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Yury Shuvakin
2022-08-01 21:53:36 +03:00
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/*
Original copyright 2018 Benjamin Vedder benjamin@vedder.se and the VESC Tool project ( https://github.com/vedderb/vesc_tool )
Forked to:
Copyright 2018 Danny Bokma github@diebie.nl (https://github.com/DieBieEngineering/DieBieMS-Tool)
Now forked to:
Copyright 2019 - 2020 Kevin Dionne kevin.dionne@ennoid.me (https://github.com/EnnoidMe/ENNOID-BMS-Tool)
This file is part of ENNOID-BMS Tool.
ENNOID-BMS 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.
ENNOID-BMS 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 <stdint.h>
typedef struct {
QString name;
QString systemPath;
bool isVesc;
} 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;
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;
typedef enum {
FAULT_CODE_NONE = 0,
FAULT_CODE_PACK_OVER_VOLTAGE,
FAULT_CODE_PACK_UNDER_VOLTAGE,
FAULT_CODE_LOAD_OVER_VOLTAGE,
FAULT_CODE_LOAD_UNDER_VOLTAGE,
FAULT_CODE_CHARGER_OVER_VOLTAGE,
FAULT_CODE_CHARGER_UNDER_VOLTAGE,
FAULT_CODE_CELL_HARD_OVER_VOLTAGE,
FAULT_CODE_CELL_HARD_UNDER_VOLTAGE,
FAULT_CODE_CELL_SOFT_OVER_VOLTAGE,
FAULT_CODE_CELL_SOFT_UNDER_VOLTAGE,
FAULT_CODE_MAX_UVP_OVP_ERRORS,
FAULT_CODE_MAX_UVT_OVT_ERRORS,
FAULT_CODE_OVER_CURRENT,
FAULT_CODE_OVER_TEMP_BMS,
FAULT_CODE_UNDER_TEMP_BMS,
FAULT_CODE_DISCHARGE_OVER_TEMP_CELLS,
FAULT_CODE_DISCHARGE_UNDER_TEMP_CELLS,
FAULT_CODE_CHARGE_OVER_TEMP_CELLS,
FAULT_CODE_CHARGE_UNDER_TEMP_CELLS,
FAULT_CODE_PRECHARGE_TIMEOUT,
FAULT_CODE_DISCHARGE_RETRY,
FAULT_CODE_CHARGE_RETRY,
FAULT_CODE_CHARGER_DISCONNECT
} bms_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;
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_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(QString fault_str MEMBER fault_str)
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;
}
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;
};
Q_DECLARE_METATYPE(MC_VALUES)
struct BMS_VALUES {
Q_GADGET
Q_PROPERTY(double packVoltage MEMBER packVoltage)
Q_PROPERTY(double packCurrent MEMBER packCurrent)
Q_PROPERTY(int soC MEMBER soC)
Q_PROPERTY(double cVHigh MEMBER cVHigh)
Q_PROPERTY(double cVAverage MEMBER cVAverage)
Q_PROPERTY(double cVLow MEMBER cVLow)
Q_PROPERTY(double cVMisMatch MEMBER cVMisMatch)
Q_PROPERTY(double loadLCVoltage MEMBER loadLCVoltage)
Q_PROPERTY(double loadLCCurrent MEMBER loadLCCurrent)
Q_PROPERTY(double loadHCVoltage MEMBER loadHCVoltage)
Q_PROPERTY(double loadHCCurrent MEMBER loadHCCurrent)
Q_PROPERTY(double chargerVoltage MEMBER chargerVoltage)
Q_PROPERTY(double auxVoltage MEMBER auxVoltage)
Q_PROPERTY(double auxCurrent MEMBER auxCurrent)
Q_PROPERTY(double tempBattHigh MEMBER tempBattHigh)
Q_PROPERTY(double tempBattAverage MEMBER tempBattAverage)
Q_PROPERTY(double tempBattLow MEMBER tempBattLow)
Q_PROPERTY(double tempBMSHigh MEMBER tempBMSHigh)
Q_PROPERTY(double tempBMSAverage MEMBER tempBMSAverage)
Q_PROPERTY(double tempBMSLow MEMBER tempBMSLow)
Q_PROPERTY(double humidity MEMBER humidity)
Q_PROPERTY(QString opState MEMBER opState)
Q_PROPERTY(int balanceActive MEMBER balanceActive)
Q_PROPERTY(QString faultState MEMBER faultState)
public:
BMS_VALUES(){
packVoltage = 0.0;
packCurrent =0.0;
soC = 0;
cVHigh = 0.0;
cVAverage =0.0;
cVLow = 0.0;
cVMisMatch = 0.0;
loadLCVoltage = 0.0;
loadLCCurrent = 0.0;
loadHCVoltage = 0.0;
loadHCCurrent = 0.0;
chargerVoltage =0.0;
auxVoltage = 0.0;
auxCurrent = 0.0;
tempBattHigh = 0.0;
tempBattAverage = 0.0;
tempBattLow = 0.0;
tempBMSHigh = 0.0;
tempBMSAverage = 0.0;
tempBMSLow = 0.0;
humidity = 0.0;
balanceActive = 0;
}
double packVoltage;
double packCurrent;
int soC;
double cVHigh;
double cVAverage;
double cVLow;
double cVMisMatch;
double loadLCVoltage;
double loadLCCurrent;
double loadHCVoltage;
double loadHCCurrent;
double chargerVoltage;
double auxVoltage;
double auxCurrent;
double tempBattHigh;
double tempBattAverage;
double tempBattLow;
double tempBMSHigh;
double tempBMSAverage;
double tempBMSLow;
double humidity;
QString opState;
int balanceActive;
QString faultState;
};
Q_DECLARE_METATYPE(BMS_VALUES)
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)
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_mode;
// Communication commands
typedef enum {
COMM_FW_VERSION = 0,
COMM_JUMP_TO_BOOTLOADER,
COMM_ERASE_NEW_APP,
COMM_WRITE_NEW_APP_DATA,
COMM_GET_VALUES,
COMM_SET_DUTY,
COMM_SET_CURRENT,
COMM_SET_CURRENT_BRAKE,
COMM_SET_RPM,
COMM_SET_POS,
COMM_SET_HANDBRAKE,
COMM_SET_DETECT,
COMM_SET_SERVO_POS,
COMM_SET_MCCONF,
COMM_GET_MCCONF,
COMM_GET_MCCONF_DEFAULT,
COMM_SET_APPCONF,
COMM_GET_APPCONF,
COMM_GET_APPCONF_DEFAULT,
COMM_SAMPLE_PRINT,
COMM_TERMINAL_CMD,
COMM_PRINT,
COMM_ROTOR_POSITION,
COMM_EXPERIMENT_SAMPLE,
COMM_DETECT_MOTOR_PARAM,
COMM_DETECT_MOTOR_R_L,
COMM_DETECT_MOTOR_FLUX_LINKAGE,
COMM_DETECT_ENCODER,
COMM_DETECT_HALL_FOC,
COMM_REBOOT,
COMM_ALIVE,
COMM_GET_DECODED_PPM,
COMM_GET_DECODED_ADC,
COMM_GET_DECODED_CHUK,
COMM_FORWARD_CAN,
COMM_SET_CHUCK_DATA,
COMM_CUSTOM_APP_DATA,
COMM_NRF_START_PAIRING,
COMM_GPD_SET_FSW,
COMM_GPD_BUFFER_NOTIFY,
COMM_GPD_BUFFER_SIZE_LEFT,
COMM_GPD_FILL_BUFFER,
COMM_GPD_OUTPUT_SAMPLE,
COMM_GPD_SET_MODE,
COMM_GPD_FILL_BUFFER_INT8,
COMM_GPD_FILL_BUFFER_INT16,
COMM_GPD_SET_BUFFER_INT_SCALE,
COMM_GET_VALUES_SETUP,
COMM_SET_MCCONF_TEMP,
COMM_SET_MCCONF_TEMP_SETUP,
COMM_GET_VALUES_SELECTIVE,
COMM_GET_VALUES_SETUP_SELECTIVE,
COMM_EXT_NRF_PRESENT,
COMM_EXT_NRF_ESB_SET_CH_ADDR,
COMM_EXT_NRF_ESB_SEND_DATA,
COMM_EXT_NRF_ESB_RX_DATA,
COMM_EXT_NRF_SET_ENABLED,
COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP,
COMM_DETECT_APPLY_ALL_FOC,
COMM_JUMP_TO_BOOTLOADER_ALL_CAN,
COMM_ERASE_NEW_APP_ALL_CAN,
COMM_WRITE_NEW_APP_DATA_ALL_CAN,
COMM_PING_CAN,
COMM_APP_DISABLE_OUTPUT,
COMM_TERMINAL_CMD_SYNC,
COMM_GET_IMU_DATA,
COMM_BM_CONNECT,
COMM_BM_ERASE_FLASH_ALL,
COMM_BM_WRITE_FLASH,
COMM_BM_REBOOT,
COMM_BM_DISCONNECT,
COMM_BM_MAP_PINS_DEFAULT,
COMM_BM_MAP_PINS_NRF5X,
COMM_ERASE_BOOTLOADER,
COMM_ERASE_BOOTLOADER_ALL_CAN,
COMM_PLOT_INIT,
COMM_PLOT_DATA,
COMM_PLOT_ADD_GRAPH,
COMM_PLOT_SET_GRAPH,
COMM_GET_DECODED_BALANCE,
COMM_BM_MEM_READ,
COMM_WRITE_NEW_APP_DATA_LZO,
COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO,
COMM_BM_WRITE_FLASH_LZO,
COMM_SET_CURRENT_REL,
COMM_CAN_FWD_FRAME,
COMM_SET_BATTERY_CUT,
COMM_SET_BLE_NAME,
COMM_SET_BLE_PIN,
COMM_SET_CAN_MODE,
COMM_GET_IMU_CALIBRATION,
COMM_GET_MCCONF_TEMP,
// Custom configuration for hardware
COMM_GET_CUSTOM_CONFIG_XML,
COMM_GET_CUSTOM_CONFIG,
COMM_GET_CUSTOM_CONFIG_DEFAULT,
COMM_SET_CUSTOM_CONFIG,
// BMS commands
COMM_BMS_GET_VALUES,
COMM_BMS_SET_CHARGE_ALLOWED,
COMM_BMS_SET_BALANCE_OVERRIDE,
COMM_BMS_RESET_COUNTERS,
COMM_BMS_FORCE_BALANCE,
COMM_BMS_ZERO_CURRENT_OFFSET,
// FW updates commands for different HW types
COMM_JUMP_TO_BOOTLOADER_HW,
COMM_ERASE_NEW_APP_HW,
COMM_WRITE_NEW_APP_DATA_HW,
COMM_ERASE_BOOTLOADER_HW,
COMM_JUMP_TO_BOOTLOADER_ALL_CAN_HW,
COMM_ERASE_NEW_APP_ALL_CAN_HW,
COMM_WRITE_NEW_APP_DATA_ALL_CAN_HW,
COMM_ERASE_BOOTLOADER_ALL_CAN_HW,
COMM_SET_ODOMETER,
// ENNOID-BMS specific
COMM_STORE_BMS_CONF = 150,
COMM_GET_BMS_CELLS,
COMM_GET_BMS_AUX,
COMM_GET_BMS_EXP_TEMP
} COMM_PACKET_ID;
typedef struct {
int js_x;
int js_y;
int acc_x;
int acc_y;
int acc_z;
bool bt_c;
bool bt_z;
} chuck_data;
struct bldc_detect {
Q_GADGET
Q_PROPERTY(double cycle_int_limit MEMBER cycle_int_limit)
Q_PROPERTY(double bemf_coupling_k MEMBER bemf_coupling_k)
Q_PROPERTY(QVector<int> hall_table MEMBER hall_table)
Q_PROPERTY(int hall_res MEMBER hall_res)
public:
double cycle_int_limit;
double bemf_coupling_k;
QVector<int> hall_table;
int hall_res;
};
Q_DECLARE_METATYPE(bldc_detect)
typedef enum {
NRF_PAIR_STARTED = 0,
NRF_PAIR_OK,
NRF_PAIR_FAIL
} NRF_PAIR_RES;
typedef enum {
OP_STATE_INIT = 0, // 0
OP_STATE_CHARGING, // 1
OP_STATE_PRE_CHARGE, // 2
OP_STATE_LOAD_ENABLED, // 3
OP_STATE_BATTERY_DEAD, // 4
OP_STATE_POWER_DOWN, // 5
OP_STATE_EXTERNAL, // 6
OP_STATE_ERROR, // 7
OP_STATE_ERROR_PRECHARGE, // 8
OP_STATE_BALANCING, // 9
OP_STATE_CHARGED, // 10
OP_STATE_FORCEON, // 11
} OperationalStateTypedef;
#endif // DATATYPES_H