sra-romi
Dependencies: BufferedSerial Matrix
inc/rplidar_cmd.h
- Committer:
- joaopsousa99
- Date:
- 2021-05-11
- Revision:
- 4:1defb279922a
- Parent:
- 0:2b691d200d6f
File content as of revision 4:1defb279922a:
/* * 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