Pierre-Yves Malengre
/
Lidar
Lidar program
inc/rplidar_protocol.h
- Committer:
- pymal
- Date:
- 2021-03-03
- Revision:
- 0:1d10a6e6808c
File content as of revision 0:1d10a6e6808c:
/* * 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" // 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 #define RPLIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF #define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT (30) typedef struct _rplidar_cmd_packet_t { uint8_t syncByte; //must be RPLIDAR_CMD_SYNC_BYTE uint8_t cmd_flag; uint8_t size; uint8_t data[0]; } __attribute__((packed)) rplidar_cmd_packet_t; typedef struct _rplidar_ans_header_t { uint8_t syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1 uint8_t syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2 uint32_t size:30; // see _u32 size:30; _u32 subType:2; uint32_t subType:2; uint8_t type; } __attribute__((packed)) rplidar_ans_header_t;