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datatypes.h
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datatypes.h
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/*
Copyright 2016 - 2018 Benjamin Vedder [email protected]
This file is part of VESC Tool.
VESC Tool is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
VESC Tool is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef DATATYPES_H
#define DATATYPES_H
#include <QObject>
#include <QString>
#include <QStringList>
#include <QVector>
#include <QDateTime>
#include <QTime>
#include <QMap>
#include <cmath>
#include <cstdint>
#include "tcphub.h"
struct VSerialInfo_t {
Q_GADGET
Q_PROPERTY(QString name MEMBER name)
Q_PROPERTY(QString systemPath MEMBER systemPath)
Q_PROPERTY(bool isVesc MEMBER isVesc)
Q_PROPERTY(bool isEsp MEMBER isEsp)
public:
VSerialInfo_t() {
isVesc = false;
isEsp = false;
}
QString name;
QString systemPath;
bool isVesc;
bool isEsp;
};
Q_DECLARE_METATYPE(VSerialInfo_t)
typedef enum {
CFG_T_UNDEFINED = 0,
CFG_T_DOUBLE,
CFG_T_INT,
CFG_T_QSTRING,
CFG_T_ENUM,
CFG_T_BOOL,
CFG_T_BITFIELD
} CFG_T;
typedef enum {
VESC_TX_UNDEFINED = 0,
VESC_TX_UINT8,
VESC_TX_INT8,
VESC_TX_UINT16,
VESC_TX_INT16,
VESC_TX_UINT32,
VESC_TX_INT32,
VESC_TX_DOUBLE16,
VESC_TX_DOUBLE32,
VESC_TX_DOUBLE32_AUTO
} VESC_TX_T;
// General purpose drive output mode
typedef enum {
GPD_OUTPUT_MODE_NONE = 0,
GPD_OUTPUT_MODE_MODULATION,
GPD_OUTPUT_MODE_VOLTAGE,
GPD_OUTPUT_MODE_CURRENT
} gpd_output_mode;
typedef enum {
HW_TYPE_VESC = 0,
HW_TYPE_VESC_BMS,
HW_TYPE_CUSTOM_MODULE
} HW_TYPE;
typedef enum {
FAULT_CODE_NONE = 0,
FAULT_CODE_OVER_VOLTAGE,
FAULT_CODE_UNDER_VOLTAGE,
FAULT_CODE_DRV,
FAULT_CODE_ABS_OVER_CURRENT,
FAULT_CODE_OVER_TEMP_FET,
FAULT_CODE_OVER_TEMP_MOTOR,
FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE,
FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE,
FAULT_CODE_MCU_UNDER_VOLTAGE,
FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET,
FAULT_CODE_ENCODER_SPI,
FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE,
FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE,
FAULT_CODE_FLASH_CORRUPTION,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3,
FAULT_CODE_UNBALANCED_CURRENTS,
FAULT_CODE_BRK,
FAULT_CODE_RESOLVER_LOT,
FAULT_CODE_RESOLVER_DOS,
FAULT_CODE_RESOLVER_LOS,
FAULT_CODE_FLASH_CORRUPTION_APP_CFG,
FAULT_CODE_FLASH_CORRUPTION_MC_CFG,
FAULT_CODE_ENCODER_NO_MAGNET,
FAULT_CODE_ENCODER_MAGNET_TOO_STRONG,
FAULT_CODE_PHASE_FILTER,
FAULT_CODE_ENCODER_FAULT
} mc_fault_code;
typedef enum {
DISP_POS_MODE_NONE = 0,
DISP_POS_MODE_INDUCTANCE,
DISP_POS_MODE_OBSERVER,
DISP_POS_MODE_ENCODER,
DISP_POS_MODE_PID_POS,
DISP_POS_MODE_PID_POS_ERROR,
DISP_POS_MODE_ENCODER_OBSERVER_ERROR,
DISP_POS_MODE_HALL_OBSERVER_ERROR
} disp_pos_mode;
Q_DECLARE_METATYPE(disp_pos_mode)
// ADC control types. Remember to add new types here when adding them to the firmware.
typedef enum {
ADC_CTRL_TYPE_NONE = 0,
ADC_CTRL_TYPE_CURRENT,
ADC_CTRL_TYPE_CURRENT_REV_CENTER,
ADC_CTRL_TYPE_CURRENT_REV_BUTTON,
ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_ADC,
ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER,
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER,
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON,
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC,
ADC_CTRL_TYPE_DUTY,
ADC_CTRL_TYPE_DUTY_REV_CENTER,
ADC_CTRL_TYPE_DUTY_REV_BUTTON,
ADC_CTRL_TYPE_PID,
ADC_CTRL_TYPE_PID_REV_CENTER,
ADC_CTRL_TYPE_PID_REV_BUTTON
} adc_control_type;
struct MC_VALUES {
Q_GADGET
Q_PROPERTY(double v_in MEMBER v_in)
Q_PROPERTY(double temp_mos MEMBER temp_mos)
Q_PROPERTY(double temp_mos_1 MEMBER temp_mos_1)
Q_PROPERTY(double temp_mos_2 MEMBER temp_mos_2)
Q_PROPERTY(double temp_mos_3 MEMBER temp_mos_3)
Q_PROPERTY(double temp_motor MEMBER temp_motor)
Q_PROPERTY(double current_motor MEMBER current_motor)
Q_PROPERTY(double current_in MEMBER current_in)
Q_PROPERTY(double id MEMBER id)
Q_PROPERTY(double iq MEMBER iq)
Q_PROPERTY(double rpm MEMBER rpm)
Q_PROPERTY(double duty_now MEMBER duty_now)
Q_PROPERTY(double amp_hours MEMBER amp_hours)
Q_PROPERTY(double amp_hours_charged MEMBER amp_hours_charged)
Q_PROPERTY(double watt_hours MEMBER watt_hours)
Q_PROPERTY(double watt_hours_charged MEMBER watt_hours_charged)
Q_PROPERTY(int tachometer MEMBER tachometer)
Q_PROPERTY(int tachometer_abs MEMBER tachometer_abs)
Q_PROPERTY(double position MEMBER position)
Q_PROPERTY(mc_fault_code fault_code MEMBER fault_code)
Q_PROPERTY(int vesc_id MEMBER vesc_id)
Q_PROPERTY(QString fault_str MEMBER fault_str)
Q_PROPERTY(double vd MEMBER vd)
Q_PROPERTY(double vq MEMBER vq)
Q_PROPERTY(bool has_timeout MEMBER has_timeout)
Q_PROPERTY(bool kill_sw_active MEMBER kill_sw_active)
public:
MC_VALUES() {
v_in = 0.0;
temp_mos = 0.0;
temp_mos_1 = 0.0;
temp_mos_2 = 0.0;
temp_mos_3 = 0.0;
temp_motor = 0.0;
current_motor = 0.0;
current_in = 0.0;
id = 0.0;
iq = 0.0;
rpm = 0.0;
duty_now = 0.0;
amp_hours = 0.0;
amp_hours_charged = 0.0;
watt_hours = 0.0;
watt_hours_charged = 0.0;
tachometer = 0;
tachometer_abs = 0;
position = 0.0;
fault_code = FAULT_CODE_NONE;
vesc_id = 0;
vd = 0.0;
vq = 0.0;
has_timeout = false;
kill_sw_active = false;
}
bool operator==(const MC_VALUES &other) const {
(void)other;
// compare members
return true;
}
bool operator!=(MC_VALUES const &other) const {
return !(*this == other);
}
double v_in;
double temp_mos;
double temp_mos_1;
double temp_mos_2;
double temp_mos_3;
double temp_motor;
double current_motor;
double current_in;
double id;
double iq;
double rpm;
double duty_now;
double amp_hours;
double amp_hours_charged;
double watt_hours;
double watt_hours_charged;
int tachometer;
int tachometer_abs;
double position;
mc_fault_code fault_code;
int vesc_id;
QString fault_str;
double vd;
double vq;
bool has_timeout;
bool kill_sw_active;
};
Q_DECLARE_METATYPE(MC_VALUES)
struct SETUP_VALUES {
Q_GADGET
Q_PROPERTY(double temp_mos MEMBER temp_mos)
Q_PROPERTY(double temp_motor MEMBER temp_motor)
Q_PROPERTY(double current_motor MEMBER current_motor)
Q_PROPERTY(double current_in MEMBER current_in)
Q_PROPERTY(double duty_now MEMBER duty_now)
Q_PROPERTY(double rpm MEMBER rpm)
Q_PROPERTY(double speed MEMBER speed)
Q_PROPERTY(double v_in MEMBER v_in)
Q_PROPERTY(double battery_level MEMBER battery_level)
Q_PROPERTY(double amp_hours MEMBER amp_hours)
Q_PROPERTY(double amp_hours_charged MEMBER amp_hours_charged)
Q_PROPERTY(double watt_hours MEMBER watt_hours)
Q_PROPERTY(double watt_hours_charged MEMBER watt_hours_charged)
Q_PROPERTY(double tachometer MEMBER tachometer)
Q_PROPERTY(double tachometer_abs MEMBER tachometer_abs)
Q_PROPERTY(double position MEMBER position)
Q_PROPERTY(mc_fault_code fault_code MEMBER fault_code)
Q_PROPERTY(int vesc_id MEMBER vesc_id)
Q_PROPERTY(int num_vescs MEMBER num_vescs)
Q_PROPERTY(double battery_wh MEMBER battery_wh)
Q_PROPERTY(QString fault_str MEMBER fault_str)
Q_PROPERTY(unsigned odometer MEMBER odometer)
Q_PROPERTY(unsigned uptime_ms MEMBER uptime_ms)
public:
SETUP_VALUES() {
temp_mos = 0.0;
temp_motor = 0.0;
current_motor = 0.0;
current_in = 0.0;
duty_now = 0.0;
rpm = 0.0;
speed = 0.0;
v_in = 0.0;
battery_level = 0.0;
amp_hours = 0.0;
amp_hours_charged = 0.0;
watt_hours = 0.0;
watt_hours_charged = 0.0;
tachometer = 0.0;
tachometer_abs = 0.0;
position = 0.0;
fault_code = FAULT_CODE_NONE;
vesc_id = 0;
num_vescs = 0;
battery_wh = 0.0;
odometer = 0;
uptime_ms = 0;
}
bool operator==(const SETUP_VALUES &other) const {
(void)other;
// compare members
return true;
}
bool operator!=(SETUP_VALUES const &other) const {
return !(*this == other);
}
Q_INVOKABLE QString uptimeString() {
QTime t(0, 0);
t = t.addMSecs(uptime_ms);
return t.toString("hh:mm:ss");
}
double temp_mos;
double temp_motor;
double current_motor;
double current_in;
double duty_now;
double rpm;
double speed;
double v_in;
double battery_level;
double amp_hours;
double amp_hours_charged;
double watt_hours;
double watt_hours_charged;
double tachometer;
double tachometer_abs;
double position;
mc_fault_code fault_code;
int vesc_id;
int num_vescs;
double battery_wh;
QString fault_str;
unsigned odometer;
unsigned uptime_ms;
};
Q_DECLARE_METATYPE(SETUP_VALUES)
struct IMU_VALUES {
Q_GADGET
Q_PROPERTY(double roll MEMBER roll)
Q_PROPERTY(double pitch MEMBER pitch)
Q_PROPERTY(double yaw MEMBER yaw)
Q_PROPERTY(double accX MEMBER accX)
Q_PROPERTY(double accY MEMBER accY)
Q_PROPERTY(double accZ MEMBER accZ)
Q_PROPERTY(double gyroX MEMBER gyroX)
Q_PROPERTY(double gyroY MEMBER gyroY)
Q_PROPERTY(double gyroZ MEMBER gyroZ)
Q_PROPERTY(double magX MEMBER magX)
Q_PROPERTY(double magY MEMBER magY)
Q_PROPERTY(double magZ MEMBER magZ)
Q_PROPERTY(double q0 MEMBER q0)
Q_PROPERTY(double q1 MEMBER q1)
Q_PROPERTY(double q2 MEMBER q2)
Q_PROPERTY(double q3 MEMBER q3)
Q_PROPERTY(int vesc_id MEMBER vesc_id)
public:
IMU_VALUES() {
roll = 0; pitch = 0; yaw = 0;
accX = 0; accY = 0; accZ = 0;
gyroX = 0; gyroY = 0; gyroZ = 0;
magX = 0; magY = 0; magZ = 0;
q0 = 1; q1 = 0; q2 = 0; q3 = 0;
vesc_id = 0;
}
bool operator==(const IMU_VALUES &other) const {
(void)other;
// compare members
return true;
}
bool operator!=(IMU_VALUES const &other) const {
return !(*this == other);
}
double roll;
double pitch;
double yaw;
double accX;
double accY;
double accZ;
double gyroX;
double gyroY;
double gyroZ;
double magX;
double magY;
double magZ;
double q0;
double q1;
double q2;
double q3;
int vesc_id;
};
Q_DECLARE_METATYPE(IMU_VALUES)
struct STAT_VALUES {
Q_GADGET
Q_PROPERTY(double speed_avg MEMBER speed_avg)
Q_PROPERTY(double speed_max MEMBER speed_max)
Q_PROPERTY(double power_avg MEMBER power_avg)
Q_PROPERTY(double power_max MEMBER power_max)
Q_PROPERTY(double temp_motor_avg MEMBER temp_motor_avg)
Q_PROPERTY(double temp_motor_max MEMBER temp_motor_max)
Q_PROPERTY(double temp_mos_avg MEMBER temp_mos_avg)
Q_PROPERTY(double temp_mos_max MEMBER temp_mos_max)
Q_PROPERTY(double current_avg MEMBER current_avg)
Q_PROPERTY(double current_max MEMBER current_max)
Q_PROPERTY(double count_time MEMBER count_time)
public:
STAT_VALUES() {
speed_avg = 0.0;
speed_max = 0.0;
power_avg = 0.0;
power_max = 0.0;
temp_motor_avg = 0.0;
temp_motor_max = 0.0;
temp_mos_avg = 0.0;
temp_mos_max = 0.0;
current_avg = 0.0;
current_max = 0.0;
count_time = 0.0;
}
bool operator==(const STAT_VALUES &other) const {
(void)other;
// compare members
return true;
}
bool operator!=(STAT_VALUES const &other) const {
return !(*this == other);
}
Q_INVOKABLE double distance() { // Meters
return speed_avg * count_time;
}
Q_INVOKABLE double energy() { // Wh
return power_avg * count_time / 60.0 / 60.0;
}
Q_INVOKABLE double ah() {
return current_avg * count_time / 60.0 / 60.0;
}
Q_INVOKABLE double efficiency() { // Wh / km
return energy() / (distance() / 1000.0);
}
double speed_avg;
double speed_max;
double power_avg;
double power_max;
double temp_motor_avg;
double temp_motor_max;
double temp_mos_avg;
double temp_mos_max;
double current_avg;
double current_max;
double count_time;
};
Q_DECLARE_METATYPE(STAT_VALUES)
struct LOG_HEADER {
Q_GADGET
Q_PROPERTY(QString key MEMBER key)
Q_PROPERTY(QString name MEMBER name)
Q_PROPERTY(QString unit MEMBER unit)
Q_PROPERTY(int precision MEMBER precision)
Q_PROPERTY(bool isTimeStamp MEMBER isTimeStamp)
Q_PROPERTY(bool isRelativeToFirst MEMBER isRelativeToFirst)
Q_PROPERTY(double scaleStep MEMBER scaleStep)
Q_PROPERTY(double scaleMax MEMBER scaleMax)
public:
LOG_HEADER() {
precision = 2;
isRelativeToFirst = false;
isTimeStamp = false;
scaleStep = 0.1;
scaleMax = 99.99;
}
LOG_HEADER(QString key,
QString name,
QString unit,
int precision = 2,
bool isRelativeToFirst = false,
bool isTimeStamp = false,
double scaleStep = 0.1,
double scaleMax = 99.99) {
this->key = key;
this->name = name;
this->unit = unit;
this->precision = precision;
this->isRelativeToFirst = isRelativeToFirst;
this->isTimeStamp = isTimeStamp;
this->scaleStep = scaleStep;
this->scaleMax = scaleMax;
}
QString key;
QString name;
QString unit;
int precision;
bool isRelativeToFirst;
bool isTimeStamp;
double scaleStep;
double scaleMax;
};
Q_DECLARE_METATYPE(LOG_HEADER)
struct MCCONF_TEMP {
Q_GADGET
Q_PROPERTY(double current_min_scale MEMBER current_min_scale)
Q_PROPERTY(double current_max_scale MEMBER current_max_scale)
Q_PROPERTY(double erpm_or_speed_min MEMBER erpm_or_speed_min)
Q_PROPERTY(double erpm_or_speed_max MEMBER erpm_or_speed_max)
Q_PROPERTY(double duty_min MEMBER duty_min)
Q_PROPERTY(double duty_max MEMBER duty_max)
Q_PROPERTY(double watt_min MEMBER watt_min)
Q_PROPERTY(double watt_max MEMBER watt_max)
Q_PROPERTY(QString name MEMBER name)
public:
double current_min_scale;
double current_max_scale;
double erpm_or_speed_min;
double erpm_or_speed_max;
double duty_min;
double duty_max;
double watt_min;
double watt_max;
QString name;
};
Q_DECLARE_METATYPE(MCCONF_TEMP)
struct CONFIG_BACKUP {
Q_GADGET
Q_PROPERTY(QString name MEMBER name)
Q_PROPERTY(QString vesc_uuid MEMBER vesc_uuid)
Q_PROPERTY(QString mcconf_xml_compressed MEMBER mcconf_xml_compressed)
Q_PROPERTY(QString appconf_xml_compressed MEMBER appconf_xml_compressed)
Q_PROPERTY(QString customconf_xml_compressed MEMBER customconf_xml_compressed)
public:
QString name;
QString vesc_uuid;
QString mcconf_xml_compressed;
QString appconf_xml_compressed;
QString customconf_xml_compressed;
};
Q_DECLARE_METATYPE(CONFIG_BACKUP)
struct FW_RX_PARAMS {
Q_GADGET
Q_PROPERTY(int major MEMBER major)
Q_PROPERTY(int minor MEMBER minor)
Q_PROPERTY(QString fwName MEMBER fwName)
Q_PROPERTY(QString hw MEMBER hw)
Q_PROPERTY(QByteArray uuid MEMBER uuid)
Q_PROPERTY(bool isPaired MEMBER isPaired)
Q_PROPERTY(int isTestFw MEMBER isTestFw)
Q_PROPERTY(HW_TYPE hwType MEMBER hwType)
Q_PROPERTY(int customConfigNum MEMBER customConfigNum)
Q_PROPERTY(bool hasQmlHw MEMBER hasQmlHw)
Q_PROPERTY(bool qmlHwFullscreen MEMBER qmlHwFullscreen)
Q_PROPERTY(bool hasQmlApp MEMBER hasQmlApp)
Q_PROPERTY(bool qmlAppFullscreen MEMBER qmlAppFullscreen)
Q_PROPERTY(bool nrfNameSupported MEMBER nrfNameSupported)
Q_PROPERTY(bool nrfPinSupported MEMBER nrfPinSupported)
Q_PROPERTY(quint32 hwConfCrc MEMBER hwConfCrc)
public:
FW_RX_PARAMS() {
major = -1;
minor = -1;
isPaired = false;
isTestFw = false;
hwType = HW_TYPE_VESC;
customConfigNum = 0;
hasPhaseFilters = false;
hasQmlHw = false;
qmlHwFullscreen = false;
hasQmlApp = false;
qmlAppFullscreen = false;
nrfNameSupported = false;
nrfPinSupported = false;
hwConfCrc = 0;
}
Q_INVOKABLE QString hwTypeStr() {
QString res = "Unknown Hardware";
switch (hwType) {
case HW_TYPE_VESC:
res = "VESC";
break;
case HW_TYPE_VESC_BMS:
res = "VESC BMS";
break;
case HW_TYPE_CUSTOM_MODULE:
res = "Custom Module";
break;
}
return res;
}
int major;
int minor;
QString fwName;
QString hw;
QByteArray uuid;
bool isPaired;
int isTestFw;
HW_TYPE hwType;
int customConfigNum;
bool hasPhaseFilters;
bool hasQmlHw;
bool qmlHwFullscreen;
bool hasQmlApp;
bool qmlAppFullscreen;
bool nrfNameSupported;
bool nrfPinSupported;
quint32 hwConfCrc;
};
Q_DECLARE_METATYPE(FW_RX_PARAMS)
struct BMS_VALUES {
Q_GADGET
Q_PROPERTY(double v_tot MEMBER v_tot)
Q_PROPERTY(double v_charge MEMBER v_charge)
Q_PROPERTY(double i_in MEMBER i_in)
Q_PROPERTY(double i_in_ic MEMBER i_in_ic)
Q_PROPERTY(double ah_cnt MEMBER ah_cnt)
Q_PROPERTY(double wh_cnt MEMBER wh_cnt)
Q_PROPERTY(QVector<qreal> v_cells MEMBER v_cells)
Q_PROPERTY(QVector<qreal> temps MEMBER temps)
Q_PROPERTY(QVector<bool> is_balancing MEMBER is_balancing)
Q_PROPERTY(double temp_ic MEMBER temp_ic)
Q_PROPERTY(double humidity MEMBER humidity)
Q_PROPERTY(double pressure MEMBER pressure)
Q_PROPERTY(double temp_hum_sensor MEMBER temp_hum_sensor)
Q_PROPERTY(double temp_cells_highest MEMBER temp_cells_highest)
Q_PROPERTY(double soc MEMBER soc)
Q_PROPERTY(double soh MEMBER soh)
Q_PROPERTY(int can_id MEMBER can_id)
Q_PROPERTY(double ah_cnt_chg_total MEMBER ah_cnt_chg_total)
Q_PROPERTY(double wh_cnt_chg_total MEMBER wh_cnt_chg_total)
Q_PROPERTY(double ah_cnt_dis_total MEMBER ah_cnt_dis_total)
Q_PROPERTY(double wh_cnt_dis_total MEMBER wh_cnt_dis_total)
public:
BMS_VALUES() {
v_tot = 0.0;
v_charge = 0.0;
i_in = 0.0;
i_in_ic = 0.0;
ah_cnt = 0.0;
wh_cnt = 0.0;
humidity = 0.0;
pressure = 0.0;
temp_hum_sensor = 0.0;
temp_cells_highest = 0.0;
soc = 0.0;
soh = 0.0;
can_id = -1;
ah_cnt_chg_total = 0.0;
wh_cnt_chg_total = 0.0;
ah_cnt_dis_total = 0.0;
wh_cnt_dis_total = 0.0;
updateTime = -1;
}
Q_INVOKABLE double age() {
double res = -1.0;
if (updateTime > 0) {
auto ms = QDateTime::currentDateTime().toMSecsSinceEpoch() - updateTime;
res = double(ms) / 1000.0;
}
return res;
}
Q_INVOKABLE void updateTimeStamp() {
updateTime = QDateTime::currentDateTime().toMSecsSinceEpoch();
}
double v_tot;
double v_charge;
double i_in;
double i_in_ic;
double ah_cnt;
double wh_cnt;
QVector<qreal> v_cells;
QVector<qreal> temps;
QVector<bool> is_balancing;
double temp_ic;
double humidity;
double pressure;
double temp_hum_sensor;
double temp_cells_highest;
double soc;
double soh;
int can_id;
double ah_cnt_chg_total;
double wh_cnt_chg_total;
double ah_cnt_dis_total;
double wh_cnt_dis_total;
qint64 updateTime;
};
Q_DECLARE_METATYPE(BMS_VALUES)
struct PSW_STATUS {
Q_GADGET
Q_PROPERTY(int id MEMBER id)
Q_PROPERTY(int psws_num MEMBER psws_num)
Q_PROPERTY(double age_seconds MEMBER age_seconds)
Q_PROPERTY(double v_in MEMBER v_in)
Q_PROPERTY(double v_out MEMBER v_out)
Q_PROPERTY(double temp MEMBER temp)
Q_PROPERTY(bool is_out_on MEMBER is_out_on)
Q_PROPERTY(bool is_pch_on MEMBER is_pch_on)
Q_PROPERTY(bool is_dsc_on MEMBER is_dsc_on)
public:
PSW_STATUS() {
id = -1;
psws_num = 0;
age_seconds = -1.0;
v_in = 0.0;
v_out = 0.0;
temp = 0.0;
is_out_on = false;
is_pch_on = false;
is_dsc_on = false;
}
int id;
int psws_num;
double age_seconds;
double v_in;
double v_out;
double temp;
bool is_out_on;
bool is_pch_on;
bool is_dsc_on;
};
Q_DECLARE_METATYPE(PSW_STATUS)
struct IO_BOARD_VALUES {
Q_GADGET
Q_PROPERTY(int id MEMBER id)
Q_PROPERTY(QVector<qreal> adc_1_4 MEMBER adc_1_4)
Q_PROPERTY(QVector<qreal> adc_5_8 MEMBER adc_5_8)
Q_PROPERTY(QVector<bool> digital MEMBER digital)
Q_PROPERTY(double adc_1_4_age MEMBER adc_1_4_age)
Q_PROPERTY(double adc_5_8_age MEMBER adc_5_8_age)
Q_PROPERTY(double digital_age MEMBER digital_age)
public:
IO_BOARD_VALUES() {
id = -1;
adc_1_4_age = -1.0;
adc_5_8_age = -1.0;
digital_age = -1.0;
}
int id;
QVector<qreal> adc_1_4;
QVector<qreal> adc_5_8;
QVector<bool> digital;
double adc_1_4_age;
double adc_5_8_age;
double digital_age;
};
Q_DECLARE_METATYPE(IO_BOARD_VALUES)
typedef enum {
DEBUG_SAMPLING_OFF = 0,
DEBUG_SAMPLING_NOW,
DEBUG_SAMPLING_START,
DEBUG_SAMPLING_TRIGGER_START,
DEBUG_SAMPLING_TRIGGER_FAULT,
DEBUG_SAMPLING_TRIGGER_START_NOSEND,
DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND,
DEBUG_SAMPLING_SEND_LAST_SAMPLES,
DEBUG_SAMPLING_SEND_SINGLE_SAMPLE
} debug_sampling_mode;
typedef enum {
COMM_FW_VERSION = 0,
COMM_JUMP_TO_BOOTLOADER = 1,
COMM_ERASE_NEW_APP = 2,
COMM_WRITE_NEW_APP_DATA = 3,
COMM_GET_VALUES = 4,
COMM_SET_DUTY = 5,
COMM_SET_CURRENT = 6,
COMM_SET_CURRENT_BRAKE = 7,
COMM_SET_RPM = 8,
COMM_SET_POS = 9,
COMM_SET_HANDBRAKE = 10,
COMM_SET_DETECT = 11,
COMM_SET_SERVO_POS = 12,
COMM_SET_MCCONF = 13,
COMM_GET_MCCONF = 14,
COMM_GET_MCCONF_DEFAULT = 15,
COMM_SET_APPCONF = 16,
COMM_GET_APPCONF = 17,
COMM_GET_APPCONF_DEFAULT = 18,
COMM_SAMPLE_PRINT = 19,
COMM_TERMINAL_CMD = 20,
COMM_PRINT = 21,
COMM_ROTOR_POSITION = 22,
COMM_EXPERIMENT_SAMPLE = 23,
COMM_DETECT_MOTOR_PARAM = 24,
COMM_DETECT_MOTOR_R_L = 25,
COMM_DETECT_MOTOR_FLUX_LINKAGE = 26,
COMM_DETECT_ENCODER = 27,
COMM_DETECT_HALL_FOC = 28,
COMM_REBOOT = 29,
COMM_ALIVE = 30,
COMM_GET_DECODED_PPM = 31,
COMM_GET_DECODED_ADC = 32,
COMM_GET_DECODED_CHUK = 33,
COMM_FORWARD_CAN = 34,
COMM_SET_CHUCK_DATA = 35,
COMM_CUSTOM_APP_DATA = 36,
COMM_NRF_START_PAIRING = 37,
COMM_GPD_SET_FSW = 38,
COMM_GPD_BUFFER_NOTIFY = 39,
COMM_GPD_BUFFER_SIZE_LEFT = 40,
COMM_GPD_FILL_BUFFER = 41,
COMM_GPD_OUTPUT_SAMPLE = 42,
COMM_GPD_SET_MODE = 43,
COMM_GPD_FILL_BUFFER_INT8 = 44,
COMM_GPD_FILL_BUFFER_INT16 = 45,
COMM_GPD_SET_BUFFER_INT_SCALE = 46,
COMM_GET_VALUES_SETUP = 47,
COMM_SET_MCCONF_TEMP = 48,
COMM_SET_MCCONF_TEMP_SETUP = 49,
COMM_GET_VALUES_SELECTIVE = 50,
COMM_GET_VALUES_SETUP_SELECTIVE = 51,
COMM_EXT_NRF_PRESENT = 52,
COMM_EXT_NRF_ESB_SET_CH_ADDR = 53,
COMM_EXT_NRF_ESB_SEND_DATA = 54,
COMM_EXT_NRF_ESB_RX_DATA = 55,
COMM_EXT_NRF_SET_ENABLED = 56,
COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP = 57,
COMM_DETECT_APPLY_ALL_FOC = 58,
COMM_JUMP_TO_BOOTLOADER_ALL_CAN = 59,
COMM_ERASE_NEW_APP_ALL_CAN = 60,
COMM_WRITE_NEW_APP_DATA_ALL_CAN = 61,
COMM_PING_CAN = 62,
COMM_APP_DISABLE_OUTPUT = 63,
COMM_TERMINAL_CMD_SYNC = 64,
COMM_GET_IMU_DATA = 65,
COMM_BM_CONNECT = 66,
COMM_BM_ERASE_FLASH_ALL = 67,
COMM_BM_WRITE_FLASH = 68,
COMM_BM_REBOOT = 69,
COMM_BM_DISCONNECT = 70,
COMM_BM_MAP_PINS_DEFAULT = 71,
COMM_BM_MAP_PINS_NRF5X = 72,
COMM_ERASE_BOOTLOADER = 73,
COMM_ERASE_BOOTLOADER_ALL_CAN = 74,
COMM_PLOT_INIT = 75,
COMM_PLOT_DATA = 76,
COMM_PLOT_ADD_GRAPH = 77,
COMM_PLOT_SET_GRAPH = 78,
COMM_GET_DECODED_BALANCE = 79,
COMM_BM_MEM_READ = 80,
COMM_WRITE_NEW_APP_DATA_LZO = 81,
COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO = 82,
COMM_BM_WRITE_FLASH_LZO = 83,
COMM_SET_CURRENT_REL = 84,
COMM_CAN_FWD_FRAME = 85,
COMM_SET_BATTERY_CUT = 86,
COMM_SET_BLE_NAME = 87,
COMM_SET_BLE_PIN = 88,
COMM_SET_CAN_MODE = 89,
COMM_GET_IMU_CALIBRATION = 90,
COMM_GET_MCCONF_TEMP = 91,
// Custom configuration for hardware
COMM_GET_CUSTOM_CONFIG_XML = 92,
COMM_GET_CUSTOM_CONFIG = 93,
COMM_GET_CUSTOM_CONFIG_DEFAULT = 94,
COMM_SET_CUSTOM_CONFIG = 95,
// BMS commands
COMM_BMS_GET_VALUES = 96,
COMM_BMS_SET_CHARGE_ALLOWED = 97,
COMM_BMS_SET_BALANCE_OVERRIDE = 98,
COMM_BMS_RESET_COUNTERS = 99,
COMM_BMS_FORCE_BALANCE = 100,
COMM_BMS_ZERO_CURRENT_OFFSET = 101,
// FW updates commands for different HW types
COMM_JUMP_TO_BOOTLOADER_HW = 102,
COMM_ERASE_NEW_APP_HW = 103,
COMM_WRITE_NEW_APP_DATA_HW = 104,
COMM_ERASE_BOOTLOADER_HW = 105,
COMM_JUMP_TO_BOOTLOADER_ALL_CAN_HW = 106,
COMM_ERASE_NEW_APP_ALL_CAN_HW = 107,
COMM_WRITE_NEW_APP_DATA_ALL_CAN_HW = 108,
COMM_ERASE_BOOTLOADER_ALL_CAN_HW = 109,
COMM_SET_ODOMETER = 110,
// Power switch commands
COMM_PSW_GET_STATUS = 111,
COMM_PSW_SWITCH = 112,
COMM_BMS_FWD_CAN_RX = 113,
COMM_BMS_HW_DATA = 114,
COMM_GET_BATTERY_CUT = 115,
COMM_BM_HALT_REQ = 116,
COMM_GET_QML_UI_HW = 117,
COMM_GET_QML_UI_APP = 118,
COMM_CUSTOM_HW_DATA = 119,
COMM_QMLUI_ERASE = 120,
COMM_QMLUI_WRITE = 121,
// IO Board
COMM_IO_BOARD_GET_ALL = 122,
COMM_IO_BOARD_SET_PWM = 123,
COMM_IO_BOARD_SET_DIGITAL = 124,
COMM_BM_MEM_WRITE = 125,
COMM_BMS_BLNC_SELFTEST = 126,
COMM_GET_EXT_HUM_TMP = 127,
COMM_GET_STATS = 128,
COMM_RESET_STATS = 129,
// Lisp
COMM_LISP_READ_CODE = 130,
COMM_LISP_WRITE_CODE = 131,
COMM_LISP_ERASE_CODE = 132,
COMM_LISP_SET_RUNNING = 133,
COMM_LISP_GET_STATS = 134,
COMM_LISP_PRINT = 135,
COMM_BMS_SET_BATT_TYPE = 136,
COMM_BMS_GET_BATT_TYPE = 137,
COMM_LISP_REPL_CMD = 138,
COMM_LISP_STREAM_CODE = 139,