FrameSheet.h

#ifndef FRAMESHEET_H
#define FRAMESHEET_H

#include <QMetaType>
#include <QVariant>

#define uint8_t unsigned char
#define uint16_t unsigned short
#define int16_t short
#define uint32_t unsigned int

#define BufMaxStorageCnt                                        (6000)
#define SingleShotMaxStorageCnt                                 (BufMaxStorageCnt/2)

#define MAXDELAYLEN                                             (5)
#define MAXCASNODENUM                                           (2)

// 左侧绝对量程： 8697903 um - 9203551 um
#define LEFT_START_POSI                                         (8697903)
#define LEFT_END_POSI                                           (9203551)

// 右侧绝对量程： 9259537 um - 9769376 um
#define RIGHT_START_POSI                                        (9259537)
#define RIGHT_END_POSI                                          (9769376)

// 定义安装高度同步补偿 LEFT-RIGHT =X
#define SETUP_HIGH_COMPENSATION_UM                              (0)
#define MAX_ALLOWED_MECHANICAL_ERROR_UM                         (100)

// Z轴轴距
#define ZAXIS_DISTANCE                                          (740000)
// 额定转矩
#define MOTORTORQUE                                             (2.80)
// 控制周期
#define CONTROL_SENSOR_PERIOD_MS                                (5)

#define RAD_DU                                                  (57.2958)


#pragma pack(1)

// Standard CANID
typedef union
{
    struct
    {
        uint32_t MasterOrSlave : 1; 	//主从角色
        uint32_t CTRCode : 5;
        uint32_t NodeGroupID : 5;
        uint32_t Reserve : 21;
    }STDCANID;
    uint32_t Value;
}CANID_STD;

//CANFrame
typedef struct
{
    CANID_STD CANID;
    uint8_t CANData[8];
}CANFrame_STD;

//时间戳报文
typedef struct timeStamp {
    uint32_t hour;
    uint32_t minute;
    uint32_t second;
    uint32_t msec;
}curTime;

//Ethernet报文
/*报文类型有三种：
 * Etype =1: 无预测直接发 帧号+当前PC UTC时间+预测速度
 * Etype =2: NPC预测控制 帧号+预测作用 UTC时间 + 预测速度（需要使用ETH包中的时间来给定发送时间）
 * Etype =4: 时钟同步帧  帧号+当前PC UTC时间
 * Etype =5: 周期获取位置反馈 帧号+当前PC UTC时间+当前查询位置/ 帧号+当前UTC同步时间+最新获取位置信号
 * EType =6: 上传位置同步误差信息 帧号+ 当前UTC同步时间+实时平均误差信息
 * Etype =7: PC向ETH获取时延模拟数据
 * Etype =8: PC向CAS获取事件触发数据
 * EType =0x1F: PC向CAS获取存储位移数据
 *
*/

// ETH下发报文指令类型
#define SPEEDCMD            (0x00)
#define PRESPEED            (0x01)
#define TIMESYNC            (0x02)
#define POSIACQUIRE         (0x03)
#define DATAUPLOAD          (0x1F)

// ETH-CAS Mode
typedef struct
{
    uint32_t EHeader;        //Ethernet帧头
    uint32_t ENum;           //Ethernet帧号
    uint32_t ELen;           //Ethernet长度 Byte
    uint8_t EType;           //报文类型
    uint32_t sendTimeStamp;  //发送时间戳
    uint8_t canEnable[MAXCASNODENUM];      //下发 or 上传数据包含can1节点数据
    CANFrame_STD canCmd[MAXCASNODENUM];      //CAN节点1 报文
    uint32_t EChecksum;
    uint32_t FrameTailer;
}EthControlFrame;

typedef struct
{
    uint32_t EHeader;         //Ethernet帧头
    uint32_t ENum;            //Ethernet帧号
    uint32_t ELen;           //Ethernet长度 Byte
    uint8_t EType;           //报文类型
    uint8_t ETotalPackNum;   //总CAN包数
    uint8_t can_preLen[MAXCASNODENUM];     //CAN预测长度
    uint32_t sendTimeStamp;  //发送时间戳
    uint8_t canEnable[MAXCASNODENUM];      //下发 or 上传数据包含can节点数据
    CANFrame_STD canPreCmd[MAXCASNODENUM][MAXDELAYLEN];  //CAN1预测命令
    uint32_t EChecksum;
    uint32_t FrameTailer;
}EthPredFrame;

//时钟同步帧
typedef struct {
    uint32_t EHeader;         //Ethernet帧头
    uint32_t ENum;            //Ethernet帧号
    uint32_t ELen;            //Ethernet长度 Byte
    uint8_t EType;            //报文类型
    uint32_t timeSync;
    uint16_t EChecksum;
    uint16_t FrameTailer;
}EtherFrame;

//预测给定速度序列
typedef struct {
    uint32_t preTime[15];       //ms
    short preGivenSpeed[15];    //rpm
}EthUARRPRE;

// CAS mode
typedef struct {
    uint32_t EHeader;        //Ethernet帧头
    uint32_t ENum;           //Ethernet帧号
    uint32_t ELen;           //Ethernet长度 Byte
    uint8_t EType;           //报文类型
    CANFrame_STD canpack;
    uint32_t FrameTailer;
}EthControlFrameSingleCAS;

typedef struct {
    uint32_t EHeader;        // Ethernet帧头
    uint32_t ENum;           // Ethernet帧号
    uint32_t ELen;           // Ethernet长度 Byte
    uint16_t EType;           // 报文类型
    uint16_t subType;        // 子类型
    uint8_t CASNodeID;       // 数据来源
    uint8_t curWorkMode;     // 当前工作模式
    uint16_t statusWord;     // 状态字
    uint32_t CAS_gTime_MS;   // CAS端记录的数据记录时刻时间
    uint32_t localTimeMS;    // 上报时间
    uint32_t motorPosiUM;    // 当前绝对位置
    short motorRealTimeTorqueNM; //实时转矩
    short motorAveragePhaseAmp;  //平均相电流
    uint32_t FrameTailer;
} CASREPORTFRAME;
Q_DECLARE_METATYPE(CASREPORTFRAME);

typedef struct {
    uint32_t g_time_ms;        //Ethernet帧头
    uint32_t l_time_ms;           //Ethernet帧号
    uint32_t posi_um;           //Ethernet长度 Byte
} SUBPACK;

#define  SUBPACKNUM    (100)
#define RESNUM (800000)

typedef struct {
    uint32_t EHeader;        //Ethernet帧头
    uint32_t ENum;           //Ethernet帧号
    uint32_t ELen;           //Ethernet长度 Byte
    uint16_t EType;           //报文类型
    uint16_t subType;         // 子报文类型 0：请求告知 1:传输数据
    uint8_t CASNode;         // 上报CAS节点
    uint32_t SubPackNum;
    uint32_t totalSubPackNum;
    SUBPACK sdramSubPack[SUBPACKNUM]; // 单次上传100包
    uint32_t FrameTailer;
} CASREPORTSDRAMPACK;
Q_DECLARE_METATYPE(CASREPORTSDRAMPACK);

// SDRAM数据记录格式
typedef struct {
    uint32_t local_time_ms;
    uint32_t magnetPosium;
} SDRAM_DATA_STO;

#define MAXLOADPACKNUM  (150)

typedef struct {
    uint32_t EHeader;        // Ethernet帧头
    uint32_t ENum;           // Ethernet帧号
    uint32_t ELen;           // Ethernet长度 Byte
    uint32_t EType;          // 数据包类型
    uint32_t ReportStep;     // 当前上报阶段/子报文类型
    uint32_t ReportCASID;    // 上报节点
    uint32_t TotalPackNum;   // 总分包数
    uint32_t CurPackNum;     // 当前分包号
    uint32_t CurPackDataNum; // 当前分包内的数据条数
    SDRAM_DATA_STO data[MAXLOADPACKNUM];   // 单包最大
    uint32_t FrameTailer;
} ETHDataUploadPack;

// ETH-CAS Mode


// CAS Mode
#define CANTargetCmd                    (1)
#define CANSpeedPreCmd                  (2)
#define CANOperationModeCmd             (3)
#define CANTimeSyncCmd                  (4)
#define CANPosiAcquireCmd               (5)
#define CANTimeSyncErrorCalCmd          (6)
#define CANLocalPITestCmd               (7)
#define CANDriverInfoAcquire            (10)

//串口通信帧格式（其实没啥用，仅作为编程参考）
typedef struct serialData {
    unsigned char FrameHeader_1;
    unsigned char FrameHeader_2;
    unsigned char reCVSource;
    unsigned char timeStamp[4];
    unsigned char feedbackSpeed[2];
    unsigned char sumCheck;
    unsigned char frameTailer;
}SerialFrame;

//自定义数据传递结构
typedef struct speedFormat {
    unsigned short curSpeed;    //反馈速度
    uint32_t timeStamp;         //ms时间戳
}speedUpdateFormat;
Q_DECLARE_METATYPE(speedUpdateFormat);

typedef struct {
    uint8_t dataSource;
    uint16_t frameNum;
    uint32_t cas_gTimeMS;
    uint32_t sampleTimeStamp;
    int32_t feedbackPosium;
    short motorRealTimeTorqueNM;
}feedbackData;
Q_DECLARE_METATYPE(feedbackData);

typedef struct {
    uint32_t recvTimeStamp;
    uint32_t referSig;
    int16_t avgRecord;
} avgPosiRecord;

typedef struct {
    uint32_t relevantInitPosi[2]; // 起始相对位移
    int32_t taskPosiUM;           // 本次任务的相对位移
    unsigned char taskPeriod;     // 任务所处阶段： 1 调整初始误差 2 同步启动 3 同步任务完成
} POSISYNCTASK;


// 数据统计
typedef struct {
   volatile uint32_t syncErrorUM_MAX;
   volatile uint32_t syncErrorUM_EMS;

   volatile float rotateAngle_MAX;
   volatile float rotateAngle_MIN;
   volatile float rotateAngle_ABS_MAX;
   volatile float rotateAngle_EMS;

   volatile unsigned int TaskTimeMS; // 任务总时间
} MotionDataCol;

#pragma pack()

// 字节序调整
uint16_t WordCombine(uint8_t byte1, uint8_t byte2);

// 功能开关
#define TimeSyncEnable       (1)    //报文时钟同步默认开启
#define SpeedSyncMode        (0)    //测试用，三通道速度给定一致
#define CCC_ALGO_ENABLE      (1)    // 同步算法使用交叉耦合同步控制
#define SMC_SYNC_ALGO_ENABLE (0)

extern volatile unsigned char curAlgoMode;
extern SUBPACK frameSubpackArray[SUBPACKNUM];
extern SUBPACK onceRecvArray[RESNUM];
extern feedbackData laFData_CH[3];
extern POSISYNCTASK posiTask;


extern volatile unsigned char PMSMCurWorkMode[2];
#endif // FRAMESHEET_H