All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog.
foxBMS 2 uses the following versioning pattern
PATCH are numbers.
Versioning follows then these rules:
MAJORintroduces incompatible changes
MINORadds functionality in a backwards compatible manner
PATCHfixes bugs in a backwards compatible manner
2.1. [1.2.0] - 2021-10-21¶
Added stubs for the Bender IR155 insulation monitoring device driver (i.e. driver is non-functional).
Extended the documentation with a render of the architecture against which the foxBMS implementation is checked.
Added driver for I2C communication for MCU.
Added driver for I2C port expander.
Added driver for I2C humidity/temperature sensor.
Implemented feedback through auxiliary contacts for the contactor driver.
Debug LED is now toggled depending on system state (slow: okay, fast: error)
Added an option to install a pre-commit hook in the repository. The pre-commit hook runs the guidelines check (see Git Hooks).
Added a driver module that allows to use the enhanced PWM features of the MCU.
Adapted CAN module to receive/transmit messages either via CAN1 or CAN2.
Annotate maximum stack size in FreeRTOS so that debugger can catch this information.
Updated the hardware design files (e.g., schematics, layout, BOM and STEP file etc.) of the BMS-Master Board to
Added information on citing the project in
Added driver for interlock.
The measurement IC (
MIC) module has been renamed to Analog Front-End (
clean_allneed to run the Axivion related commands as last steps.
The file content of the linker script for the elf file is now hashed using Unix-style line endings as this is more robust (e.g., downloaded zip files from GitHub releases).
Sort the SPI formats so that there are no conflicts between the configuration on SPI1 and SPI4 (Both are connected to the interface connector).
Control the pins of the interface for LTC AFEs with the port expander on the foxBMS 2 master board.
The documentation build defaults now only to
linkcheckhas been removed.
Removed unused code in main build script.
Fixed variable name typos in
A specific order of build/clean commands related to Axivion build and clean commands resulted in build errors. Now the build is early aborted if a wrong order is supplied and a descriptive error message is printed to stderr.
The documentation included a wrong statement about how to configure FreeRTOS.
Battery voltage is now transmitted correctly via CAN (ID: 0x222).
2.2. [1.1.2] - 2021-09-03¶
A basic block diagram and description of a battery system and the voltages. and the currents that need to be measured have been included in the documentation.
Add helper script to run the library test build (
Updated the Axivion configuration to use version
Added minimal documentation for Axivion setup.
Improved the Axivion configuration:
FAS_ASSERTas assert macro in order to be compliant with the style guide
fix some includes (library-inclusions and unnecessary inclusions)
adds the Axivion example for race condition analysis and a minimal configuration of entry points
updates .axivion.preinc with missing symbols
makes cafeCC point to the right compiler library
excludes vendored code from analysis
disables all naming conventions (as they are currently not configured and thus horribly noisy)
disables the NoImplicitTypeConversion check as it is very noisy and better done with appropriate MISRA rules
detect unsafe variable access by defining task priorities
make Axivion less noisy, by disabling unused style-checks.
Made rules for loop-counter variables more strict.
enabling more detailed computation of findings (Abstract Interpretation in Static Semantic Analysis).
Improved the code quality of the module
foxmathso that it is MISRA-compliant (Section 4.18).
cc-optionsparsing to separate tool to simplify the TI ARM CGT compiler tool.
When HALCoGen was not available, the waf tool nevertheless tried to set the respective include path, which lead to exception in Python. This has been fixed by not trying to set the include path when HALCoGen is not available.
2.3. [1.1.1] - 2021-08-06¶
All measurement values are now invalidated after startup to prevent invalid data on CAN.
Add a script for VS Code detection.
Added signal data for string related CAN messages
fixed bug, that multiplexed cell voltages 2+3 were transmitted incorrectly via CAN (
fixed bug, that current limits were transmitted incorrectly via CAN (
2.4. [1.1.0] - 2021-07-29¶
foxBMS 2 now defaults to Code Composer Studio 10.3.1 in order to build
the binaries. If an older version of the compiler should be used, it can be
conf/env/paths_win32.txt. For installation instructions
see Section 3.2.1.
foxBMS 2 now ships with a new conda environment
2021-08-arctic-fox and the
local conda environments need to updated (see Section 3.3).
Diagnosis entries can now be configured specifically for each LTC6813-1 instance.
Endianness is now configurable in CAN module.
Add number of balanced cells in each string to database entry
Added a built-in self-test for the database module that writes and reads an entry during startup of the system.
Added a helper tool for the maintenance of the list of licenses in the conda environment.
Added a helper macro for the generation of array initializers (
Documented how to use Ozone to show the location of a failed assertion.
Cell voltages and temperatures are each stored in one array containing all values. Added database helper functions to get string, module or cell/sensor number from index in the global array.
Added a block diagram of the foxBMS 2 master hardware.
Added a SPI API function that allows to switch the functional state (GIO or SPI) of a SPI pin of the MCU.
Added testing for different versions of TI CCS (versions
Add fallback compiler detection.
Added a link to foxBMS project website with acknowledgment information:
List of funded projects foxBMS has received funding from
Instructions on how to reference to foxBMS 2
Added handling of I2C multiplexers to the Maxim monitoring IC driver.
Added a flash tool to the waf toolchain. It is based on SEGGER J-Flash and can be invoked by calling
waf install_binor running the
Added a short note on the installation of PEAK-Drivers (for CAN communication) to the installation manual.
Added a section on testing the setup of the toolchain.
Added configurable reaction type, delay and severity for each diagnosis entry.
Configuration of failures, that lead to a transition to the error state is now done by configuring the severity of the respective diagnosis entry to
DIAG_FATAL_ERROR. The handling of the timing delay to transition into error state is done by the BMS module.
Implemented CAN messages defined in .dbc file. Only stubs are implemented for some CAN messages respectively some signals.
Documented workarounds that have to be applied to HALCoGen.
The schematic of the BMS-Master Board has been updated (
The new default compiler set in
conf/env/paths_win32.txtis now TI ARM CGT v20.2.4.LTS (shipped with CCS
Reorganized the compiler tests in
Updated the development conda environment to
2021-06-arctic-fox. Please run the
conda-update-env.batscript in order to update your local environment (see Section 3.3).
CAN callback functions are now defined in separate files to increase readability.
Ring buffer for CAN RX was replaced by a FreeRTOS queue. A DIAG entry was added that detects if the queue is full when trying to add an element.
Updated the black configuration to match the new python version (
Improved the Ozone configuration so that an data breakpoint is set automatically on the symbol
Run VS Code build tasks as process.
Use posix paths in VS Code configuration on all host platforms.
Improved the MISRA compliance of the monitoring driver for the family of Maxim ICs.
Pause the terminal when running
waf.shin case the conda base or development environment could not be found. This is done to clearly point the user to the error message.
Moved the struct storing the version of the software to a fixed location (address
0x003FFF40) in flash memory.
Replace all access to registers through the
IO_functions with an access that keeps the volatile keyword on the register.
Dropped the requirement for an internal library (
pyhameg) in the HIL test.
Updated the unit test framework
Simplified the configuration of the cppcheck tool.
Improved several function names in the
All required Queues are now created in one function (
FTSK_CreateQueues) before the scheduler starts.
Split the waf compiler tool into smaller sub-tools to simplify maintenance and tests.
Completely removed dynamic allocation from FreeRTOS and reduced the (unused) heap size to 0.
Removed deprecated option
COLS_IN_ALPHA_INDEXfrom the doxygen configurations.
Disabled FEE driver in the HALCoGen project as it is currently unused.
Removed the hardware design files from the
hardwaredirectory and provided a URL under which the files can be found.
The implementation of
DIAG_ErrorCurrentOnOpenString()had an error where the wrong enum has been used leading to an assertion.
Fixed bug in SOC/SOE counting module that extrapolated for cell voltages below lookup-table range
Fixed bug that caused current sensor scaling values to be only recalibrated after startup and not while recalibrating SOC/SOE values via LUT when BMS is at rest.
A race condition between the SOC and SOE calculation lead to a mutual overwriting of the state estimation values.
Added documentation for the CAN module.
The regex to parse the
linkcheckoutput in case of a broken URL did not match and raised an exception. The regex is now simpler and has a fallback option.
voidfunctions used unnecessary
return;at the end of the function. These returns have been removed.
blackwould fail to write to the cache pickle due to concurrent write processes of multiple
blackprocesses. This issue has been fixed by passing all files, that should be checked, at once to
Fixed comparison error in SOF module that compared mA with A.
Some C-language guideline checks did not properly take C language global excludes into account.
Updated links in Section 5.
Fixed construction of the path variable in batch scripts.
2.5. [1.0.2] - 2021-04-30¶
Added number of valid cell voltages and temperatures used for calculating minimum, maximum and average values to database entry
Added the build option
--skip-doxygento enable faster documentation builds, if an API documentation is not required/does not need to be updated.
Do no longer hard code the EOL for the files in the VS Code settings, instead just use the system EOL instead.
Fixed typo in changelog. The LTC 6804-1 is basically an older version of the LTC 6811-1 (previously it stated wrongly LTC 6812-1).
spellingwere not run when the documentation was built.
The GUI searched for the wrong license file during startup routine and therefore failed to start successfully.
Improved the readability of the engine block schematic in the general software documentation.
Fixed an issue where the
waf.sh-wrapper would not print the error message when the conda environment could not be found.
Removed unused variables in build scripts.
Fixed readmes in the tools directory and its subdirectories.
2.6. [1.0.1] - 2021-04-16¶
Added links to built versions of the documentation to the project README.
Added testing for different versions of TI CSS (versions 10.0.0 and 10.1.1).
Added a readme to the hardware directory.
Added support for LTC 6804-1 (basically an older version of the LTC 6811-1).
Added the updated design files of the foxBMS 2 master v1.0.1.
Activated URL availability checking for https://github.com/foxBMS/foxbms-2 when building the documentation.
Moved code examples in developer manual to separate source files.
The shebang in Python files has been updated from
Updated waf to version 2.0.22 (from 2.0.21).
Updated database documentation.
Updated information on tracing with Segger J-Trace probes.
Removed external quality check in CI. This functionality has been replaced by the “guidelines” feature that is shipped with this repository.
Use code page 850 as default when using the
without-halcogen_diff-includes.diffwas unintentionally excluded by the regex in
Fixed repository name in the documentation.
Fixed available waf commands and put the table in a separate csv file.
Fixed comments in LTC driver build scripts
Includes directories were not correctly set for the drivers LTC 6811-1 and LTC 6812-1.
Clarification and correction of the license namings (no changes in the licenses themselves). The license of the foxBMS 2 software is the BSD 3-Clause License. This license is also formally known as BSD 3-Clause “New” or “Revised” License. As of this release foxBMS 2 added the SPDX short identifier to the software sources (
SPDX-License-Identifier: BSD-3-Clause) according to SPDX Specification Version 2.2. The license text of the Creative Commons Attribution 4.0 International License has been added to the repository. The SPDX short name of this license is
CC-BY-4.0. For more information see License.
Fixed the names of variables in bash scripts on Windows.
2.7. [1.0.0] - 2021-04-01¶
Added automated installer script for miniconda3.
Added automated installer script for MinGW64.
Added automated installer script for LLVM.
Finalize red-fox conda environment
red-fox-devel-020. No packages are updated, just finalized the name.
Removed dependency of configured power lines from overcurrent check in SOA module. The overcurrent is now checked against allowed cell, string and pack current limits.
C source files, that are not vendored, are now
Improved the code quality by adding assertions in various locations and removing unused code.
Base decisions in
bmson pack value database entry as this entry contains only validated values. Do not directly use current sensor measurements anymore.
Fixed function names in the system monitoring module.
FALSEin embedded sources with
Updated LLVM to version 11.0.1
Only compile foxBMS 2 source and operating system sources in
Removed several unused defines.
Style guide check did not properly exclude files when checking
@prefixcheck in Doxygen comments.
Do not add
__DATE__macros to list of predefined defines in VS Code.
Create all build-time created include directories VS Code knows about in
c_cpp_properties.jsonto remove workspace warnings.
Nextbuttons back in rendered documentation.
Updated getting started information.
Fixed function names and variable names of database structs in the
Fixed function names and variable names of database structs in the
Fixed CAN driver problem when cache is enabled.
conda-init.batused a wrong path to write the
.condarcfile if the user name contained whitespace.
2.8. [0.3.0] - 2021-03-16¶
Added coverage reports for the unit tests of the waf-tools.
Added general safety information.
Added a rudimentary hardware change process to the hardware developer manual.
Added information on the criticality of used tools.
Added the calculation of pack values (current, power, high voltage) to the redundancy module.
Added a manual on using debugger by Segger or Lauterbach in conjunction with the platform.
Added a problem matcher to the
build_docstask in Visual Studio Code so that the IDE can parse warnings printed from Doxygen
Added documentation stubs for all embedded software modules
Added interface description for CAN communication (.dbc and .sym)
SBC no longer monitors input on FCCU pins as usage of these pins is currently not supported
The MIC modules are now able to define their own threshold values for plausible cell voltage measurements. In order to implement this, the MIC has to declare a struct of type
MIC_PLAUSIBILITY_VALUES_sand pass it to the plausibility-functions of the MIC.
Improves deployment speed with the internal deployment script.
Simplifies the macro that records the program counter in
fassert.hwith input from static analysis.
Disables the static analysis finding for dead branches in the expansion of the
FAS_ASSERTassertion macro as the assertion should not be hit by normal operating code.
Clarified the internal merge request template.
Asserts that the SPI function
SPI_TransmitReceiveDataDma()does not receive null pointer as parameter.
Improved minor code quality issues in the
Improved the documentation on installing dependencies.
DIAG_configAssert()as it is replaced by
The diagnosis module has been restructured. The callbacks for each type of diagnosis event are now implemented in type specific files, e.g., for the current sensor in
diag_cbs_current-sensor.c. These files are in
src/app/engine/diag/cbs/. Unit tests have been added.
Fixed typos related to battery cell and battery system.
Enhanced the documentation section on the build process.
Improved the documentation of the temperature sensor interface (TSI).
Some structs in the database did not conform to the naming conventions.
Renamed the hardware directory from
pylinttools have been moved into the guidelines tool. Configuration is now done via
rules.jsonas all other guidelines.
Corrected the function
LTC_I2CCheckACK()that did not check the acknowledge signal of multiplexer over I2C communication.
Corrected the function
LTC_SetMUXChCommand()because message content for I2C communication with multiplexers was wrong.
Corrected several instances in the
LTC6813-1-driver where the loop-counter variable has been declared outside of the loop.
Renamed function names in
redundancymodule to adhere to style guide rules.
Fixed wording and replaced isolation by insulation.
Replaced references to LG INR18650MJ1 by generic battery cell configuration.
Tasks were not initialized correctly. The IDLE task never run.
2.9. [0.2.0] - 2021-02-02¶
A parser to validate the linker output was added. The parser analyzes the output of the linking process to validate that symbols were pulled from the specified source. If the symbol is pulled from another source the build process throws an error.
A parser to validate the style guide rules was added. The parser analyzes the files in the repository for style guide rule compliance. If a rule is violated the check guidelines and style guide process throws an error.
Updated the development conda environment to
red-fox-devel-020with Python version 3.8, updated packages and new packages:
Documentation of the development workflow has been added as a draft.
Discard return value of
DATA_Task()as the return value is not further used.
Added first draft of
state estimationmodule. This module is located within the
algorithmmodule and responsible for calculating state of charge SOC, state of energy SOF, state of health SOH and state of function SOF. Different calculation methods for each state estimation algorithm can be selected via configuration file
Added a dummy insulation monitoring device driver. Non-functional Bender iso165c drivers have been added (driver fail to build).
Added a driver for Smart Power Switches that is encapsulated by the contactor module. The contactor module handles the communication with the Smart Power Switch driver and manages the ICs.
Added a state of energy SOE estimation implementation based on counting energy.
Added documentation of the hardware development flow.
Enabled the FreeRTOS idle hook in user code. That means that the function
FTSK_UserCode_Idle()will be called every time the OS goes into idle state.
Extended the conda environment with a sphinx-plugin that provides BiBTeX-capabilities. Added this plugin to the documentation build in order to generate bibliographies.
Extended the API of the Temperature Sensor Interface (TSI) in order to return maximum and minimum limits for plausible measurement values.
Extended the documentation with a manual for writing unit tests and a reference to the C coding standard the we use.
Added an initialization function to
sys_monmodule to detect possible configuration errors
Added more files to the unit test coverage analysis in order to have a more complete image of the project and its unit test coverage.
The conda environment configuration that is distributed within the has now an option to validate that it is working as intended. The conda environment can be tested by running
tools\utils\cmd\run-python-script.bat tests\env\packages_test.py -f tests\env\conda_env_win32.jsonfrom the repository root.
algorithm-implementation is now able to handle calling a function cyclically and calling an additional initialization function. The implementation of the algorithm does not need to interact with the
algorithm-API anymore as this is now handled by the module. In order to not block the rest of the system with an algorithm that might take longer for computation, the algorithm module has been moved into its own task with a lower priority.
Updated FreeRTOS to version 10.4.3 (from 10.3.0).
Updated waf to version 2.0.21 (from 2.0.20).
Consequently uses deci degree Celsius as integer-value (instead of degree Celsius floats) in the Temperature Sensor Interface (TSI).
slaveplausibility-modules into one central module in the MIC and renamed it to
Initialize runner variables in loops correctly as unsigned.
Changed linker script prefix from
Renamed all references in the build toolchain and documentation from
Source files are no longer needed to be added manually to the documentation, instead sources are linked into the documentation based on the Doxygen generated documentation.
UNITY_INCLUDE_EXEC_TIMEin the ceedling configuration in order to tell unity to track the time that a single test takes. This information is aggregated in the JUnit test report that is generated.
Updated the unit test framework
0.31.0and vendored the
ceedlingrelease with the repository in order to have more control over the executed version. Simplified the installation of Ruby in order to to reflect these changes. Simplified the
Removed the deprecated Anaconda extension from the list of recommended Visual Studio Code plugins that is shipped with the project.
If the runtime support library was missing on a machine, the configure step failed, although the runtime support library was successfully built by the compiler. Now a warning is printed that the runtime support library is missing and that it will be built. An error is no longer generated when the build succeeds.
The Maxim driver did not properly map multiple modules onto internal data structures for multi-string systems. This has been fixed.
Fixes various comparisons between incompatible enum types.
Fixed erroneous behavior of the GUI. The GUI implementation is now
Fixes erroneous hard-coded PEC-values in the LTC driver. A regression is prevented by added unit tests.
The project version number was missing in the documentation build. The version information is now properly passed to the documentation build.
The top of every documentation page began with
Fixed implicitly defined functions.
Fixed the unit test documentation on how to use ceedling directly. The old version mentioned a wrong path for the
project.ymlused by ceedling.
2.10. [0.1.0] - 2020-11-17¶