datatypes.h

/*
    Copyright 2016 - 2018 Benjamin Vedder	benjamin@vedder.se

    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 <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;

// 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 {
    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
} 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;

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)

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 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)

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;
    }

    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;
};

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)

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;
    }

    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;
};

Q_DECLARE_METATYPE(IMU_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;

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_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;

#endif // DATATYPES_H