Pierre-Yves Malengre / Mbed OS Lidar

Lidar program

inc/rplidar_protocol.h@0:1d10a6e6808c, 2021-03-03 (annotated)

Committer:
pymal
Date:
Wed Mar 03 21:49:13 2021 +0000
Revision:
0:1d10a6e6808c
Trying to publish Lidar program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pymal 0:1d10a6e6808c 1 /*
pymal 0:1d10a6e6808c 2 * RPLIDAR SDK for Mbed
pymal 0:1d10a6e6808c 3 *
pymal 0:1d10a6e6808c 4 * Copyright (c) 2009 - 2014 RoboPeak Team
pymal 0:1d10a6e6808c 5 * http://www.robopeak.com
pymal 0:1d10a6e6808c 6 * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
pymal 0:1d10a6e6808c 7 * http://www.slamtec.com
pymal 0:1d10a6e6808c 8 *
pymal 0:1d10a6e6808c 9 */
pymal 0:1d10a6e6808c 10 /*
pymal 0:1d10a6e6808c 11 * Redistribution and use in source and binary forms, with or without
pymal 0:1d10a6e6808c 12 * modification, are permitted provided that the following conditions are met:
pymal 0:1d10a6e6808c 13 *
pymal 0:1d10a6e6808c 14 * 1. Redistributions of source code must retain the above copyright notice,
pymal 0:1d10a6e6808c 15 * this list of conditions and the following disclaimer.
pymal 0:1d10a6e6808c 16 *
pymal 0:1d10a6e6808c 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
pymal 0:1d10a6e6808c 18 * this list of conditions and the following disclaimer in the documentation
pymal 0:1d10a6e6808c 19 * and/or other materials provided with the distribution.
pymal 0:1d10a6e6808c 20 *
pymal 0:1d10a6e6808c 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
pymal 0:1d10a6e6808c 22 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
pymal 0:1d10a6e6808c 23 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
pymal 0:1d10a6e6808c 24 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
pymal 0:1d10a6e6808c 25 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
pymal 0:1d10a6e6808c 26 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
pymal 0:1d10a6e6808c 27 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
pymal 0:1d10a6e6808c 28 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
pymal 0:1d10a6e6808c 29 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
pymal 0:1d10a6e6808c 30 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
pymal 0:1d10a6e6808c 31 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
pymal 0:1d10a6e6808c 32 *
pymal 0:1d10a6e6808c 33 */
pymal 0:1d10a6e6808c 34
pymal 0:1d10a6e6808c 35 #pragma once
pymal 0:1d10a6e6808c 36 #include "mbed.h"
pymal 0:1d10a6e6808c 37 // RP-Lidar Input Packets
pymal 0:1d10a6e6808c 38
pymal 0:1d10a6e6808c 39 #define RPLIDAR_CMD_SYNC_BYTE 0xA5
pymal 0:1d10a6e6808c 40 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80
pymal 0:1d10a6e6808c 41
pymal 0:1d10a6e6808c 42
pymal 0:1d10a6e6808c 43 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5
pymal 0:1d10a6e6808c 44 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A
pymal 0:1d10a6e6808c 45
pymal 0:1d10a6e6808c 46 #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1
pymal 0:1d10a6e6808c 47
pymal 0:1d10a6e6808c 48 #define RPLIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
pymal 0:1d10a6e6808c 49 #define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)
pymal 0:1d10a6e6808c 50
pymal 0:1d10a6e6808c 51 typedef struct _rplidar_cmd_packet_t {
pymal 0:1d10a6e6808c 52 uint8_t syncByte; //must be RPLIDAR_CMD_SYNC_BYTE
pymal 0:1d10a6e6808c 53 uint8_t cmd_flag;
pymal 0:1d10a6e6808c 54 uint8_t size;
pymal 0:1d10a6e6808c 55 uint8_t data[0];
pymal 0:1d10a6e6808c 56 } __attribute__((packed)) rplidar_cmd_packet_t;
pymal 0:1d10a6e6808c 57
pymal 0:1d10a6e6808c 58
pymal 0:1d10a6e6808c 59 typedef struct _rplidar_ans_header_t {
pymal 0:1d10a6e6808c 60 uint8_t syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
pymal 0:1d10a6e6808c 61 uint8_t syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
pymal 0:1d10a6e6808c 62 uint32_t size:30; // see _u32 size:30; _u32 subType:2;
pymal 0:1d10a6e6808c 63 uint32_t subType:2;
pymal 0:1d10a6e6808c 64 uint8_t type;
pymal 0:1d10a6e6808c 65 } __attribute__((packed)) rplidar_ans_header_t;