Diff: inc/rplidar_cmd.h

Revision:

2:f873deba2305

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/rplidar_cmd.h	Tue May 24 10:25:10 2016 +0000
@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2014, RoboPeak
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+/*
+ *  RoboPeak LIDAR System
+ *  Data Packet IO packet definition for RP-LIDAR
+ *
+ *  Copyright 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *
+ */
+
+
+#pragma once
+#include "rptypes.h"
+#include "rplidar_protocol.h"
+
+// Commands
+//-----------------------------------------
+
+// Commands without payload and response
+#define RPLIDAR_CMD_STOP               0x25
+#define RPLIDAR_CMD_SCAN               0x20
+#define RPLIDAR_CMD_FORCE_SCAN         0x21
+#define RPLIDAR_CMD_RESET              0x40
+
+
+// Commands without payload but have response
+#define RPLIDAR_CMD_GET_DEVICE_INFO      0x50
+#define RPLIDAR_CMD_GET_DEVICE_HEALTH    0x52
+
+#if defined(_WIN32)
+#pragma pack(1)
+#endif
+
+
+// Response
+// ------------------------------------------
+#define RPLIDAR_ANS_TYPE_MEASUREMENT      0x81
+
+#define RPLIDAR_ANS_TYPE_DEVINFO          0x4
+#define RPLIDAR_ANS_TYPE_DEVHEALTH        0x6
+
+
+#define RPLIDAR_STATUS_OK                 0x0
+#define RPLIDAR_STATUS_WARNING            0x1
+#define RPLIDAR_STATUS_ERROR              0x2
+
+#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT        (0x1<<0)
+#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT  2
+#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT       (0x1<<0)
+#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT    1
+
+typedef struct _rplidar_response_measurement_node_t {
+    _u8    sync_quality;      // syncbit:1;syncbit_inverse:1;quality:6;
+    _u16   angle_q6_checkbit; // check_bit:1;angle_q6:15;
+    _u16   distance_q2;
+} __attribute__((packed)) rplidar_response_measurement_node_t;
+
+typedef struct _rplidar_response_device_info_t {
+    _u8   model;
+    _u16  firmware_version;
+    _u8   hardware_version;
+    _u8   serialnum[16];
+} __attribute__((packed)) rplidar_response_device_info_t;
+
+typedef struct _rplidar_response_device_health_t {
+    _u8   status;
+    _u16  error_code;
+} __attribute__((packed)) rplidar_response_device_health_t;
+
+#if defined(_WIN32)
+#pragma pack()
+#endif