João Sousa / Mbed OS romi-vff

sra-romi

Dependencies:   BufferedSerial Matrix

inc/rplidar_cmd.h@0:2b691d200d6f, 2019-04-09 (annotated)

Committer:
LuisRA
Date:
Tue Apr 09 17:53:31 2019 +0000
Revision:
0:2b691d200d6f
initial commit

Who changed what in which revision?

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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 packet 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
LuisRA 0:2b691d200d6f 37
LuisRA 0:2b691d200d6f 38 #pragma once
LuisRA 0:2b691d200d6f 39 #include "rptypes.h"
LuisRA 0:2b691d200d6f 40 #include "rplidar_protocol.h"
LuisRA 0:2b691d200d6f 41
LuisRA 0:2b691d200d6f 42 // Commands
LuisRA 0:2b691d200d6f 43 //-----------------------------------------
LuisRA 0:2b691d200d6f 44
LuisRA 0:2b691d200d6f 45 // Commands without payload and response
LuisRA 0:2b691d200d6f 46 #define RPLIDAR_CMD_STOP 0x25
LuisRA 0:2b691d200d6f 47 #define RPLIDAR_CMD_SCAN 0x20
LuisRA 0:2b691d200d6f 48 #define RPLIDAR_CMD_FORCE_SCAN 0x21
LuisRA 0:2b691d200d6f 49 #define RPLIDAR_CMD_RESET 0x40
LuisRA 0:2b691d200d6f 50
LuisRA 0:2b691d200d6f 51
LuisRA 0:2b691d200d6f 52 // Commands without payload but have response
LuisRA 0:2b691d200d6f 53 #define RPLIDAR_CMD_GET_DEVICE_INFO 0x50
LuisRA 0:2b691d200d6f 54 #define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52
LuisRA 0:2b691d200d6f 55
LuisRA 0:2b691d200d6f 56 #if defined(_WIN32)
LuisRA 0:2b691d200d6f 57 #pragma pack(1)
LuisRA 0:2b691d200d6f 58 #endif
LuisRA 0:2b691d200d6f 59
LuisRA 0:2b691d200d6f 60
LuisRA 0:2b691d200d6f 61 // Response
LuisRA 0:2b691d200d6f 62 // ------------------------------------------
LuisRA 0:2b691d200d6f 63 #define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81
LuisRA 0:2b691d200d6f 64
LuisRA 0:2b691d200d6f 65 #define RPLIDAR_ANS_TYPE_DEVINFO 0x4
LuisRA 0:2b691d200d6f 66 #define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6
LuisRA 0:2b691d200d6f 67
LuisRA 0:2b691d200d6f 68
LuisRA 0:2b691d200d6f 69 #define RPLIDAR_STATUS_OK 0x0
LuisRA 0:2b691d200d6f 70 #define RPLIDAR_STATUS_WARNING 0x1
LuisRA 0:2b691d200d6f 71 #define RPLIDAR_STATUS_ERROR 0x2
LuisRA 0:2b691d200d6f 72
LuisRA 0:2b691d200d6f 73 #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
LuisRA 0:2b691d200d6f 74 #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
LuisRA 0:2b691d200d6f 75 #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
LuisRA 0:2b691d200d6f 76 #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
LuisRA 0:2b691d200d6f 77
LuisRA 0:2b691d200d6f 78 typedef struct _rplidar_response_measurement_node_t {
LuisRA 0:2b691d200d6f 79 _u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6;
LuisRA 0:2b691d200d6f 80 _u16 angle_q6_checkbit; // check_bit:1;angle_q6:15;
LuisRA 0:2b691d200d6f 81 _u16 distance_q2;
LuisRA 0:2b691d200d6f 82 } __attribute__((packed)) rplidar_response_measurement_node_t;
LuisRA 0:2b691d200d6f 83
LuisRA 0:2b691d200d6f 84 typedef struct _rplidar_response_device_info_t {
LuisRA 0:2b691d200d6f 85 _u8 model;
LuisRA 0:2b691d200d6f 86 _u16 firmware_version;
LuisRA 0:2b691d200d6f 87 _u8 hardware_version;
LuisRA 0:2b691d200d6f 88 _u8 serialnum[16];
LuisRA 0:2b691d200d6f 89 } __attribute__((packed)) rplidar_response_device_info_t;
LuisRA 0:2b691d200d6f 90
LuisRA 0:2b691d200d6f 91 typedef struct _rplidar_response_device_health_t {
LuisRA 0:2b691d200d6f 92 _u8 status;
LuisRA 0:2b691d200d6f 93 _u16 error_code;
LuisRA 0:2b691d200d6f 94 } __attribute__((packed)) rplidar_response_device_health_t;
LuisRA 0:2b691d200d6f 95
LuisRA 0:2b691d200d6f 96 #if defined(_WIN32)
LuisRA 0:2b691d200d6f 97 #pragma pack()
LuisRA 0:2b691d200d6f 98 #endif
LuisRA 0:2b691d200d6f 99