AMS_Master_Code/.gitignore

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

AMS_Master_Code/.vscode/launch.json

@@ -1,60 +0,0 @@
-{
-    "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

@@ -14,57 +14,33 @@
 #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_FATAL,
-  LOG_LEVEL_ERROR,
-  LOG_LEVEL_WARNING,
-  LOG_LEVEL_INFO,
+  LOG_LEVEL_NOISY,
   LOG_LEVEL_DEBUG,
-  LOG_LEVEL_NOISY
+  LOG_LEVEL_INFO,
+  LOG_LEVEL_WARNING,
+  LOG_LEVEL_ERROR,
+  LOG_LEVEL_FATAL
 };
 
-#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
+[[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 "
+};
 
 static inline bool __ITM_channel_enabled(uint32_t channel) {
-#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);
+  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 */
   {
@@ -92,27 +68,15 @@ 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 __swo_buffer[MAX_MESSAGE_LENGTH];                                   \
-      size_t len =                                                             \
-          snprintf(__swo_buffer, sizeof(__swo_buffer), msg, ##__VA_ARGS__);    \
+      char buffer[MAX_MESSAGE_LENGTH];                                         \
+      size_t len = snprintf(buffer, sizeof(buffer), msg, ##__VA_ARGS__);       \
       __swo_putc('\n', level);                                                 \
       __swo_print(level, log_level_names[level]);                              \
-      __swo_print(level, __swo_buffer);                                        \
-      if (len >= sizeof(__swo_buffer)) {                                       \
+      __swo_print(level, buffer);                                              \
+      if (len >= sizeof(buffer)) {                                             \
         __swo_print(level, " [message length exceeded] ");                     \
       }                                                                        \
     }                                                                          \
@@ -121,13 +85,13 @@ static void debug_clear_console() {
 #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)) {                                       \
+      char buffer[MAX_MESSAGE_LENGTH];                                         \
+      size_t len = snprintf(buffer, sizeof(buffer), msg, ##__VA_ARGS__);       \
+      __swo_print(level, buffer);                                              \
+      if (len >= sizeof(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, "in %s:%d@%s: %s failed with status %d (%s)", __FILE_NAME__, __LINE__, __func__,\
+            debug_log(LOG_LEVEL_ERROR, "@%s:%s:%d: %s failed with status %d (%s)", __FILE_NAME__, __func__, __LINE__,  \
                       #x, status,                                                                                      \
                       (status < (sizeof(HAL_Statuses) / sizeof(HAL_Statuses[0]))) ? HAL_Statuses[status] : "Unknown"); \
             return status;                                                                                             \
@@ -57,8 +57,9 @@ 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%lx%lx ", (uint32_t)(id >> 32), (uint32_t)(id & 0xFFFFFFFF)); //newlib does not support %llu
+            debug_log_cont(LOG_LEVEL_INFO, "0x%llx ", id);
         }
+        debug_log_cont(LOG_LEVEL_INFO, "\n");
     }
 
     mcuDelay(10);

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

@@ -46,8 +46,6 @@ ADBMS_DetailedStatus AMS_Init(SPI_HandleTypeDef* hspi) {
     }
 
     pollingTimes = (struct pollingTimes){HAL_GetTick(), HAL_GetTick()};
-    packetChecksumFails = 0;
-    deviceSleeps = 0;
     return NO_ERROR;
 }
 
@@ -61,7 +59,7 @@ ADBMS_DetailedStatus AMS_Init(SPI_HandleTypeDef* hspi) {
                 break;                                                                                                 \
             }                                                                                                          \
         }                                                                                                              \
-        first_match + 1;                                                                                               \
+        first_match;                                                                                                   \
     })
 
 ADBMS_DetailedStatus AMS_Idle_Loop() {
@@ -72,11 +70,11 @@ ADBMS_DetailedStatus AMS_Idle_Loop() {
 
     packetChecksumFails += (amsAuxAndStatusMeasurement(&modules) == HAL_ERROR);
 
-    int match = 0;
+    static int match = 0;
     if ((match = any(module.status.SLEEP))) {
         deviceSleeps++;
         if (deviceSleeps > MAX_DEVICE_SLEEP) {
-            return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_TIMEOUT, match - 1};
+            return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_TIMEOUT, match};
         } else {
             amsReset();
         }
@@ -88,7 +86,7 @@ ADBMS_DetailedStatus AMS_Idle_Loop() {
         // iteration.
         amsClearFlag();
 
-        return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_FAULT, match - 1};
+        return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_FAULT, match};
     }
 
     packetChecksumFails += (amsCellMeasurement(&modules) == HAL_ERROR);
@@ -99,16 +97,16 @@ ADBMS_DetailedStatus AMS_Idle_Loop() {
     }
 
     if ((match = any(module.overVoltage))) {
-        return (ADBMS_DetailedStatus){ADBMS_OVERVOLT, match - 1};
+        return (ADBMS_DetailedStatus){ADBMS_OVERVOLT, match};
     }
 
     if ((match = any(module.underVoltage))) {
-        return (ADBMS_DetailedStatus){ADBMS_UNDERVOLT, match - 1};
+        return (ADBMS_DetailedStatus){ADBMS_UNDERVOLT, match};
     }
 
     // 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 - 1};
+        return (ADBMS_DetailedStatus){ADBMS_INTERNAL_BMS_OVERTEMP, match};
     }
 
     // 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 | %02X %02X ", HAL_GetTick(), args[0], args[1]);
+      debug_log(LOG_LEVEL_NOISY, "%lu W | %x %x ", 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]);
-          }
+      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]);
         }
       }
+
+      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 | %02X %02X ", HAL_GetTick(), command >> 8, command & 0xFF);
+    debug_log(LOG_LEVEL_NOISY, "%lu R | %x %x ", HAL_GetTick(), command >> 8, command & 0xFF);
 
     //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 ", buffer[BUFFER_BMS_OFFSET(i, arglen) + j]);
-        }
+    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]);
       }
     }
+
+    debug_log_cont(LOG_LEVEL_NOISY, "\n");
   }
 
   //check data PEC

AMS_Master_Code/Core/Src/main.c

@@ -22,7 +22,6 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "ADBMS_Driver.h"
-#include "swo_log.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -59,7 +58,7 @@ 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 */
 
 /**
@@ -96,30 +95,15 @@ int main(void)
   MX_GPIO_Init();
   MX_SPI1_Init();
   /* USER CODE BEGIN 2 */
-  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);
-    }
-  }
+  AMS_Init(&hspi1);
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
   {
-    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);
+    AMS_Idle_Loop();
+    HAL_Delay(20);
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */

AMS_Master_Code/STM32-for-VSCode.config.yaml

@@ -24,9 +24,6 @@ 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: []
@@ -43,7 +40,6 @@ asDefinitionsFile:
 cFlags: 
   - -Wall
   - -Wextra
-  - -Wshadow
   - -fdata-sections
   - -ffunction-sections
   - -std=gnu23