Refloat 1.2.0

refloat/.github/actions/build/action.yml

@@ -15,8 +15,8 @@ runs:
         authToken: '${{ inputs.cache-auth-token }}'
     - uses: rrbutani/use-nix-shell-action@v1
       with:
-        flakes: nixpkgs/nixos-24.11#gcc-arm-embedded-7, nixpkgs#gnumake, github:lukash/vesc_tool-flake/release_6_05
+        flakes: nixpkgs/nixos-24.11#gcc-arm-embedded-7, nixpkgs#gnumake, github:lukash/vesc_tool-flake/release_6_06
 
     - name: Build
       shell: bash
-      run: make -j OLDVT=1
+      run: make -j

refloat/.github/workflows/ci.yml

@@ -15,11 +15,11 @@ jobs:
       - uses: cachix/install-nix-action@v25
       - uses: rrbutani/use-nix-shell-action@v1
         with:
-          flakes: nixpkgs#clang-tools_18, nixpkgs#lefthook
+          flakes: nixpkgs#llvmPackages_18.clang-tools, nixpkgs#pre-commit
 
       - name: Run clang-format
         id: clang-format
-        run: lefthook run clang-format-check
+        run: pre-commit run --all-files --show-diff-on-failure --color always
 
       - name: Build Package
         if: success() || (failure() && steps.clang-format.conclusion == 'failure')

refloat/.github/workflows/create_release.yml

@@ -55,7 +55,9 @@ jobs:
         run: cat src/conf/confparser.h | sed -n 's/^#define .\+_SIGNATURE\W\+\([0-9]*\)/\1/p' > config_signature.txt
 
       - name: Rename Package File
-        run: mv refloat.vescpkg refloat-${{env.VERSION}}.vescpkg
+        run: |
+          mv refloat.vescpkg refloat-${{env.VERSION}}.vescpkg
+          mv src/package_lib.elf refloat-${{env.VERSION}}.elf
 
       - name: Install Changelog Generation Dependencies
         run: sudo apt-get install python3-git
@@ -74,7 +76,7 @@ jobs:
           tag: ${{github.ref}}
           name: Refloat ${{env.VERSION}}
           draft: true
-          artifacts: "refloat-${{env.VERSION}}.vescpkg,config_signature.txt"
+          artifacts: "refloat-${{env.VERSION}}.vescpkg,refloat-${{env.VERSION}}.elf,config_signature.txt"
           bodyFile: "release_notes.md"
           prerelease: ${{env.PRERELEASE}}
           allowUpdates: true

refloat/.pre-commit-config.yaml

@@ -0,0 +1,9 @@
+repos:
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        entry: clang-format -i
+        language: system
+        types: [c]
+exclude: ^vesc_pkg_lib/

refloat/CONTRIBUTING.md

@@ -73,17 +73,12 @@ clang-format -i src/*.{h,c}
 But, it's better to use git hooks.
 
 ## Git Hooks
-Refloat uses `lefthook` for managing git hooks. Again, you need to install this dependency in your development environment. Then run this to install the commit hook in the repo:
+Refloat uses `pre-commit` for managing git hooks. Again, you need to install this dependency in your development environment. Then run this to install the commit hook in the repo:
 ```sh
-lefthook install
+pre-commit install
 ```
 
-After this, `lefthook` will automatically run clang-format on every commit you make and check your formatting.
-
-To auto-fix all formatting of all files in your working tree, run:
-```sh
-lefthook run clang-format-fix
-```
+After this, `pre-commit` will automatically run clang-format on every commit you make, check and automatically fix your formatting.
 
 ## Naming Conventions
 - Type names are in `PascalCase`.

refloat/Makefile

@@ -7,9 +7,9 @@ OLDVT ?= 0
 
 all: refloat.vescpkg
 
-refloat.vescpkg: src package.lisp package_README-gen.md ui.qml
+refloat.vescpkg: src lisp/package.lisp package_README-gen.md ui.qml
 ifeq ($(OLDVT), 1)
-	$(VESC_TOOL) --buildPkg "refloat.vescpkg:package.lisp:ui.qml:0:package_README-gen.md:Refloat"
+	$(VESC_TOOL) --buildPkg "refloat.vescpkg:lisp/package.lisp:ui.qml:0:package_README-gen.md:Refloat"
 else
 	$(VESC_TOOL) --buildPkgFromDesc pkgdesc.qml
 endif

refloat/doc/commands/ALERTS_CONTROL.md

@@ -0,0 +1,11 @@
+# Command: ALERTS_CONTROL
+
+**ID**: 36
+
+**Status**: **unstable**
+
+The alerts control command.
+
+| Offset | Size | Name      | Mandatory | Description   |
+|--------|------|-----------|-----------|---------------|
+| 0      | 1    | `command` | Yes       | `1`: Clear Fatal Error<br> |

refloat/doc/commands/ALERTS_LIST.md

@@ -0,0 +1,34 @@
+# Command: ALERTS_LIST
+
+**ID**: 35
+
+**Status**: **unstable**
+
+Returns a list of active alerts and a log of alert history. The package maintains a number of last occurred alerts in a circular buffer. This command can return all of them, or, optionally provide a starting timestamp in ticks in the `since` argument. In such case only alerts which occurred after the timestamp are returned (note: the caller needs to take into account the possibility of the ticks overflowing, which occurs once every ~5 days).
+
+The response is limited to 511B in size, in case the alerts wouldn't fit in the message, the alert list will be trucncated (hence it's recommended to use the `since` argument to deal with this eventuality).
+
+## Request
+
+| Offset | Size | Name    | Mandatory | Description   |
+|--------|------|---------|-----------|---------------|
+| 0      | 4    | `since` | No        | Timestamp in ticks from which to list alerts in the log as `uint32`. |
+
+## Response
+
+| Offset | Size | Name                  | Description   |
+|--------|------|-----------------------|---------------|
+| 0      | 4    | `active_alert_mask_1` | Bits 0..31 of the `active_alert_mask`, indicating which [alert_id](alert_id.md)s are active. |
+| 4      | 8    | `active_alert_mask_2` | Bits 32..63 of the `active_alert_mask`, indicating which [alert_id](alert_id.md)s are active. |
+| 8      | 1    | `firmware_fault_code` | In case `ALERT_FW_FAULT` is active, the VESC firmware fault code, otherwise 0. |
+| 9      | ?    | `firmware_fault_name` | Iff `firmware_fault_code` is non-zero, a [string](string.md) containing the firmware fault name.
+| ?      | ?    | `alert_log`           | A sequence of `alert_record`s containing the alert history stored in the package. |
+
+**`alert_record`**:
+| Offset | Size | Name     | Description   |
+|--------|------|----------|---------------|
+| 0      | 4    | `time`   | Timestamp of the alert in ticks, as `uint32`. |
+| 4      | 1    | `id`     | The ID of the alert, see [alert_id](alert_id.md). |
+| 5      | 1    | `active` | `1` if the event represents the alert becoming active, `0` if the event marks the end of the alert. |
+| 6      | 1    | `code`   | If the Alert ID is `ALERT_FW_FAULT`, the code of the fault from the firmware, otherwise 0. |
+| 7      | ?    | `firmware_fault_name` | Iff Alert ID is `ALERT_FW_FAULT` and `firmware_fault_code` is non-zero, a [string](string.md) containing the firmware fault name.

refloat/doc/commands/DATA_RECORD.md

@@ -61,19 +61,13 @@ The client is responsible to request all the chunks of data by repeatedly callin
 
 **ID**: 42
 
-Response with the metadata for the recorded data. Sends the total number of samples and then a list of string IDs for the values in each sample, same as in [REALTIME_DATA](REALTIME_DATA.md).
+Response with the metadata for the recorded data. Sends the total number of samples and then a list of [string](string.md) IDs for the values in each sample, same as in [REALTIME_DATA](REALTIME_DATA.md).
 
 | Offset | Size | Name                     | Description   |
 |--------|------|--------------------------|---------------|
 | 0      | 4    | `size`                   | Size of the buffer in number of samples. The client is expected to fetch up to this number of samples. |
 | 4      | 1    | `recorded_data_id_count` | Number of the recorded items per sample (sample size). |
-| 5      | ?    | `recorded_data_ids`      | A `string` sequence repeated `recorded_data_id_count` times. |
-
-**`string`**:
-| Offset | Size | Name     | Description   |
-|--------|------|----------|---------------|
-| 0      | 1    | `length` | Length of the string. |
-| 1      | ?    | `string` | `length` number of characters of the string (not null-terminated). |
+| 5      | ?    | `recorded_data_ids`      | A [string](string.md) sequence repeated `recorded_data_id_count` times. |
 
 ## DATA_RECORD_DATA (Response)
 

refloat/doc/commands/LIGHTS_CONTROL.md

@@ -0,0 +1,26 @@
+# Command: LIGHTS_CONTROL
+
+**ID**: 20
+
+Controls the lights and returns current lighting state values.
+
+## Request
+
+| Offset | Size | Name      | Mandatory | Description   |
+|--------|------|-----------|-----------|---------------|
+| 0      | 4    | `mask`    | No        | Mask determining which values are being set in the command. Bits 0..7 correspond to the `flags` bits. Bits 8..31 are unused. |
+| 4      | 1    | `flags`   | No        | Values of lighting flags to set. |
+
+## Response
+
+| Offset | Size | Name    | Description   |
+|--------|------|---------|---------------|
+| 0      | 1    | `flags` | Current values of lighting flags. |
+
+## Common Structures
+
+#### flags
+
+| 7-2 |               1 |         0 |
+|-----|-----------------|-----------|
+|   0 | `headlights_on` | `leds_on` |

refloat/doc/commands/REALTIME_DATA.md

@@ -42,9 +42,16 @@ In case the following bits are set in the `mask`, the listed data follow in the
 | 0      | 2    | `charging_current` | The charging current encoded as [float16](float16.md). |
 | 2      | 2    | `charging_voltage` | The charging voltage encoded as [float16](float16.md). |
 
+**`0x4`: Alerts**
+| Offset | Size | Name                  | Description   |
+|--------|------|-----------------------|---------------|
+| 0      | 4    | `active_alert_mask_1` | Bits 0..31 of the `active_alert_mask`, indicating which [alert_id](alert_id.md)s are active. |
+| 4      | 8    | `active_alert_mask_2` | Bits 32..63 of the `active_alert_mask`, indicating which [alert_id](alert_id.md)s are active. |
+| 8      | 1    | `firmware_fault_code` | In case `ALERT_FW_FAULT` is active, the VESC firmware fault code, otherwise 0. |
+
 #### extra_flags
 
-| 7-5 |                      2 |                       1 |                       0 |
+| 7-3 |                      2 |                       1 |                       0 |
 |-----|------------------------|-------------------------|-------------------------|
 |   0 | `data_record_autostop` | `data_record_autostart` | `data_record_recording` |
 

refloat/doc/commands/REALTIME_DATA_IDS.md

@@ -17,12 +17,6 @@ The actual list of IDs that are sent is in [rt_data.h](/src/rt_data.h). See [Rea
 | Offset | Size | Name                             | Description   |
 |--------|------|----------------------------------|---------------|
 | 0      | 1    | `realtime_data_id_count`         | Number of IDs of the `REALTIME_DATA` items which are always sent. |
-| 1      | ?    | `realtime_data_ids`              | A `string` sequence repeated `realtime_data_id_count` times. |
+| 1      | ?    | `realtime_data_ids`              | A [string](string.md) sequence repeated `realtime_data_id_count` times. |
 | ?      | 1    | `realtime_runtime_data_id_count` | Number of IDs of the `REALTIME_DATA` items which are sent only when the package is running. |
-| ?      | ?    | `realtime_runtime_data_ids`      | A `string` sequence repeated `realtime_runtime_data_id_count` times. |
-
-**`string`**:
-| Offset | Size | Name     | Description   |
-|--------|------|----------|---------------|
-| 0      | 1    | `length` | Length of the string. |
-| 1      | ?    | `string` | `length` number of characters of the string (not null-terminated). |
+| ?      | ?    | `realtime_runtime_data_ids`      | A [string](string.md) sequence repeated `realtime_runtime_data_id_count` times. |

refloat/doc/commands/alert_id.md

@@ -0,0 +1,4 @@
+# `alert_id`
+
+- `1: ALERT_FW_FAULT`
+

refloat/doc/commands/index.md

@@ -24,6 +24,9 @@ All commands on the VESC bus are checksummed (so they shouldn't get mangled). In
 In the commands' documentation, the first two bytes with `package_interface_id` and `command_id` are omitted, so while their offsets start at 0, in the full message their data are always preceded by them.
 
 - [INFO](INFO.md)
+- [LIGHTS_CONTROL](LIGHTS_CONTROL.md)
 - [REALTIME_DATA](REALTIME_DATA.md)
 - [REALTIME_DATA_IDS](REALTIME_DATA_IDS.md)
 - [DATA_RECORD](DATA_RECORD.md)
+- [ALERTS_LIST](ALERTS_LIST.md)
+- [ALERTS_CONTROL](ALERTS_CONTROL.md)

refloat/doc/commands/string.md

@@ -0,0 +1,7 @@
+# `string`
+
+| Offset | Size | Name     | Description   |
+|--------|------|----------|---------------|
+| 0      | 1    | `length` | Length of the string. |
+| 1      | ?    | `string` | `length` number of characters of the string (not null-terminated). |
+

refloat/lisp/bms.lisp

@@ -0,0 +1,37 @@
+(defun bms-loop () {
+    (var v-cell-support (eq (first (trap (get-bms-val 'bms-v-cell-min))) 'exit-ok))
+    (var v-min 0)
+    (var v-max 0)
+    (var temp-min 0)
+    (var temp-max 0)
+    (var temp-fet -281)
+    (loopwhile t {
+        (if (and (>= (get-bms-val 'bms-can-id) 0) (ext-bms)) {
+            (var msg-age (get-bms-val 'bms-msg-age))
+            (setq temp-max (get-bms-val 'bms-temp-cell-max))
+            (setq temp-min temp-max)
+
+            (if v-cell-support {
+                (if (= (get-bms-val 'bms-data-version) 1) {
+                    (setq temp-min (get-bms-val 'bms-temps-adc 1))
+                    (setq temp-fet (get-bms-val 'bms-temps-adc 3))
+                })
+                (setq v-min (get-bms-val 'bms-v-cell-min))
+                (setq v-max (get-bms-val 'bms-v-cell-max))
+            } {
+                (var num-cells (get-bms-val 'bms-cell-num))
+                (if (> num-cells 0) {
+                    (setq v-min (get-bms-val 'bms-v-cell 0))
+                    (setq v-max v-min)
+                    (looprange i 1 num-cells {
+                        (var cell-v (get-bms-val 'bms-v-cell i))
+                        (if (< cell-v v-min) (setq v-min cell-v))
+                        (if (> cell-v v-max) (setq v-max cell-v))
+                    })
+                })
+            })
+            (ext-bms v-min v-max temp-min temp-max temp-fet msg-age)
+        })
+        (sleep 0.2)
+    })
+})

refloat/lisp/package.lisp

@@ -0,0 +1,17 @@
+(import "src/package_lib.bin" 'package-lib)
+(load-native-lib package-lib)
+
+(define fw-ver (sysinfo 'fw-ver))
+(apply ext-set-fw-version fw-ver)
+
+; Start the BMS polling loop in a thread if enabled
+(if (ext-bms)
+    (if (or (>= (first fw-ver) 7) (and (= (first fw-ver) 6) (>= (second fw-ver) 5)))
+        (progn
+            (import "bms.lisp" 'bms)
+            (read-eval-program bms)
+            (spawn "Refloat BMS" 50 bms-loop)
+        )
+        (print "[refloat] BMS Integration: Unsupported firmware version, 6.05+ required.")
+    )
+)