Ben Gordon / Mbed 2 deprecated rplidar_arduino-master

lidar code for ROC318

Dependencies:   BufferedSerial mbed

inc/rplidar_protocol.h@0:0791d48ee421, 2018-10-19 (annotated)

Committer:
BenRJG
Date:
Fri Oct 19 17:42:05 2018 +0000
Revision:
0:0791d48ee421
Imported lidar code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BenRJG 0:0791d48ee421 1 /*
BenRJG 0:0791d48ee421 2 * Copyright (c) 2014, RoboPeak
BenRJG 0:0791d48ee421 3 * All rights reserved.
BenRJG 0:0791d48ee421 4 *
BenRJG 0:0791d48ee421 5 * Redistribution and use in source and binary forms, with or without
BenRJG 0:0791d48ee421 6 * modification, are permitted provided that the following conditions are met:
BenRJG 0:0791d48ee421 7 *
BenRJG 0:0791d48ee421 8 * 1. Redistributions of source code must retain the above copyright notice,
BenRJG 0:0791d48ee421 9 * this list of conditions and the following disclaimer.
BenRJG 0:0791d48ee421 10 *
BenRJG 0:0791d48ee421 11 * 2. Redistributions in binary form must reproduce the above copyright notice,
BenRJG 0:0791d48ee421 12 * this list of conditions and the following disclaimer in the documentation
BenRJG 0:0791d48ee421 13 * and/or other materials provided with the distribution.
BenRJG 0:0791d48ee421 14 *
BenRJG 0:0791d48ee421 15 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
BenRJG 0:0791d48ee421 16 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
BenRJG 0:0791d48ee421 17 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
BenRJG 0:0791d48ee421 18 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
BenRJG 0:0791d48ee421 19 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
BenRJG 0:0791d48ee421 20 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
BenRJG 0:0791d48ee421 21 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
BenRJG 0:0791d48ee421 22 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
BenRJG 0:0791d48ee421 23 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
BenRJG 0:0791d48ee421 24 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
BenRJG 0:0791d48ee421 25 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
BenRJG 0:0791d48ee421 26 *
BenRJG 0:0791d48ee421 27 */
BenRJG 0:0791d48ee421 28 /*
BenRJG 0:0791d48ee421 29 * RoboPeak LIDAR System
BenRJG 0:0791d48ee421 30 * Data Packet IO protocol definition for RP-LIDAR
BenRJG 0:0791d48ee421 31 *
BenRJG 0:0791d48ee421 32 * Copyright 2009 - 2014 RoboPeak Team
BenRJG 0:0791d48ee421 33 * http://www.robopeak.com
BenRJG 0:0791d48ee421 34 *
BenRJG 0:0791d48ee421 35 */
BenRJG 0:0791d48ee421 36 //#ifndef RPLIDAR_PROTOCOL_H
BenRJG 0:0791d48ee421 37 //#define RPLIDAR_PROTOCOL_H
BenRJG 0:0791d48ee421 38
BenRJG 0:0791d48ee421 39 #pragma once
BenRJG 0:0791d48ee421 40
BenRJG 0:0791d48ee421 41 // RP-Lidar Input Packets
BenRJG 0:0791d48ee421 42
BenRJG 0:0791d48ee421 43 #define RPLIDAR_CMD_SYNC_BYTE 0xA5
BenRJG 0:0791d48ee421 44 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80
BenRJG 0:0791d48ee421 45
BenRJG 0:0791d48ee421 46
BenRJG 0:0791d48ee421 47 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5
BenRJG 0:0791d48ee421 48 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A
BenRJG 0:0791d48ee421 49
BenRJG 0:0791d48ee421 50 #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1
BenRJG 0:0791d48ee421 51
BenRJG 0:0791d48ee421 52
BenRJG 0:0791d48ee421 53 #if defined(_WIN32)
BenRJG 0:0791d48ee421 54 #pragma pack(1)
BenRJG 0:0791d48ee421 55 #endif
BenRJG 0:0791d48ee421 56
BenRJG 0:0791d48ee421 57 typedef struct _rplidar_cmd_packet_t {
BenRJG 0:0791d48ee421 58 _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE
BenRJG 0:0791d48ee421 59 _u8 cmd_flag;
BenRJG 0:0791d48ee421 60 _u8 size;
BenRJG 0:0791d48ee421 61 _u8 data[0];
BenRJG 0:0791d48ee421 62 } __attribute__((packed)) rplidar_cmd_packet_t;
BenRJG 0:0791d48ee421 63
BenRJG 0:0791d48ee421 64
BenRJG 0:0791d48ee421 65 typedef struct _rplidar_ans_header_t {
BenRJG 0:0791d48ee421 66 _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
BenRJG 0:0791d48ee421 67 _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
BenRJG 0:0791d48ee421 68 _u32 size:30;
BenRJG 0:0791d48ee421 69 _u32 subType:2;
BenRJG 0:0791d48ee421 70 _u8 type;
BenRJG 0:0791d48ee421 71 } __attribute__((packed)) rplidar_ans_header_t;
BenRJG 0:0791d48ee421 72
BenRJG 0:0791d48ee421 73 #if defined(_WIN32)
BenRJG 0:0791d48ee421 74 #pragma pack()
BenRJG 0:0791d48ee421 75 #endif