Diff: YDLidarX4/YDLidarX4.h

Revision:

0:bcaa6d8df26d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/YDLidarX4/YDLidarX4.h	Thu Mar 03 06:55:48 2022 +0000
@@ -0,0 +1,85 @@
+#ifndef YDLIDARX4_H
+#define YDLIDARX4_H
+
+#include "BufferedSerial.h"
+#include "mbed.h"
+
+#define LIDAR_BAUD 128000
+
+#define RESPONSE_HEADER_BYTE_1 0xA5
+#define RESPONSE_HEADER_BYTE_2 0x5A
+#define RESPONSE_HEADER_TYPE_START 0x81
+// Scan Command
+
+#define CLOUD_HEADER_BYTE_1 0xAA
+#define CLOUD_HEADER_BYTE_2 0x55
+// 2B in length, fixed at 0x55AA, low in front, high in back
+
+#define START_BYTE 0xA5
+#define CMD_START 0x60
+#define CMD_STOP 0x65
+#define CMD_RESET 0x80
+#define CMD_HEALTH 0x91
+// System Command
+
+struct responseHeader {
+    //응답 관련 헤더
+    uint8_t startByte1;
+    uint8_t startByte2;
+    //start sign, 16비트인데 2개로 나눠놓은듯 
+    uint32_t length:30;
+    //length 30비트
+    uint32_t mode:2;
+    //mode 2비트
+    uint8_t type;
+    //타입코드, 개발자메뉴얼에 8비트라 명시
+} __attribute__((packed));
+
+
+struct cloudHeader {
+    //패킷
+    uint16_t ph;
+    // 패킷헤더
+    uint8_t ct;
+    // 패키지 타입
+    uint8_t lsn;
+    // 수신 정보량
+    uint16_t fsa;
+    // first
+    uint16_t lsa;
+    // last
+    uint16_t cs;
+    // check sum
+} __attribute__((packed));
+
+
+class YDLidarX4 {
+
+public:
+
+    YDLidarX4(PinName tx, PinName rx, PinName m_en, PinName ctl);
+
+    void stopplease();
+    //좀 멈추게 만들어본거
+    void softReset();
+    int startSampling();
+    void stopSampling();
+    // 단순명령어들, 따로 입력값이 없다.
+    
+    void setRotationSpeed(float speed);
+    void getResponseHeader(responseHeader* header);
+    void getCloudHeader(cloudHeader* header);
+    void getCloudSamples(uint16_t* tab, uint8_t size);
+
+private :
+
+    void sendCommand(uint8_t com);
+    void flush();
+
+    BufferedSerial _lidar;
+    DigitalOut _m_en;
+    PwmOut _m_ctl;
+
+};
+
+#endif