rplidar_protocol.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 #pragma once
00036 #include "mbed.h"
00037 // RP-Lidar Input Packets
00038 
00039 #define RPLIDAR_CMD_SYNC_BYTE        0xA5
00040 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD  0x80
00041 
00042 
00043 #define RPLIDAR_ANS_SYNC_BYTE1       0xA5
00044 #define RPLIDAR_ANS_SYNC_BYTE2       0x5A
00045 
00046 #define RPLIDAR_ANS_PKTFLAG_LOOP     0x1
00047 
00048 #define RPLIDAR_ANS_HEADER_SIZE_MASK        0x3FFFFFFF
00049 #define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT    (30)
00050 
00051 typedef struct _rplidar_cmd_packet_t {
00052     uint8_t syncByte; //must be RPLIDAR_CMD_SYNC_BYTE
00053     uint8_t cmd_flag; 
00054     uint8_t size;
00055     uint8_t data[0];
00056 } __attribute__((packed)) rplidar_cmd_packet_t;
00057 
00058 
00059 typedef struct _rplidar_ans_header_t {
00060     uint8_t  syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
00061     uint8_t  syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
00062     uint32_t size:30; // see _u32 size:30; _u32 subType:2;
00063     uint32_t subType:2;
00064     uint8_t  type;
00065 } __attribute__((packed)) rplidar_ans_header_t;