João Sousa / Mbed OS romi-vff

sra-romi

Dependencies:   BufferedSerial Matrix

inc/rplidar_protocol.h@4:1defb279922a, 2021-05-11 (annotated)

Committer:
joaopsousa99
Date:
Tue May 11 18:10:22 2021 +0000
Revision:
4:1defb279922a
Parent:
0:2b691d200d6f 
as.djvblaskdvj

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LuisRA 0:2b691d200d6f 1 /*
LuisRA 0:2b691d200d6f 2 * Copyright (c) 2014, RoboPeak
LuisRA 0:2b691d200d6f 3 * All rights reserved.
LuisRA 0:2b691d200d6f 4 *
LuisRA 0:2b691d200d6f 5 * Redistribution and use in source and binary forms, with or without
LuisRA 0:2b691d200d6f 6 * modification, are permitted provided that the following conditions are met:
LuisRA 0:2b691d200d6f 7 *
LuisRA 0:2b691d200d6f 8 * 1. Redistributions of source code must retain the above copyright notice,
LuisRA 0:2b691d200d6f 9 * this list of conditions and the following disclaimer.
LuisRA 0:2b691d200d6f 10 *
LuisRA 0:2b691d200d6f 11 * 2. Redistributions in binary form must reproduce the above copyright notice,
LuisRA 0:2b691d200d6f 12 * this list of conditions and the following disclaimer in the documentation
LuisRA 0:2b691d200d6f 13 * and/or other materials provided with the distribution.
LuisRA 0:2b691d200d6f 14 *
LuisRA 0:2b691d200d6f 15 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
LuisRA 0:2b691d200d6f 16 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
LuisRA 0:2b691d200d6f 17 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
LuisRA 0:2b691d200d6f 18 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
LuisRA 0:2b691d200d6f 19 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
LuisRA 0:2b691d200d6f 20 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
LuisRA 0:2b691d200d6f 21 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
LuisRA 0:2b691d200d6f 22 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
LuisRA 0:2b691d200d6f 23 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
LuisRA 0:2b691d200d6f 24 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
LuisRA 0:2b691d200d6f 25 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
LuisRA 0:2b691d200d6f 26 *
LuisRA 0:2b691d200d6f 27 */
LuisRA 0:2b691d200d6f 28 /*
LuisRA 0:2b691d200d6f 29 * RoboPeak LIDAR System
LuisRA 0:2b691d200d6f 30 * Data Packet IO protocol definition for RP-LIDAR
LuisRA 0:2b691d200d6f 31 *
LuisRA 0:2b691d200d6f 32 * Copyright 2009 - 2014 RoboPeak Team
LuisRA 0:2b691d200d6f 33 * http://www.robopeak.com
LuisRA 0:2b691d200d6f 34 *
LuisRA 0:2b691d200d6f 35 */
LuisRA 0:2b691d200d6f 36 //#ifndef RPLIDAR_PROTOCOL_H
LuisRA 0:2b691d200d6f 37 //#define RPLIDAR_PROTOCOL_H
LuisRA 0:2b691d200d6f 38
LuisRA 0:2b691d200d6f 39 #pragma once
LuisRA 0:2b691d200d6f 40
LuisRA 0:2b691d200d6f 41 // RP-Lidar Input Packets
LuisRA 0:2b691d200d6f 42
LuisRA 0:2b691d200d6f 43 #define RPLIDAR_CMD_SYNC_BYTE 0xA5
LuisRA 0:2b691d200d6f 44 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80
LuisRA 0:2b691d200d6f 45
LuisRA 0:2b691d200d6f 46
LuisRA 0:2b691d200d6f 47 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5
LuisRA 0:2b691d200d6f 48 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A
LuisRA 0:2b691d200d6f 49
LuisRA 0:2b691d200d6f 50 #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1
LuisRA 0:2b691d200d6f 51
LuisRA 0:2b691d200d6f 52
LuisRA 0:2b691d200d6f 53 #if defined(_WIN32)
LuisRA 0:2b691d200d6f 54 #pragma pack(1)
LuisRA 0:2b691d200d6f 55 #endif
LuisRA 0:2b691d200d6f 56
LuisRA 0:2b691d200d6f 57 typedef struct _rplidar_cmd_packet_t {
LuisRA 0:2b691d200d6f 58 _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE
LuisRA 0:2b691d200d6f 59 _u8 cmd_flag;
LuisRA 0:2b691d200d6f 60 _u8 size;
LuisRA 0:2b691d200d6f 61 _u8 data[0];
LuisRA 0:2b691d200d6f 62 } __attribute__((packed)) rplidar_cmd_packet_t;
LuisRA 0:2b691d200d6f 63
LuisRA 0:2b691d200d6f 64
LuisRA 0:2b691d200d6f 65 typedef struct _rplidar_ans_header_t {
LuisRA 0:2b691d200d6f 66 _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
LuisRA 0:2b691d200d6f 67 _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
LuisRA 0:2b691d200d6f 68 _u32 size:30;
LuisRA 0:2b691d200d6f 69 _u32 subType:2;
LuisRA 0:2b691d200d6f 70 _u8 type;
LuisRA 0:2b691d200d6f 71 } __attribute__((packed)) rplidar_ans_header_t;
LuisRA 0:2b691d200d6f 72
LuisRA 0:2b691d200d6f 73 #if defined(_WIN32)
LuisRA 0:2b691d200d6f 74 #pragma pack()
LuisRA 0:2b691d200d6f 75 #endif
LuisRA 0:2b691d200d6f 76