Diff: inc/rplidar_cmd.h

Revision:

0:1d10a6e6808c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/rplidar_cmd.h	Wed Mar 03 21:49:13 2021 +0000
@@ -0,0 +1,288 @@
+/*
+ *  RPLIDAR SDK for Mbed
+ *
+ *  Copyright (c) 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+/*
+ * 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.
+ *
+ */
+
+
+#pragma once
+#include "mbed.h"
+#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
+#define RPLIDAR_CMD_GET_SAMPLERATE     0x59 //added in fw 1.17
+#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8
+
+// Commands with payload and have response
+#define RPLIDAR_CMD_EXPRESS_SCAN       0x82 //added in fw 1.17
+#define RPLIDAR_CMD_HQ_SCAN            0x83 //added in fw 1.24
+#define RPLIDAR_CMD_GET_LIDAR_CONF     0x84 //added in fw 1.24
+#define RPLIDAR_CMD_SET_LIDAR_CONF     0x85 //added in fw 1.24
+
+//add for A2 to set RPLIDAR motor pwm when using accessory board
+#define RPLIDAR_CMD_SET_MOTOR_PWM      0xF0
+#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF
+
+// Payloads
+// ------------------------------------------
+#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL      0 
+#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE    0  // won't been supported but keep to prevent build fail
+//for express working flag(extending express scan protocol)
+#define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST                 0x0001 
+#define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION    0x0002
+
+//for ultra express working flag
+#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD                 0x0001 
+#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY    0x0002
+
+#define RPLIDAR_HQ_SCAN_FLAG_CCW            (0x1<<0)
+#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER    (0x1<<1)
+#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE   (0x1<<2)
+
+typedef struct _rplidar_payload_express_scan_t {
+    uint8_t   working_mode;
+    uint16_t  working_flags;
+    uint16_t  param;
+} __attribute__((packed)) rplidar_payload_express_scan_t;
+
+typedef struct _rplidar_payload_hq_scan_t {
+    uint8_t  flag;
+    uint8_t   reserved[32];
+} __attribute__((packed)) rplidar_payload_hq_scan_t;
+
+typedef struct _rplidar_payload_get_scan_conf_t {
+    uint32_t  type;
+    uint8_t   reserved[32];
+} __attribute__((packed)) rplidar_payload_get_scan_conf_t;
+#define MAX_MOTOR_PWM               1023
+#define DEFAULT_MOTOR_PWM           660
+typedef struct _rplidar_payload_motor_pwm_t {
+    uint16_t pwm_value;
+} __attribute__((packed)) rplidar_payload_motor_pwm_t;
+
+typedef struct _rplidar_payload_acc_board_flag_t {
+    uint32_t reserved;
+} __attribute__((packed)) rplidar_payload_acc_board_flag_t;
+
+// Response
+// ------------------------------------------
+#define RPLIDAR_ANS_TYPE_DEVINFO          0x4
+#define RPLIDAR_ANS_TYPE_DEVHEALTH        0x6
+
+#define RPLIDAR_ANS_TYPE_MEASUREMENT                0x81
+// Added in FW ver 1.17
+#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED       0x82
+#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ            0x83
+
+
+// Added in FW ver 1.17
+#define RPLIDAR_ANS_TYPE_SAMPLE_RATE      0x15
+//added in FW ver 1.23alpha
+#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA  0x84
+//added in FW ver 1.24
+#define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF     0x20
+#define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF     0x21
+#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED        0x85
+#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG   0xFF
+
+#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK      (0x1)
+typedef struct _rplidar_response_acc_board_flag_t {
+    uint32_t support_flag;
+} __attribute__((packed)) rplidar_response_acc_board_flag_t;
+
+
+#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_HQ_FLAG_SYNCBIT               (0x1<<0)
+
+#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT       (0x1<<0)
+#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT    1
+
+typedef struct _rplidar_response_sample_rate_t {
+    uint16_t  std_sample_duration_us;
+    uint16_t  express_sample_duration_us;
+} __attribute__((packed)) rplidar_response_sample_rate_t;
+
+typedef struct _rplidar_response_measurement_node_t {
+    uint8_t    sync_quality;      // syncbit:1;syncbit_inverse:1;quality:6;
+    uint16_t   angle_q6_checkbit; // check_bit:1;angle_q6:15;
+    uint16_t   distance_q2;
+} __attribute__((packed)) rplidar_response_measurement_node_t;
+
+//[distance_sync flags]
+#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK           (0x3)
+#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK        (0xFC)
+
+typedef struct _rplidar_response_cabin_nodes_t {
+    uint16_t   distance_angle_1; // see [distance_sync flags]
+    uint16_t   distance_angle_2; // see [distance_sync flags]
+    uint8_t    offset_angles_q3;  
+} __attribute__((packed)) rplidar_response_cabin_nodes_t;   
+
+
+#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1               0xA
+#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2               0x5
+
+#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC                  0xA5
+
+#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT              (0x1<<15)
+
+typedef struct _rplidar_response_capsule_measurement_nodes_t {
+    uint8_t                             s_checksum_1; // see [s_checksum_1]
+    uint8_t                             s_checksum_2; // see [s_checksum_1]
+    uint16_t                            start_angle_sync_q6;
+    rplidar_response_cabin_nodes_t  cabins[16];
+} __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t;
+
+typedef struct _rplidar_response_dense_cabin_nodes_t {
+    uint16_t   distance; 
+} __attribute__((packed)) rplidar_response_dense_cabin_nodes_t;
+
+typedef struct _rplidar_response_dense_capsule_measurement_nodes_t {
+    uint8_t                             s_checksum_1; // see [s_checksum_1]
+    uint8_t                             s_checksum_2; // see [s_checksum_1]
+    uint16_t                            start_angle_sync_q6;
+    rplidar_response_dense_cabin_nodes_t  cabins[40];
+} __attribute__((packed)) rplidar_response_dense_capsule_measurement_nodes_t;
+
+// ext1 : x2 boost mode
+
+#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS     12
+#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS   10
+
+typedef struct _rplidar_response_ultra_cabin_nodes_t {
+    // 31                                              0
+    // | predict2 10bit | predict1 10bit | major 12bit |
+    uint32_t combined_x3;
+} __attribute__((packed)) rplidar_response_ultra_cabin_nodes_t;  
+
+typedef struct _rplidar_response_ultra_capsule_measurement_nodes_t {
+    uint8_t                             s_checksum_1; // see [s_checksum_1]
+    uint8_t                             s_checksum_2; // see [s_checksum_1]
+    uint16_t                            start_angle_sync_q6;
+    rplidar_response_ultra_cabin_nodes_t  ultra_cabins[32];
+} __attribute__((packed)) rplidar_response_ultra_capsule_measurement_nodes_t;
+
+typedef struct rplidar_response_measurement_node_hq_t {
+    uint16_t   angle_z_q14; 
+    uint32_t   dist_mm_q2; 
+    uint8_t    quality;  
+    uint8_t    flag;
+} __attribute__((packed)) rplidar_response_measurement_node_hq_t;
+
+typedef struct _rplidar_response_hq_capsule_measurement_nodes_t{
+    uint8_t sync_byte;
+    uint64_t time_stamp;
+    rplidar_response_measurement_node_hq_t node_hq[16];
+    uint32_t  crc32;
+}__attribute__((packed)) rplidar_response_hq_capsule_measurement_nodes_t;
+
+
+#   define RPLIDAR_CONF_SCAN_COMMAND_STD            0
+#   define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS        1
+#   define RPLIDAR_CONF_SCAN_COMMAND_HQ             2
+#   define RPLIDAR_CONF_SCAN_COMMAND_BOOST          3
+#   define RPLIDAR_CONF_SCAN_COMMAND_STABILITY      4
+#   define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY    5
+
+#define RPLIDAR_CONF_ANGLE_RANGE                    0x00000000
+#define RPLIDAR_CONF_DESIRED_ROT_FREQ               0x00000001
+#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP            0x00000002
+#define RPLIDAR_CONF_MIN_ROT_FREQ                   0x00000004
+#define RPLIDAR_CONF_MAX_ROT_FREQ                   0x00000005
+#define RPLIDAR_CONF_MAX_DISTANCE                   0x00000060
+        
+#define RPLIDAR_CONF_SCAN_MODE_COUNT                0x00000070
+#define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE        0x00000071
+#define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE         0x00000074
+#define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE             0x00000075
+#define RPLIDAR_CONF_SCAN_MODE_TYPICAL              0x0000007C
+#define RPLIDAR_CONF_SCAN_MODE_NAME                 0x0000007F
+#define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP                 4
+#define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP               5
+
+typedef struct _rplidar_response_get_lidar_conf{
+    uint32_t type;
+    uint8_t  payload[0];
+}__attribute__((packed)) rplidar_response_get_lidar_conf_t;
+
+typedef struct _rplidar_response_set_lidar_conf{
+    uint32_t result;
+}__attribute__((packed)) rplidar_response_set_lidar_conf_t;
+
+
+typedef struct _rplidar_response_device_info_t {
+    uint8_t   model;
+    uint16_t  firmware_version;
+    uint8_t   hardware_version;
+    uint8_t   serialnum[16];
+} __attribute__((packed)) rplidar_response_device_info_t;
+
+typedef struct _rplidar_response_device_health_t {
+    uint8_t   status;
+    uint16_t  error_code;
+} __attribute__((packed)) rplidar_response_device_health_t;
+
+// Definition of the variable bit scale encoding mechanism
+#define RPLIDAR_VARBITSCALE_X2_SRC_BIT  9
+#define RPLIDAR_VARBITSCALE_X4_SRC_BIT  11
+#define RPLIDAR_VARBITSCALE_X8_SRC_BIT  12
+#define RPLIDAR_VARBITSCALE_X16_SRC_BIT 14
+
+#define RPLIDAR_VARBITSCALE_X2_DEST_VAL 512
+#define RPLIDAR_VARBITSCALE_X4_DEST_VAL 1280
+#define RPLIDAR_VARBITSCALE_X8_DEST_VAL 1792
+#define RPLIDAR_VARBITSCALE_X16_DEST_VAL 3328
+
+#define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) \
+    (  (((0x1<<(_BITS_)) - RPLIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \
+       ((RPLIDAR_VARBITSCALE_X16_DEST_VAL - RPLIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \
+       ((RPLIDAR_VARBITSCALE_X8_DEST_VAL - RPLIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \
+       ((RPLIDAR_VARBITSCALE_X4_DEST_VAL - RPLIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \
+       RPLIDAR_VARBITSCALE_X2_DEST_VAL - 1)