; M365 dashboard compability lisp script ; UART Wiring: red=5V black=GND yellow=COM-TX (UART-HDX) green=COM-RX (button)+3.3V with 1K Resistor ; Tested on VESC 6.06 using M365 BLE (version 1.3.6) with spintend ubox Lite 100 100 ; Edited by Zodiak: Thanks to AKA13, 1zuna and sharkboy for original script! ; ============================================================================================================================== ; -> User parameters (change these to your needs) ; ============================================================================================================================== (def software-adc 1) ; if set to "1" than software adc is enabled - if set to "0" hardware adc is enabled (def min-adc-thr 0.1) ; no need to change this value (def max-adc-thr 0.9) ; no need to change this value (def min-adc-brake 0.1) ; no need to change this value (def max-adc-brake 0.9) ; no need to change this value (def vesc-high-temp 60.0) ; set limit for controller temperature warning (degree) (def mot-high-temp 100.0) ; set limit for motor temperature warning (degree) (def cruise-control 1) ; set this value to "1" to enable cruise control in secret mode; set it to 0 to disable it (def cruise-hold-time 5) ; hold throttle steady for this many seconds to activate cruise control (def use-mph 0) ; set this value to "1" for mph and "0" for km/h - this only affects the displayed speed on the dash! (def show-bat-in-idle 1) ; set to "1" to show battery percentage in idle (only in secret mode) (def min-speed 1.0) ; minimum speed in km/h to "activate" the motor, you can also set this to "0" (def button-safety-speed 0.1) ; disabling button above 0.1 km/h (due to safety reasons) (def taillight-brightness 0.30) ; taillight brightness 0.0 to 1.0 - 1.0 max brightness (def brakelight-offset 0.00) ; brakelight offset (taillight(0.30) + offset(0.70)) = brakelight (1.00)) /// set to 0.00 if you want to disable brakelight! ; Speed modes eco/drive/sport (always km/h and not mph!, current scale, watts, field weakening, overmodulation) (def eco-speed 35) ; maximum speed in km/h - in this example 7 km/h (def eco-current 0.3) ; scaled maximum current, 0.0 to 1.0 - in this example 30% of the defined "motor current max" (def eco-watts 350) ; maximum wattage in W - in this example 350 W (def eco-fw 0) ; maximum field weakening current - in this example 0 A (def eco-ovmfactor 1.00) ; overmodulation factor - max recommended 1.15 (def drive-speed 50) (def drive-current 0.7) (def drive-watts 1000) (def drive-fw 0) (def drive-ovmfactor 1.00) (def sport-speed 50) (def sport-current 1) (def sport-watts 1500) (def sport-fw 0) (def sport-ovmfactor 1.00) ; Secret speed modes. To enable press the button 2 times while holding brake (between 10%-90%) and throttle (between 10%-90%) at the same time. ; Press throttle and brake fully at standstill (< 1 km/h) to disable the secret mode! (def secret-enabled 1) (def secret-eco-speed 35.0) (def secret-eco-current 0.5) (def secret-eco-watts 500) (def secret-eco-fw 0) (def secret-eco-ovmfactor 1.00) (def secret-drive-speed 60.0) (def secret-drive-current 1.0) (def secret-drive-watts 1500) (def secret-drive-fw 0) (def secret-drive-ovmfactor 1.1) (def secret-sport-speed 60.0) ; 100 km/h easy (def secret-sport-current 1.0) (def secret-sport-watts 1500) (def secret-sport-fw 0.0) (def secret-sport-ovmfactor 1.15) ; ============================================================================================================================== ; -> Code starts here (DO NOT CHANGE ANYTHING BELOW THIS LINE IF YOU DON'T KNOW WHAT YOU ARE DOING) ; ============================================================================================================================== (import "pkg@://vesc_packages/lib_code_server/code_server.vescpkg" 'code-server) ; load VESC CAN code server (read-eval-program code-server) (uart-start 115200 'half-duplex) ; packet handling (gpio-configure 'pin-rx 'pin-mode-in-pu) (def tx-frame (array-create 14)) (bufset-u16 tx-frame 0 0x55AA) (bufset-u16 tx-frame 2 0x0821) (bufset-u16 tx-frame 4 0x6400) (def uart-buf (array-create 64)) (def presstime (systime)) ; button handling (def presses 0) (def off 0) ; mode states (def lock 0) (def speedmode 4) (def light 0) (def secret 0) (def prev-bat 0) (def bms-active 0) (def cruise-enabled 0) ; 1 = cruise is currently active, 0 = inactive (def cruise-armed 0) ; 1 = throttle held long enough, waiting for release (def cruise-hold-timer 0) ; systime when throttle hold started (def cruise-thr-ref 0.0) ; throttle level at start of hold (def last-cruise-activated-at (systime)) ; timestamp of last cruise activation (for 5s lock) (def cruise-beep-done 0) (def unplausible-adc-throttle 0) ; adc fault throttle (def unplausible-adc-brake 0) ; adc fault brake (def feedback 0) ; sound feedback (def beep-time 0) (pwm-start 200 0) ; taillight start pwm (200Hz / 0% duty) (if (= cruise-control 1) (app-adc-detach 2 1)) ; detach buttons (if (= software-adc 1) ; detach buttons and ADC (app-adc-detach 3 1)) ; detach ADC ;================================================================================================================================================== (defun beep (time count) ; beep routine (progn (set 'beep-time time) ; set beep duration (set 'feedback count))) ; set beep count ;================================================================================================================================================== (defun turn-on-ble () ; turn-on BLE routine (progn (set 'speedmode 4) ; set mode to sport (apply-mode) ; apply mode on start-up (set 'off 0) ; turn on (beep 1 1) ; beep feedback (duration & count) (stats-reset))) ; reset stats (VESC - RT DATA) when turning on ;================================================================================================================================================== (defun shut-down-ble () ; shut-down BLE routine (if (and (= lock 0) (= off 0)) ; it is unlocked and on? (progn (set 'secret 0) ; disable secretmode on turn off (set 'off 1) ; turn off (set 'light 0) ; turn off light (pwm-set-duty 0.0) ; turn off taillight (apply-mode) ; apply mode (beep 2 1)))) ; beep feedback (duration & count) ;================================================================================================================================================== (defun adc-input (buffer) ; Frame 0x65 (let ((throttle (/ (bufget-u8 uart-buf 4) 77.3)) ; 255/3.3 = 77.3 ???? auf buffer umschreiben? (brake (/ (bufget-u8 uart-buf 5) 77.3))) ; 255/3.3 = 77.3 ???? auf buffer umschreiben (progn (set 'unplausible-adc-throttle (if (or (< throttle 0.4) (> throttle 2.8)) 1 0)) (set 'unplausible-adc-brake (if (or (< brake 0.4) (> brake 2.8)) 1 0)) (if (< throttle 0) (setf throttle 0)) ; clamp low (if (> throttle 3.3) (setf throttle 0)) ; clamp high (if (< brake 0) (setf brake 0)) ; clamp low (if (> brake 3.3) (setf brake 3.3)) ; clamp high (app-adc-override 0 throttle) ; override throttle (app-adc-override 1 brake)))) ; override brake ;================================================================================================================================================== (defun cruise-control-logic (thr brake speed-kmh now) (progn ;; --- Phase 1: throttle pressed - start/maintain hold timer --- (if (and (= cruise-enabled 0) (= cruise-armed 0) (> speed-kmh 3) (> thr min-adc-thr) (< brake min-adc-brake) (> (secs-since last-cruise-activated-at) 5)) (progn (if (= cruise-hold-timer 0) (progn ; first press - start timer and record reference (set 'cruise-hold-timer now) (set 'cruise-thr-ref thr))) (if (> (abs (- thr cruise-thr-ref)) 0.10) ; throttle shifted > 10% - reset timer (progn (set 'cruise-hold-timer now) (set 'cruise-thr-ref thr))) (if (> (secs-since cruise-hold-timer) cruise-hold-time) (progn (set 'cruise-armed 1) (beep 1 1))))) ; single beep - timer elapsed, release throttle to activate ;; --- Phase 2: armed + throttle released = ACTIVATE --- (if (and (= cruise-enabled 0) (= cruise-armed 1) (< thr min-adc-thr) (< brake min-adc-brake)) (progn (set 'cruise-enabled 1) (app-adc-override 3 1) (set 'last-cruise-activated-at now) (set 'cruise-armed 0) (set 'cruise-hold-timer 0))) ;; --- Reset arm if brake pressed or throttle released before armed --- (if (and (= cruise-enabled 0) (= cruise-armed 0) (or (< thr min-adc-thr) (> brake min-adc-brake))) (set 'cruise-hold-timer 0)) ;; --- Cancel arm if brake pressed while armed --- (if (and (= cruise-armed 1) (> brake min-adc-brake)) (progn (set 'cruise-armed 0) (set 'cruise-hold-timer 0))) ;; --- Disable active cruise on throttle or brake (identical to original) --- (if (or (> thr min-adc-thr) (> brake min-adc-brake)) (progn (set 'cruise-enabled 0) (app-adc-override 3 0))) ;; --- Beep logic (identical to original) --- (if (and (= cruise-enabled 1) (= cruise-beep-done 0) (> (secs-since last-cruise-activated-at) 0.2)) (progn (beep 2 3) (set 'cruise-beep-done 1))) (if (and (= cruise-enabled 0) (= cruise-beep-done 1)) (progn (beep 0 0) (set 'cruise-beep-done 0))))) ;================================================================================================================================================== (defun handle-features() (progn (var speed-kmh (* (get-speed) 3.6)) (var thr (get-adc-decoded 0)) (var brake (get-adc-decoded 1)) (var now (systime)) (if (= cruise-control 1) (cruise-control-logic thr brake speed-kmh now)) (if (= software-adc 0) (progn (set 'unplausible-adc-throttle (if (let ((v (get-adc 0))) (or (< v 0.4) (> v 2.8))) 1 0)) (set 'unplausible-adc-brake (if (let ((v (get-adc 1))) (or (< v 0.4) (> v 2.8))) 1 0)))) ; plausibility check for brake (Adc voltage 1 outside the valid range of 0.4V and 2.8V) (if (and (> brake min-adc-brake) (> brakelight-offset 0) (= lock 0) (= off 0)) ; taillight & brakelight logic (pwm-set-duty (if (> (+ taillight-brightness brakelight-offset) 1.0) 1.0 (+ taillight-brightness brakelight-offset))) (if (= light 1) (pwm-set-duty taillight-brightness) (pwm-set-duty 0.0))) (if (and (= secret 1) (> thr max-adc-thr) (> brake max-adc-brake) (< speed-kmh 1)) ; secret mode reset (progn (set 'secret 0) (set 'speedmode 4) (apply-mode))) (if (or (= off 1) (= lock 1) (<= (+ 0.0001 speed-kmh) min-speed)) ; Off/Lock/Min-speed --> disable output (if (not (app-is-output-disabled)) (progn (app-adc-override 0 0) (app-disable-output -1) (set-current 0))) (if (app-is-output-disabled) (app-disable-output 0))))) ;================================================================================================================================================== (defun update-dash(buffer) ; Frame 0x64 (progn (var current-speed (* (l-speed) 3.6)) (var battery 0) (var adc-num (get-bms-val 'bms-temp-adc-num)) (var bat_temp1 0) (var bat_temp2 0) (var bat_temp_warning 0) (if (> adc-num 1) (set 'bat_temp1 (get-bms-val 'bms-temps-adc 1))) (if (> adc-num 2) (set 'bat_temp2 (get-bms-val 'bms-temps-adc 2))) (if (or (< bat_temp1 0) (> bat_temp1 50) (< bat_temp2 0) (> bat_temp2 50)) ; check if both temp sensors of the battery are between 0 and 50 degree (set 'bat_temp_warning 1) ; set warning (set 'bat_temp_warning 0)) ; disable warning (if (> (get-bms-val 'bms-soc) 0) (set 'bms-active 1)) ; if a bms returns a value -> bms active (set 'battery (round (* (if (= bms-active 1) (get-bms-val 'bms-soc) (get-batt)) 100))) ; use internal SoC (State of Charge) or use BMS-SoC (if (and (= bms-active 1) (= battery 0) (> prev-bat 1)) (set 'battery prev-bat) (set 'prev-bat battery)) ; prevents sudden drops to 0% if the previous value was above 1%; (if (= off 1) (bufset-u8 tx-frame 6 16) ; mode field (1=drive, 2=eco, 4=sport, 8=charge, 16=off, 32=lock) (if (= lock 1) (bufset-u8 tx-frame 6 32) ; lock display (if (or (>= (get-temp-fet) vesc-high-temp) (>= (get-temp-mot) mot-high-temp) (= bat_temp_warning 1)) ; temp icon (bufset-u8 tx-frame 6 (+ 128 speedmode)) (bufset-u8 tx-frame 6 speedmode)))) (if (= use-mph 1) (bufset-u8 tx-frame 6 (+ (bufget-u8 tx-frame 6) 64))) (bufset-u8 tx-frame 7 battery) ; batt field (if (= off 0) ; light field (bufset-u8 tx-frame 8 light) (bufset-u8 tx-frame 8 0)) (if (= lock 1) ; beep field (if (> (abs current-speed) 0.1) (bufset-u8 tx-frame 9 1) ; beep lock (bufset-u8 tx-frame 9 0)) (if (> feedback 0) (progn (bufset-u8 tx-frame 9 beep-time) (set 'feedback (- feedback 1))) (bufset-u8 tx-frame 9 0))) (if (and (= show-bat-in-idle 1) (= secret 1)) ; speed field (if (> current-speed 1) (bufset-u8 tx-frame 10 (round (* current-speed (if (= use-mph 1) 0.62 1)))) (bufset-u8 tx-frame 10 battery)) (bufset-u8 tx-frame 10 (round (* current-speed (if (= use-mph 1) 0.62 1))))) (bufset-u8 tx-frame 11 (get-fault)) (if (= unplausible-adc-throttle 1) (bufset-u8 tx-frame 11 14)) (if (= unplausible-adc-brake 1) (bufset-u8 tx-frame 11 15)) (if (and (= (get-fault) 0) (= unplausible-adc-throttle 0) (= unplausible-adc-brake 0) (= cruise-beep-done 1) (< (secs-since last-cruise-activated-at) 4) ) (bufset-u8 tx-frame 11 (round (* current-speed (if (= use-mph 1) 0.62 1))))) (var crc 0) ; calc crc (looprange i 2 12 (set 'crc (+ crc (bufget-u8 tx-frame i)))) (var c-out (bitwise-xor crc 0xFFFF)) (bufset-u8 tx-frame 12 c-out) (bufset-u8 tx-frame 13 (shr c-out 8)) (uart-write tx-frame))) ; write ;================================================================================================================================================== (defun read-frames () (loopwhile t (progn (uart-read-bytes uart-buf 3 0) (if (= (bufget-u16 uart-buf 0) 0x55aa) (progn (var len (bufget-u8 uart-buf 2)) (var crc len) (if (and (> len 0) (< len 60)) ; max 64 bytes (progn (uart-read-bytes uart-buf (+ len 4) 0) (looprange i 0 len (set 'crc (+ crc (bufget-u8 uart-buf i)))) (if (= (+ (shl (bufget-u8 uart-buf (+ len 2)) 8) (bufget-u8 uart-buf (+ len 1))) (bitwise-xor crc 0xFFFF)) (handle-frame (bufget-u8 uart-buf 1)))))))))) ;================================================================================================================================================== (defun handle-frame (code) (progn (if (and (= code 0x65) (= software-adc 1)) (adc-input uart-buf)) (update-dash uart-buf))) ;================================================================================================================================================== (defun apply-mode () (cond ((= speedmode 1) (if (= secret 0) (configure-speed drive-speed drive-watts drive-current drive-fw drive-ovmfactor) (configure-speed secret-drive-speed secret-drive-watts secret-drive-current secret-drive-fw secret-drive-ovmfactor))) ((= speedmode 2) (if (= secret 0) (configure-speed eco-speed eco-watts eco-current eco-fw eco-ovmfactor) (configure-speed secret-eco-speed secret-eco-watts secret-eco-current secret-eco-fw secret-eco-ovmfactor))) ((= speedmode 4) (if (= secret 0) (configure-speed sport-speed sport-watts sport-current sport-fw sport-ovmfactor) (configure-speed secret-sport-speed secret-sport-watts secret-sport-current secret-sport-fw secret-sport-ovmfactor))))) ;================================================================================================================================================== (defun configure-speed (speed watts current fw ovm) (progn (set-param 'max-speed (/ speed 3.6)) (set-param 'l-watt-max watts) (set-param 'l-current-max-scale current) (set-param 'foc-fw-current-max fw) (set-param 'foc-overmod-factor ovm))) ;================================================================================================================================================== (defun set-param (param value) (progn (conf-set param value) (loopforeach id (can-list-devs) (progn (looprange i 0 5 (progn (if (eq (rcode-run id 0.1 `(conf-set (quote ,param) ,value)) t) (break t)) false)))))) ;================================================================================================================================================== (defun l-speed () (progn (var l-speed (get-speed)) (loopforeach i (can-list-devs) (progn (var l-can-speed (canget-speed i)) (if (< l-can-speed l-speed) (set 'l-speed l-can-speed)))) l-speed)) ;================================================================================================================================================== (defun handle-button () (if (= presses 1) (if (= lock 0) (set 'light (bitwise-xor light 1))) (if (>= presses 2) (if (and (> (get-adc-decoded 1) min-adc-brake) (< (get-adc-decoded 1) max-adc-brake)) ; if brake is pressed (if (and (= secret-enabled 1) (= secret 0) (> (get-adc-decoded 0) min-adc-thr) (< (get-adc-decoded 0) max-adc-thr)) (progn (beep 1 2) ; beep 2x (set 'secret 1) (apply-mode)) (progn (set 'lock (bitwise-xor lock 1)) ; lock on or off (beep 1 1)) ; beep feedback ) (if (= lock 0) (progn (cond ((= speedmode 1) (set 'speedmode 4)) ((= speedmode 2) (set 'speedmode 1)) ((= speedmode 4) (set 'speedmode 2))) (apply-mode))))))) ;================================================================================================================================================== (defun button-logic () (progn (var stable-button 0) (var counter 0) (var threshold 4) (loopwhile t (progn (var button (bitwise-xor (gpio-read 'pin-rx) 1)) ; button active-low -> invert (if (= button 1) ; integrator debounce (if (< counter threshold) (set 'counter (+ counter 1))) (if (> counter 0) (set 'counter (- counter 1)))) (if (and (= counter threshold) (= stable-button 0)) (progn (set 'stable-button 1) (if (= off 1) (progn (turn-on-ble) (reset-button)) (progn (set 'presses (+ presses 1)) (set 'presstime (systime)))))) (if (and (= counter 0) (= stable-button 1)) ; falling edge (button release) (set 'stable-button 0)) (button-apply stable-button) (handle-features) (sleep 0.01))))) ;================================================================================================================================================== (defun button-apply(button) (progn (var time-passed (- (systime) presstime)) (var is-inactive (or (= off 1) (<= (* 3.6 (get-speed)) button-safety-speed))) (if (> time-passed 2500) ; after 250 ms (if (= button 1) ; check button is still pressed (if (and (> time-passed 10000) (> presses 0)) ; long press after 1000 ms (progn (if is-inactive (shut-down-ble)) (reset-button))) ; reset button (if (> presses 0) ; if presses > 0 (progn (if is-inactive (handle-button)) ; handle button presses (reset-button))))))) ; reset button ;================================================================================================================================================== (defun reset-button () (progn (set 'presstime (systime)) (set 'presses 0))) ;================================================================================================================================================== (apply-mode) ; Apply mode on start-up (spawn 150 read-frames) ; Spawn UART reading frames thread (button-logic) ; Start button logic in main thread - this will block the main thread