Secret_Betago / Mbed 2 deprecated CleaningM-Palm_V2_copy

สัสชิน

Dependencies:   BEAR_Protocol_Edited_V22 BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed

Fork of clean_V2 by Betago

inc/rplidar_cmd.h@8:fc70c78a443b, 2016-06-08 (annotated)

Committer:
icyzkungz
Date:
Wed Jun 08 17:19:21 2016 +0000
Revision:
8:fc70c78a443b
Parent:
2:f873deba2305 
??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 2:f873deba2305 1 /*
palmdotax 2:f873deba2305 2 * Copyright (c) 2014, RoboPeak
palmdotax 2:f873deba2305 3 * All rights reserved.
palmdotax 2:f873deba2305 4 *
palmdotax 2:f873deba2305 5 * Redistribution and use in source and binary forms, with or without
palmdotax 2:f873deba2305 6 * modification, are permitted provided that the following conditions are met:
palmdotax 2:f873deba2305 7 *
palmdotax 2:f873deba2305 8 * 1. Redistributions of source code must retain the above copyright notice,
palmdotax 2:f873deba2305 9 * this list of conditions and the following disclaimer.
palmdotax 2:f873deba2305 10 *
palmdotax 2:f873deba2305 11 * 2. Redistributions in binary form must reproduce the above copyright notice,
palmdotax 2:f873deba2305 12 * this list of conditions and the following disclaimer in the documentation
palmdotax 2:f873deba2305 13 * and/or other materials provided with the distribution.
palmdotax 2:f873deba2305 14 *
palmdotax 2:f873deba2305 15 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
palmdotax 2:f873deba2305 16 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
palmdotax 2:f873deba2305 17 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
palmdotax 2:f873deba2305 18 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
palmdotax 2:f873deba2305 19 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
palmdotax 2:f873deba2305 20 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
palmdotax 2:f873deba2305 21 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
palmdotax 2:f873deba2305 22 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
palmdotax 2:f873deba2305 23 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
palmdotax 2:f873deba2305 24 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
palmdotax 2:f873deba2305 25 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
palmdotax 2:f873deba2305 26 *
palmdotax 2:f873deba2305 27 */
palmdotax 2:f873deba2305 28 /*
palmdotax 2:f873deba2305 29 * RoboPeak LIDAR System
palmdotax 2:f873deba2305 30 * Data Packet IO packet definition for RP-LIDAR
palmdotax 2:f873deba2305 31 *
palmdotax 2:f873deba2305 32 * Copyright 2009 - 2014 RoboPeak Team
palmdotax 2:f873deba2305 33 * http://www.robopeak.com
palmdotax 2:f873deba2305 34 *
palmdotax 2:f873deba2305 35 */
palmdotax 2:f873deba2305 36
palmdotax 2:f873deba2305 37
palmdotax 2:f873deba2305 38 #pragma once
palmdotax 2:f873deba2305 39 #include "rptypes.h"
palmdotax 2:f873deba2305 40 #include "rplidar_protocol.h"
palmdotax 2:f873deba2305 41
palmdotax 2:f873deba2305 42 // Commands
palmdotax 2:f873deba2305 43 //-----------------------------------------
palmdotax 2:f873deba2305 44
palmdotax 2:f873deba2305 45 // Commands without payload and response
palmdotax 2:f873deba2305 46 #define RPLIDAR_CMD_STOP 0x25
palmdotax 2:f873deba2305 47 #define RPLIDAR_CMD_SCAN 0x20
palmdotax 2:f873deba2305 48 #define RPLIDAR_CMD_FORCE_SCAN 0x21
palmdotax 2:f873deba2305 49 #define RPLIDAR_CMD_RESET 0x40
palmdotax 2:f873deba2305 50
palmdotax 2:f873deba2305 51
palmdotax 2:f873deba2305 52 // Commands without payload but have response
palmdotax 2:f873deba2305 53 #define RPLIDAR_CMD_GET_DEVICE_INFO 0x50
palmdotax 2:f873deba2305 54 #define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52
palmdotax 2:f873deba2305 55
palmdotax 2:f873deba2305 56 #if defined(_WIN32)
palmdotax 2:f873deba2305 57 #pragma pack(1)
palmdotax 2:f873deba2305 58 #endif
palmdotax 2:f873deba2305 59
palmdotax 2:f873deba2305 60
palmdotax 2:f873deba2305 61 // Response
palmdotax 2:f873deba2305 62 // ------------------------------------------
palmdotax 2:f873deba2305 63 #define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81
palmdotax 2:f873deba2305 64
palmdotax 2:f873deba2305 65 #define RPLIDAR_ANS_TYPE_DEVINFO 0x4
palmdotax 2:f873deba2305 66 #define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6
palmdotax 2:f873deba2305 67
palmdotax 2:f873deba2305 68
palmdotax 2:f873deba2305 69 #define RPLIDAR_STATUS_OK 0x0
palmdotax 2:f873deba2305 70 #define RPLIDAR_STATUS_WARNING 0x1
palmdotax 2:f873deba2305 71 #define RPLIDAR_STATUS_ERROR 0x2
palmdotax 2:f873deba2305 72
palmdotax 2:f873deba2305 73 #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
palmdotax 2:f873deba2305 74 #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
palmdotax 2:f873deba2305 75 #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
palmdotax 2:f873deba2305 76 #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
palmdotax 2:f873deba2305 77
palmdotax 2:f873deba2305 78 typedef struct _rplidar_response_measurement_node_t {
palmdotax 2:f873deba2305 79 _u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6;
palmdotax 2:f873deba2305 80 _u16 angle_q6_checkbit; // check_bit:1;angle_q6:15;
palmdotax 2:f873deba2305 81 _u16 distance_q2;
palmdotax 2:f873deba2305 82 } __attribute__((packed)) rplidar_response_measurement_node_t;
palmdotax 2:f873deba2305 83
palmdotax 2:f873deba2305 84 typedef struct _rplidar_response_device_info_t {
palmdotax 2:f873deba2305 85 _u8 model;
palmdotax 2:f873deba2305 86 _u16 firmware_version;
palmdotax 2:f873deba2305 87 _u8 hardware_version;
palmdotax 2:f873deba2305 88 _u8 serialnum[16];
palmdotax 2:f873deba2305 89 } __attribute__((packed)) rplidar_response_device_info_t;
palmdotax 2:f873deba2305 90
palmdotax 2:f873deba2305 91 typedef struct _rplidar_response_device_health_t {
palmdotax 2:f873deba2305 92 _u8 status;
palmdotax 2:f873deba2305 93 _u16 error_code;
palmdotax 2:f873deba2305 94 } __attribute__((packed)) rplidar_response_device_health_t;
palmdotax 2:f873deba2305 95
palmdotax 2:f873deba2305 96 #if defined(_WIN32)
palmdotax 2:f873deba2305 97 #pragma pack()
palmdotax 2:f873deba2305 98 #endif