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Dependencies:   BufferedSerial

inc/rplidar_protocol.h@2:faef6636d456, 2021-05-05 (annotated)

Committer:
yaaqobhpt
Date:
Wed May 05 14:14:28 2021 +0000
Revision:
2:faef6636d456
Parent:
0:c25c4b67b6a1 
dada

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yaaqobhpt 0:c25c4b67b6a1 1 /*
yaaqobhpt 0:c25c4b67b6a1 2 * Copyright (c) 2014, RoboPeak
yaaqobhpt 0:c25c4b67b6a1 3 * All rights reserved.
yaaqobhpt 0:c25c4b67b6a1 4 *
yaaqobhpt 0:c25c4b67b6a1 5 * Redistribution and use in source and binary forms, with or without
yaaqobhpt 0:c25c4b67b6a1 6 * modification, are permitted provided that the following conditions are met:
yaaqobhpt 0:c25c4b67b6a1 7 *
yaaqobhpt 0:c25c4b67b6a1 8 * 1. Redistributions of source code must retain the above copyright notice,
yaaqobhpt 0:c25c4b67b6a1 9 * this list of conditions and the following disclaimer.
yaaqobhpt 0:c25c4b67b6a1 10 *
yaaqobhpt 0:c25c4b67b6a1 11 * 2. Redistributions in binary form must reproduce the above copyright notice,
yaaqobhpt 0:c25c4b67b6a1 12 * this list of conditions and the following disclaimer in the documentation
yaaqobhpt 0:c25c4b67b6a1 13 * and/or other materials provided with the distribution.
yaaqobhpt 0:c25c4b67b6a1 14 *
yaaqobhpt 0:c25c4b67b6a1 15 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
yaaqobhpt 0:c25c4b67b6a1 16 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
yaaqobhpt 0:c25c4b67b6a1 17 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
yaaqobhpt 0:c25c4b67b6a1 18 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
yaaqobhpt 0:c25c4b67b6a1 19 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
yaaqobhpt 0:c25c4b67b6a1 20 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
yaaqobhpt 0:c25c4b67b6a1 21 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
yaaqobhpt 0:c25c4b67b6a1 22 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
yaaqobhpt 0:c25c4b67b6a1 23 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
yaaqobhpt 0:c25c4b67b6a1 24 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
yaaqobhpt 0:c25c4b67b6a1 25 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
yaaqobhpt 0:c25c4b67b6a1 26 *
yaaqobhpt 0:c25c4b67b6a1 27 */
yaaqobhpt 0:c25c4b67b6a1 28 /*
yaaqobhpt 0:c25c4b67b6a1 29 * RoboPeak LIDAR System
yaaqobhpt 0:c25c4b67b6a1 30 * Data Packet IO protocol definition for RP-LIDAR
yaaqobhpt 0:c25c4b67b6a1 31 *
yaaqobhpt 0:c25c4b67b6a1 32 * Copyright 2009 - 2014 RoboPeak Team
yaaqobhpt 0:c25c4b67b6a1 33 * http://www.robopeak.com
yaaqobhpt 0:c25c4b67b6a1 34 *
yaaqobhpt 0:c25c4b67b6a1 35 */
yaaqobhpt 0:c25c4b67b6a1 36 //#ifndef RPLIDAR_PROTOCOL_H
yaaqobhpt 0:c25c4b67b6a1 37 //#define RPLIDAR_PROTOCOL_H
yaaqobhpt 0:c25c4b67b6a1 38
yaaqobhpt 0:c25c4b67b6a1 39 #pragma once
yaaqobhpt 0:c25c4b67b6a1 40
yaaqobhpt 0:c25c4b67b6a1 41 // RP-Lidar Input Packets
yaaqobhpt 0:c25c4b67b6a1 42
yaaqobhpt 0:c25c4b67b6a1 43 #define RPLIDAR_CMD_SYNC_BYTE 0xA5
yaaqobhpt 0:c25c4b67b6a1 44 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80
yaaqobhpt 0:c25c4b67b6a1 45
yaaqobhpt 0:c25c4b67b6a1 46
yaaqobhpt 0:c25c4b67b6a1 47 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5
yaaqobhpt 0:c25c4b67b6a1 48 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A
yaaqobhpt 0:c25c4b67b6a1 49
yaaqobhpt 0:c25c4b67b6a1 50 #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1
yaaqobhpt 0:c25c4b67b6a1 51
yaaqobhpt 0:c25c4b67b6a1 52
yaaqobhpt 0:c25c4b67b6a1 53 #if defined(_WIN32)
yaaqobhpt 0:c25c4b67b6a1 54 #pragma pack(1)
yaaqobhpt 0:c25c4b67b6a1 55 #endif
yaaqobhpt 0:c25c4b67b6a1 56
yaaqobhpt 0:c25c4b67b6a1 57 typedef struct _rplidar_cmd_packet_t {
yaaqobhpt 0:c25c4b67b6a1 58 _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE
yaaqobhpt 0:c25c4b67b6a1 59 _u8 cmd_flag;
yaaqobhpt 0:c25c4b67b6a1 60 _u8 size;
yaaqobhpt 0:c25c4b67b6a1 61 _u8 data[0];
yaaqobhpt 0:c25c4b67b6a1 62 } __attribute__((packed)) rplidar_cmd_packet_t;
yaaqobhpt 0:c25c4b67b6a1 63
yaaqobhpt 0:c25c4b67b6a1 64
yaaqobhpt 0:c25c4b67b6a1 65 typedef struct _rplidar_ans_header_t {
yaaqobhpt 0:c25c4b67b6a1 66 _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
yaaqobhpt 0:c25c4b67b6a1 67 _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
yaaqobhpt 0:c25c4b67b6a1 68 _u32 size:30;
yaaqobhpt 0:c25c4b67b6a1 69 _u32 subType:2;
yaaqobhpt 0:c25c4b67b6a1 70 _u8 type;
yaaqobhpt 0:c25c4b67b6a1 71 } __attribute__((packed)) rplidar_ans_header_t;
yaaqobhpt 0:c25c4b67b6a1 72
yaaqobhpt 0:c25c4b67b6a1 73 #if defined(_WIN32)
yaaqobhpt 0:c25c4b67b6a1 74 #pragma pack()
yaaqobhpt 0:c25c4b67b6a1 75 #endif
yaaqobhpt 0:c25c4b67b6a1 76
yaaqobhpt 0:c25c4b67b6a1 77