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Improvements for M365 Dashboard Lisp #234

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Improvements for M365 Dashboard Lisp #234

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71c060b
improved m365 dash
1zun4 May 19, 2022
d6d6b5b
not needed
1zun4 May 19, 2022
f2c079f
improved m365 dash
1zun4 Jun 4, 2022
2ee2c2b
fixed off and lock mode
1zun4 Jun 4, 2022
0076b72
cleanup
1zun4 Jun 4, 2022
362ae73
renamed locked to lock
1zun4 Jun 4, 2022
4a7da8b
few comments
1zun4 Jun 4, 2022
91cc9c3
improved m365 dash
1zun4 Jun 12, 2022
ad3c206
improved m365 dash
1zun4 Jun 13, 2022
c29e85f
added missing progn
1zun4 Jun 13, 2022
db68ad3
fixed accidentally dividing watts
1zun4 Jun 23, 2022
3603fdf
Improve throttle and brake handling
1zun4 Aug 9, 2022
3b74a06
fixed lock function
1zun4 Sep 13, 2022
7876788
Revert "fixed lock function"
1zun4 Sep 15, 2022
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294 changes: 250 additions & 44 deletions res/Lisp/Examples/m365_dash.lisp
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Original file line number Diff line number Diff line change
@@ -1,19 +1,34 @@
;m365 dashboard free for all by Netzpfuscher
;red=5V black=GND yellow=COM-TX (UART-HDX) green=COM-RX (button)
; M365 dashboard compability lisp script by Netzpfuscher and 1zuna
; Tested with Flipsky 75100 on COMM connector
; UART Wiring: red=5V black=GND yellow=COM-TX (UART-HDX) green=COM-RX (button)+3.3V with R470 Resistor
; German guide: https://rollerplausch.com/threads/vesc-controller-einbau-1s-pro2-g30.6032/

;****User parameters****
; **** User parameters ****
;Calibrate throttle min max
(define cal-thr-lo 32.0)
(define cal-thr-hi 178.0)
(define cal-thr-lo 41.0)
(define cal-thr-hi 167.0)
(define thr-deadzone 0.05)

;Calibrate brake min max
(define cal-brk-lo 32.0)
(define cal-brk-hi 178.0)
(define cal-brk-lo 39.0)
(define cal-brk-hi 179.0)
(define brk-deadzone 0.05)
(define brk-minspeed 1)

(define light-default 0)
(define show-faults 1)
(define show-batt-in-idle 1)
(define min-speed 1)

;****Code section****
; Speed modes with MAX KM/H and MAX WATTS
(define speed-eco 7)
(define watt-eco 400)
(define speed-drive 17)
(define watt-drive 500)
(define speed-sport 21) ; or 400
(define watt-sport 700) ; or 1500000

; **** Code section ****
(uart-start 115200 'half-duplex)
(gpio-configure 'pin-rx 'pin-mode-in-pu)

Expand All @@ -23,35 +38,151 @@
(bufset-u16 tx-frame 4 0x6400)

(define uart-buf (array-create type-byte 64))
(define current-speed 0)
(define throttle-in 0)
(define throttle 0)
(define brake-in 0)
(define brake 0)
(define buttonold 0)
(define light 0)
(setvar 'light light-default)
(define c-out 0)
(define code 0)

; Button handling

(define presstime (systime))
(define presses 0)

; Mode states

(define off 0)
(define lock 0)
(define speedmode 4)

(conf-set 'max-speed (/ speed-sport 3.6))
(conf-set 'l-watt-max watt-sport)

(defun inp (buffer) ;Frame 0x65
; Sound feedback

(define feedback 0)

(defun inp(buffer) ; Frame 0x65
(progn
(setvar 'throttle (/(-(bufget-u8 uart-buf 4) cal-thr-lo) cal-thr-hi))
(setvar 'brake (/(-(bufget-u8 uart-buf 5) cal-brk-lo) cal-brk-hi))
(if (> brake 0.01)
(set-brake-rel brake)
(set-current-rel throttle)
(setvar 'current-speed (* (get-speed) 3.6))

; Throttle
(setvar 'throttle-in (bufget-u8 uart-buf 4))
(setvar 'throttle (/(- throttle-in cal-thr-lo) cal-thr-hi))

(if (< throttle thr-deadzone)
(setvar 'throttle 0)
)
(if (> throttle 1)
(setvar 'throttle 1)
)

; Brake
(setvar 'brake-in (bufget-u8 uart-buf 5))
(setvar 'brake (/(- brake-in cal-brk-lo) cal-brk-hi))

(if(< brake brk-deadzone)
(setvar 'brake 0)
)
(if (< current-speed brk-minspeed)
(setvar 'brake 0)
)
(if (> brake 1)
(setvar 'brake 1)
)

(if (= (+ off lock) 0)
(progn ; Driving mode
(if (> current-speed min-speed)
(set-current-rel throttle)
(set-current-rel 0)
)
(if (not (= brake 0))
(set-brake-rel brake)
)
)
(progn
(set-current-rel 0) ; No throttle input when off or locked

(if (= lock 1) ; Check if it is locked
(if (> current-speed min-speed) ; Brake when being pushed while locked
(set-brake-rel 1) ; Full power brake
(set-brake-rel 0) ; No brake
)
(set-brake-rel 0) ; No brake input when off
)
)
)
)
))
)

(defun outp (buffer) ;Frame 0x64
(defun outp(buffer) ; Frame 0x64
(progn
(setvar 'crc 0)
(looprange i 2 12
(setvar 'crc (+ crc (bufget-u8 tx-frame i))))
(setvar '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)
))

(defun read-thd ()
; mode field (1=drive, 2=eco, 4=sport, 8=charge, 16=off, 32=lock)
(if (= off 1)
(bufset-u8 tx-frame 6 16)
(if (= lock 1)
(bufset-u8 tx-frame 6 32) ; lock display
(bufset-u8 tx-frame 6 speedmode)
)
)

; batt field
(bufset-u8 tx-frame 7 (*(get-batt) 100))

; light field
(if (= off 0)
(bufset-u8 tx-frame 8 light)
(bufset-u8 tx-frame 8 0)
)

; beep field
(if (= lock 1)
(if (> (* (get-speed) 3.6) min-speed)
(bufset-u8 tx-frame 9 1) ; beep lock
(bufset-u8 tx-frame 9 0))
(if (> feedback 0)
(progn
(bufset-u8 tx-frame 9 1)
(setvar 'feedback (- feedback 1))
)
(bufset-u8 tx-frame 9 0)
)
)

; speed field
(if (= show-batt-in-idle 1)
(if (> (* (get-speed) 3.6) 1)
(bufset-u8 tx-frame 10 (* (get-speed) 3.6))
(bufset-u8 tx-frame 10 (*(get-batt) 100)))
(bufset-u8 tx-frame 10 (* (get-speed) 3.6))
)

; error field
(if (= show-faults 1)
(bufset-u8 tx-frame 11 (get-fault))
)

; calc crc

(setvar 'crc 0)
(looprange i 2 12
(setvar 'crc (+ crc (bufget-u8 tx-frame i))))
(setvar 'c-out (bitwise-xor crc 0xFFFF))
(bufset-u8 tx-frame 12 c-out)
(bufset-u8 tx-frame 13 (shr c-out 8))

; write
(uart-write tx-frame)
)
)

(defun read-thd()
(loopwhile t
(progn
(uart-read-bytes uart-buf 3 0)
Expand All @@ -66,26 +197,101 @@
(setvar '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))
(progn
(if(= (bufget-u8 uart-buf 1) 0x65)
(inp uart-buf))
(if(= (bufget-u8 uart-buf 1) 0x64)
(outp uart-buf))
(setvar 'code (bufget-u8 uart-buf 1))

(if(= code 0x65)
(inp uart-buf)
)
))))))))
;(if(= code 0x64)
(outp uart-buf)
;)
)
)
)
)
)
)
)
)
)

(spawn 150 read-thd) ; Run UART in its own thread
; Spawn UART reading thread
(spawn 150 read-thd)

(loopwhile t
(progn
(if (> buttonold (gpio-read 'pin-rx))
(setvar 'light (bitwise-xor light 1))
)
(setvar 'buttonold (gpio-read 'pin-rx))
(bufset-u8 tx-frame 7 (*(get-batt) 100))
(bufset-u8 tx-frame 8 light)
(bufset-u8 tx-frame 10 (* (get-speed) 3.6))
(if (= show-faults 1)
(bufset-u8 tx-frame 11 (get-fault))
)
(sleep 0.1)
))
; If you do not have any R470 resistors or it still occours to press buttons randomly, try uncommenting this:
(if (<= (* (get-speed) 3.6) min-speed)
(progn
(if (> buttonold (gpio-read 'pin-rx))
(progn
(setvar 'presses (+ presses 1))
(setvar 'presstime (systime))
)
(if (> (- (systime) presstime) 2500) ;
(if (= (gpio-read 'pin-rx) 0) ; check if button is still pressed
(if (> (- (systime) presstime) 6000) ; instead check for long press
(progn
(if (= lock 0) ; it is locked? do not turn off
(progn
(setvar 'off 1) ; turn off
(setvar 'feedback 1) ; beep feedback
)
)
(setvar 'presstime (systime)) ; reset press time again
(setvar 'presses 0)
)
)
(progn ; else if button not pressed
(if (= presses 1) ; single press
(if (= off 1) ; is it off? turn on scooter again
(progn
(setvar 'off 0) ; turn on
(setvar 'feedback 1) ; beep feedback
)
(setvar 'light (bitwise-xor light 1)) ; toggle light
)
)

(if (>= presses 2) ; double press
(progn
(if (> brake 0.02)
(setvar 'lock (bitwise-xor lock 1))
(progn
(if (= speedmode 1) ; is drive?
(progn
(conf-set 'max-speed (/ speed-sport 3.6))
(conf-set 'l-watt-max watt-sport)
(setvar 'speedmode 4) ; to sport
)
(if (= speedmode 2) ; is eco?
(progn
(conf-set 'max-speed (/ speed-drive 3.6))
(conf-set 'l-watt-max watt-drive)
(setvar 'speedmode 1) ; to drive
)
(if (= speedmode 4) ; is sport?
(progn
(conf-set 'max-speed (/ speed-eco 3.6))
(conf-set 'l-watt-max watt-eco)
(setvar 'speedmode 2) ; to eco
)
)
)
)
)
)
)
)

(setvar 'presses 0)
)
)
)
)

(setvar 'buttonold (gpio-read 'pin-rx))
))
(sleep 0.01)
)
)
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