Remote Timeout: 1s remote disconnect safety feature

Makefile

@@ -1,4 +1,4 @@
-PKGS = balance float refloat tnt vbms32 vbms32_micro
+PKGS = balance float refloat tnt vbms32 vbms32_micro timeout
 PKGS += lib_files lib_interpolation lib_nau7802 lib_pn532
 PKGS += lib_ws2812 logui lib_code_server lib_midi lib_disp_ui
 PKGS += vdisp lib_tca9535 vbms_harmony32

res_all.qrc

@@ -20,6 +20,7 @@
         <file>vdisp/vdisp.vescpkg</file>
         <file>vdisp/vdisp_esc.vescpkg</file>
         <file>vbms_harmony32/vbms_harmony32.vescpkg</file>
+        <file>timeout/timeout.vescpkg</file>
    </qresource>
 </RCC>
 

timeout/Makefile

@@ -0,0 +1,18 @@
+VESC_TOOL ?= vesc_tool
+OLDVT ?= 0
+
+all: timeout.vescpkg
+
+timeout.vescpkg: timeout.lisp README.md pkgdesc.qml
+ifeq ($(OLDVT), 1)
+	$(VESC_TOOL) --buildPkg "timeout.vescpkg:timeout.lisp::0:README.md:Remote Timeout"
+else
+	$(VESC_TOOL) --buildPkgFromDesc pkgdesc.qml --testPkgDesc 'custom:test' --testPkgDesc 'vesc:test'
+endif
+
+clean:
+	rm -f timeout.vescpkg
+
+.PHONY: all clean
+
+

timeout/README.md

@@ -0,0 +1,22 @@
+# Remote Timeout
+
+A simple safety script for VESC-based ESCs that do not properly handle remote disconnect timeouts. If the remote input stops updating for 1.00 s, motor current is set to zero.
+
+## What it does
+
+- Monitors the age of the last received remote input using `get-remote-state`.
+- If the age exceeds 1.00 s, commands zero current to stop the motor.
+- Runs at a low cadence to minimize load.
+
+## Usage
+
+1. Install the package from the VESC Tool package store.
+2. Start the package once from the Packages page to save it.
+3. After that it runs at boot automatically. The timeout is fixed to 1.00 s.
+
+## Compatibility
+
+- Works on VESC-based ESCs that support packages and expose `get-remote-state`.
+- Not compatible with the classic VESC BMS.
+
+

timeout/pkgdesc.qml

@@ -0,0 +1,32 @@
+import QtQuick 2.15
+
+Item {
+    property string pkgName: "Remote Timeout"
+    property string pkgDescriptionMd: "README.md"
+    property string pkgLisp: "timeout.lisp"
+    property string pkgQml: ""
+    property bool pkgQmlIsFullscreen: false
+    property string pkgOutput: "timeout.vescpkg"
+
+    // This function should return true when this package is compatible
+    // with the connected vesc-based device
+    function isCompatible (fwRxParams) {
+        var hwName = fwRxParams.hw.toLowerCase();
+        var fwName = fwRxParams.fwName.toLowerCase();
+        var hwType = fwRxParams.hwTypeStr().toLowerCase();
+
+        // The classic VESC BMS does not support packages at all
+        if (hwType == "vesc bms") {
+            return false
+        }
+
+        // Works on vesc-based ESCs only
+        if (hwType != "vesc") {
+            return false
+        }
+
+        return true
+    }
+}
+
+

timeout/timeout.lisp

@@ -0,0 +1,27 @@
+; Remote timeout safety feature
+@const-start
+(def remote_drop_s 1.00)   ; fixed timeout (s)
+(def loop_dt_s     0.02)   ; loop cadence (s)
+@const-end
+
+(def mote-age 0.0)
+(def state nil)
+(def age-val 0.0)
+
+(defun main () (loopwhile t {
+  (def state (get-remote-state))  ; (js-y js-x bt-c bt-z is-rev update-age)
+
+  (def age-val (ix state 5))
+  (def mote-age (if age-val age-val 9999.0))
+
+  ; if age > threshold ? zero current
+  (if (> mote-age remote_drop_s)
+      (set-current 0 0.05)
+      0)
+
+  (sleep loop_dt_s)
+}))
+
+(trap (image-save))
+(main)
+