(LOG_LEVEL_ERROR, "Failed to initialize BMS, AMS_Init returned %d", status);
+      HAL_Delay(2000);
+    }
+  }
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
   {
-    AMS_Idle_Loop();
-    HAL_Delay(20);
+    status = AMS_Idle_Loop().status;
+    if (status != ADBMS_NO_ERROR) {
+      debug_log(LOG_LEVEL_ERROR, "AMS_Idle_Loop returned %d", status);
+      HAL_Delay(2000);
+      AMS_Init(&hspi1);
+    }
+    HAL_Delay(100);
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */

AMS_Master_Code/STM32-for-VSCode.config.yaml

@@ -24,6 +24,9 @@ cDefinitions:
   - STM32H7
   - USE_HAL_DRIVER
   - FTCAN_NUM_FILTERS=20
+  - COMMIT_HASH='"$(shell git describe --always --dirty --abbrev=8)"'
+  - COMMIT_BRANCH='"$(shell git rev-parse --abbrev-ref HEAD)"'
+  - COMPILE_DATE='"$(shell date +'%Y-%m-%d %H:%M:%S')"'
 
 cxxDefinitions: []
 asDefinitions: []
@@ -40,6 +43,7 @@ asDefinitionsFile:
 cFlags: 
   - -Wall
   - -Wextra
+  - -Wshadow
   - -fdata-sections
   - -ffunction-sections
   - -std=gnu23