Diff: inc/rplidar_protocol.h

Revision:

0:1d10a6e6808c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/rplidar_protocol.h	Wed Mar 03 21:49:13 2021 +0000
@@ -0,0 +1,65 @@
+/*
+ *  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;