rplidar_cmd.h

00001 /*
00002  *  RPLIDAR SDK for Mbed
00003  *
00004  *  Copyright (c) 2009 - 2014 RoboPeak Team
00005  *  http://www.robopeak.com
00006  *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
00007  *  http://www.slamtec.com
00008  *
00009  */
00010 /*
00011  * Redistribution and use in source and binary forms, with or without 
00012  * modification, are permitted provided that the following conditions are met:
00013  *
00014  * 1. Redistributions of source code must retain the above copyright notice, 
00015  *    this list of conditions and the following disclaimer.
00016  *
00017  * 2. Redistributions in binary form must reproduce the above copyright notice, 
00018  *    this list of conditions and the following disclaimer in the documentation 
00019  *    and/or other materials provided with the distribution.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
00023  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
00024  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
00025  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
00026  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
00027  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
00028  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
00029  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
00030  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
00031  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032  *
00033  */
00034 
00035 
00036 #pragma once
00037 #include "mbed.h"
00038 #include "rptypes.h"
00039 #include "rplidar_protocol.h"
00040 
00041 // Commands
00042 //-----------------------------------------
00043 
00044 // Commands without payload and response
00045 #define RPLIDAR_CMD_STOP               0x25
00046 #define RPLIDAR_CMD_SCAN               0x20
00047 #define RPLIDAR_CMD_FORCE_SCAN         0x21
00048 #define RPLIDAR_CMD_RESET              0x40
00049 
00050 
00051 // Commands without payload but have response
00052 #define RPLIDAR_CMD_GET_DEVICE_INFO    0x50
00053 #define RPLIDAR_CMD_GET_DEVICE_HEALTH  0x52
00054 #define RPLIDAR_CMD_GET_SAMPLERATE     0x59 //added in fw 1.17
00055 #define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8
00056 
00057 // Commands with payload and have response
00058 #define RPLIDAR_CMD_EXPRESS_SCAN       0x82 //added in fw 1.17
00059 #define RPLIDAR_CMD_HQ_SCAN            0x83 //added in fw 1.24
00060 #define RPLIDAR_CMD_GET_LIDAR_CONF     0x84 //added in fw 1.24
00061 #define RPLIDAR_CMD_SET_LIDAR_CONF     0x85 //added in fw 1.24
00062 
00063 //add for A2 to set RPLIDAR motor pwm when using accessory board
00064 #define RPLIDAR_CMD_SET_MOTOR_PWM      0xF0
00065 #define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF
00066 
00067 // Payloads
00068 // ------------------------------------------
00069 #define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL      0 
00070 #define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE    0  // won't been supported but keep to prevent build fail
00071 //for express working flag(extending express scan protocol)
00072 #define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST                 0x0001 
00073 #define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION    0x0002
00074 
00075 //for ultra express working flag
00076 #define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD                 0x0001 
00077 #define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY    0x0002
00078 
00079 #define RPLIDAR_HQ_SCAN_FLAG_CCW            (0x1<<0)
00080 #define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER    (0x1<<1)
00081 #define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE   (0x1<<2)
00082 
00083 typedef struct _rplidar_payload_express_scan_t {
00084     uint8_t   working_mode;
00085     uint16_t  working_flags;
00086     uint16_t  param;
00087 } __attribute__((packed)) rplidar_payload_express_scan_t;
00088 
00089 typedef struct _rplidar_payload_hq_scan_t {
00090     uint8_t  flag;
00091     uint8_t   reserved[32];
00092 } __attribute__((packed)) rplidar_payload_hq_scan_t;
00093 
00094 typedef struct _rplidar_payload_get_scan_conf_t {
00095     uint32_t  type;
00096     uint8_t   reserved[32];
00097 } __attribute__((packed)) rplidar_payload_get_scan_conf_t;
00098 #define MAX_MOTOR_PWM               1023
00099 #define DEFAULT_MOTOR_PWM           660
00100 typedef struct _rplidar_payload_motor_pwm_t {
00101     uint16_t pwm_value;
00102 } __attribute__((packed)) rplidar_payload_motor_pwm_t;
00103 
00104 typedef struct _rplidar_payload_acc_board_flag_t {
00105     uint32_t reserved;
00106 } __attribute__((packed)) rplidar_payload_acc_board_flag_t;
00107 
00108 // Response
00109 // ------------------------------------------
00110 #define RPLIDAR_ANS_TYPE_DEVINFO          0x4
00111 #define RPLIDAR_ANS_TYPE_DEVHEALTH        0x6
00112 
00113 #define RPLIDAR_ANS_TYPE_MEASUREMENT                0x81
00114 // Added in FW ver 1.17
00115 #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED       0x82
00116 #define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ            0x83
00117 
00118 
00119 // Added in FW ver 1.17
00120 #define RPLIDAR_ANS_TYPE_SAMPLE_RATE      0x15
00121 //added in FW ver 1.23alpha
00122 #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA  0x84
00123 //added in FW ver 1.24
00124 #define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF     0x20
00125 #define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF     0x21
00126 #define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED        0x85
00127 #define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG   0xFF
00128 
00129 #define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK      (0x1)
00130 typedef struct _rplidar_response_acc_board_flag_t {
00131     uint32_t support_flag;
00132 } __attribute__((packed)) rplidar_response_acc_board_flag_t;
00133 
00134 
00135 #define RPLIDAR_STATUS_OK                 0x0
00136 #define RPLIDAR_STATUS_WARNING            0x1
00137 #define RPLIDAR_STATUS_ERROR              0x2
00138 
00139 #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT        (0x1<<0)
00140 #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT  2
00141 
00142 #define RPLIDAR_RESP_HQ_FLAG_SYNCBIT               (0x1<<0)
00143 
00144 #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT       (0x1<<0)
00145 #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT    1
00146 
00147 typedef struct _rplidar_response_sample_rate_t {
00148     uint16_t  std_sample_duration_us;
00149     uint16_t  express_sample_duration_us;
00150 } __attribute__((packed)) rplidar_response_sample_rate_t;
00151 
00152 typedef struct _rplidar_response_measurement_node_t {
00153     uint8_t    sync_quality;      // syncbit:1;syncbit_inverse:1;quality:6;
00154     uint16_t   angle_q6_checkbit; // check_bit:1;angle_q6:15;
00155     uint16_t   distance_q2;
00156 } __attribute__((packed)) rplidar_response_measurement_node_t;
00157 
00158 //[distance_sync flags]
00159 #define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK           (0x3)
00160 #define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK        (0xFC)
00161 
00162 typedef struct _rplidar_response_cabin_nodes_t {
00163     uint16_t   distance_angle_1; // see [distance_sync flags]
00164     uint16_t   distance_angle_2; // see [distance_sync flags]
00165     uint8_t    offset_angles_q3;  
00166 } __attribute__((packed)) rplidar_response_cabin_nodes_t;   
00167 
00168 
00169 #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1               0xA
00170 #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2               0x5
00171 
00172 #define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC                  0xA5
00173 
00174 #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT              (0x1<<15)
00175 
00176 typedef struct _rplidar_response_capsule_measurement_nodes_t {
00177     uint8_t                             s_checksum_1; // see [s_checksum_1]
00178     uint8_t                             s_checksum_2; // see [s_checksum_1]
00179     uint16_t                            start_angle_sync_q6;
00180     rplidar_response_cabin_nodes_t  cabins[16];
00181 } __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t;
00182 
00183 typedef struct _rplidar_response_dense_cabin_nodes_t {
00184     uint16_t   distance; 
00185 } __attribute__((packed)) rplidar_response_dense_cabin_nodes_t;
00186 
00187 typedef struct _rplidar_response_dense_capsule_measurement_nodes_t {
00188     uint8_t                             s_checksum_1; // see [s_checksum_1]
00189     uint8_t                             s_checksum_2; // see [s_checksum_1]
00190     uint16_t                            start_angle_sync_q6;
00191     rplidar_response_dense_cabin_nodes_t  cabins[40];
00192 } __attribute__((packed)) rplidar_response_dense_capsule_measurement_nodes_t;
00193 
00194 // ext1 : x2 boost mode
00195 
00196 #define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS     12
00197 #define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS   10
00198 
00199 typedef struct _rplidar_response_ultra_cabin_nodes_t {
00200     // 31                                              0
00201     // | predict2 10bit | predict1 10bit | major 12bit |
00202     uint32_t combined_x3;
00203 } __attribute__((packed)) rplidar_response_ultra_cabin_nodes_t;  
00204 
00205 typedef struct _rplidar_response_ultra_capsule_measurement_nodes_t {
00206     uint8_t                             s_checksum_1; // see [s_checksum_1]
00207     uint8_t                             s_checksum_2; // see [s_checksum_1]
00208     uint16_t                            start_angle_sync_q6;
00209     rplidar_response_ultra_cabin_nodes_t  ultra_cabins[32];
00210 } __attribute__((packed)) rplidar_response_ultra_capsule_measurement_nodes_t;
00211 
00212 typedef struct rplidar_response_measurement_node_hq_t {
00213     uint16_t   angle_z_q14; 
00214     uint32_t   dist_mm_q2; 
00215     uint8_t    quality;  
00216     uint8_t    flag;
00217 } __attribute__((packed)) rplidar_response_measurement_node_hq_t;
00218 
00219 typedef struct _rplidar_response_hq_capsule_measurement_nodes_t{
00220     uint8_t sync_byte;
00221     uint64_t time_stamp;
00222     rplidar_response_measurement_node_hq_t node_hq[16];
00223     uint32_t  crc32;
00224 }__attribute__((packed)) rplidar_response_hq_capsule_measurement_nodes_t;
00225 
00226 
00227 #   define RPLIDAR_CONF_SCAN_COMMAND_STD            0
00228 #   define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS        1
00229 #   define RPLIDAR_CONF_SCAN_COMMAND_HQ             2
00230 #   define RPLIDAR_CONF_SCAN_COMMAND_BOOST          3
00231 #   define RPLIDAR_CONF_SCAN_COMMAND_STABILITY      4
00232 #   define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY    5
00233 
00234 #define RPLIDAR_CONF_ANGLE_RANGE                    0x00000000
00235 #define RPLIDAR_CONF_DESIRED_ROT_FREQ               0x00000001
00236 #define RPLIDAR_CONF_SCAN_COMMAND_BITMAP            0x00000002
00237 #define RPLIDAR_CONF_MIN_ROT_FREQ                   0x00000004
00238 #define RPLIDAR_CONF_MAX_ROT_FREQ                   0x00000005
00239 #define RPLIDAR_CONF_MAX_DISTANCE                   0x00000060
00240         
00241 #define RPLIDAR_CONF_SCAN_MODE_COUNT                0x00000070
00242 #define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE        0x00000071
00243 #define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE         0x00000074
00244 #define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE             0x00000075
00245 #define RPLIDAR_CONF_SCAN_MODE_TYPICAL              0x0000007C
00246 #define RPLIDAR_CONF_SCAN_MODE_NAME                 0x0000007F
00247 #define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP                 4
00248 #define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP               5
00249 
00250 typedef struct _rplidar_response_get_lidar_conf{
00251     uint32_t type;
00252     uint8_t  payload[0];
00253 }__attribute__((packed)) rplidar_response_get_lidar_conf_t;
00254 
00255 typedef struct _rplidar_response_set_lidar_conf{
00256     uint32_t result;
00257 }__attribute__((packed)) rplidar_response_set_lidar_conf_t;
00258 
00259 
00260 typedef struct _rplidar_response_device_info_t {
00261     uint8_t   model;
00262     uint16_t  firmware_version;
00263     uint8_t   hardware_version;
00264     uint8_t   serialnum[16];
00265 } __attribute__((packed)) rplidar_response_device_info_t;
00266 
00267 typedef struct _rplidar_response_device_health_t {
00268     uint8_t   status;
00269     uint16_t  error_code;
00270 } __attribute__((packed)) rplidar_response_device_health_t;
00271 
00272 // Definition of the variable bit scale encoding mechanism
00273 #define RPLIDAR_VARBITSCALE_X2_SRC_BIT  9
00274 #define RPLIDAR_VARBITSCALE_X4_SRC_BIT  11
00275 #define RPLIDAR_VARBITSCALE_X8_SRC_BIT  12
00276 #define RPLIDAR_VARBITSCALE_X16_SRC_BIT 14
00277 
00278 #define RPLIDAR_VARBITSCALE_X2_DEST_VAL 512
00279 #define RPLIDAR_VARBITSCALE_X4_DEST_VAL 1280
00280 #define RPLIDAR_VARBITSCALE_X8_DEST_VAL 1792
00281 #define RPLIDAR_VARBITSCALE_X16_DEST_VAL 3328
00282 
00283 #define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) \
00284     (  (((0x1<<(_BITS_)) - RPLIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \
00285        ((RPLIDAR_VARBITSCALE_X16_DEST_VAL - RPLIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \
00286        ((RPLIDAR_VARBITSCALE_X8_DEST_VAL - RPLIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \
00287        ((RPLIDAR_VARBITSCALE_X4_DEST_VAL - RPLIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \
00288        RPLIDAR_VARBITSCALE_X2_DEST_VAL - 1)