sra-romi
Dependencies: BufferedSerial Matrix
inc/rplidar_protocol.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 protocol definition for RP-LIDAR * * Copyright 2009 - 2014 RoboPeak Team * http://www.robopeak.com * */ //#ifndef RPLIDAR_PROTOCOL_H //#define RPLIDAR_PROTOCOL_H #pragma once // RP-Lidar Input Packets #define RPLIDAR_CMD_SYNC_BYTE 0xA5 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1 #if defined(_WIN32) #pragma pack(1) #endif typedef struct _rplidar_cmd_packet_t { _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE _u8 cmd_flag; _u8 size; _u8 data[0]; } __attribute__((packed)) rplidar_cmd_packet_t; typedef struct _rplidar_ans_header_t { _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1 _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2 _u32 size:30; _u32 subType:2; _u8 type; } __attribute__((packed)) rplidar_ans_header_t; #if defined(_WIN32) #pragma pack() #endif