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Dependencies:   BufferedSerial

inc/rplidar_cmd.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 packet 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
yaaqobhpt 0:c25c4b67b6a1 37
yaaqobhpt 0:c25c4b67b6a1 38 #pragma once
yaaqobhpt 0:c25c4b67b6a1 39 #include "rptypes.h"
yaaqobhpt 0:c25c4b67b6a1 40 #include "rplidar_protocol.h"
yaaqobhpt 0:c25c4b67b6a1 41
yaaqobhpt 0:c25c4b67b6a1 42 // Commands
yaaqobhpt 0:c25c4b67b6a1 43 //-----------------------------------------
yaaqobhpt 0:c25c4b67b6a1 44
yaaqobhpt 0:c25c4b67b6a1 45 // Commands without payload and response
yaaqobhpt 0:c25c4b67b6a1 46 #define RPLIDAR_CMD_STOP 0x25
yaaqobhpt 0:c25c4b67b6a1 47 #define RPLIDAR_CMD_SCAN 0x20
yaaqobhpt 0:c25c4b67b6a1 48 #define RPLIDAR_CMD_FORCE_SCAN 0x21
yaaqobhpt 0:c25c4b67b6a1 49 #define RPLIDAR_CMD_RESET 0x40
yaaqobhpt 0:c25c4b67b6a1 50
yaaqobhpt 0:c25c4b67b6a1 51
yaaqobhpt 0:c25c4b67b6a1 52 // Commands without payload but have response
yaaqobhpt 0:c25c4b67b6a1 53 #define RPLIDAR_CMD_GET_DEVICE_INFO 0x50
yaaqobhpt 0:c25c4b67b6a1 54 #define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52
yaaqobhpt 0:c25c4b67b6a1 55
yaaqobhpt 0:c25c4b67b6a1 56 #if defined(_WIN32)
yaaqobhpt 0:c25c4b67b6a1 57 #pragma pack(1)
yaaqobhpt 0:c25c4b67b6a1 58 #endif
yaaqobhpt 0:c25c4b67b6a1 59
yaaqobhpt 0:c25c4b67b6a1 60
yaaqobhpt 0:c25c4b67b6a1 61 // Response
yaaqobhpt 0:c25c4b67b6a1 62 // ------------------------------------------
yaaqobhpt 0:c25c4b67b6a1 63 #define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81
yaaqobhpt 0:c25c4b67b6a1 64
yaaqobhpt 0:c25c4b67b6a1 65 #define RPLIDAR_ANS_TYPE_DEVINFO 0x4
yaaqobhpt 0:c25c4b67b6a1 66 #define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6
yaaqobhpt 0:c25c4b67b6a1 67
yaaqobhpt 0:c25c4b67b6a1 68
yaaqobhpt 0:c25c4b67b6a1 69 #define RPLIDAR_STATUS_OK 0x0
yaaqobhpt 0:c25c4b67b6a1 70 #define RPLIDAR_STATUS_WARNING 0x1
yaaqobhpt 0:c25c4b67b6a1 71 #define RPLIDAR_STATUS_ERROR 0x2
yaaqobhpt 0:c25c4b67b6a1 72
yaaqobhpt 0:c25c4b67b6a1 73 #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
yaaqobhpt 0:c25c4b67b6a1 74 #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
yaaqobhpt 0:c25c4b67b6a1 75 #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
yaaqobhpt 0:c25c4b67b6a1 76 #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
yaaqobhpt 0:c25c4b67b6a1 77
yaaqobhpt 0:c25c4b67b6a1 78 typedef struct _rplidar_response_measurement_node_t {
yaaqobhpt 0:c25c4b67b6a1 79 _u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6;
yaaqobhpt 0:c25c4b67b6a1 80 _u16 angle_q6_checkbit; // check_bit:1;angle_q6:15;
yaaqobhpt 0:c25c4b67b6a1 81 _u16 distance_q2;
yaaqobhpt 0:c25c4b67b6a1 82 } __attribute__((packed)) rplidar_response_measurement_node_t;
yaaqobhpt 0:c25c4b67b6a1 83
yaaqobhpt 0:c25c4b67b6a1 84 typedef struct _rplidar_response_device_info_t {
yaaqobhpt 0:c25c4b67b6a1 85 _u8 model;
yaaqobhpt 0:c25c4b67b6a1 86 _u16 firmware_version;
yaaqobhpt 0:c25c4b67b6a1 87 _u8 hardware_version;
yaaqobhpt 0:c25c4b67b6a1 88 _u8 serialnum[16];
yaaqobhpt 0:c25c4b67b6a1 89 } __attribute__((packed)) rplidar_response_device_info_t;
yaaqobhpt 0:c25c4b67b6a1 90
yaaqobhpt 0:c25c4b67b6a1 91 typedef struct _rplidar_response_device_health_t {
yaaqobhpt 0:c25c4b67b6a1 92 _u8 status;
yaaqobhpt 0:c25c4b67b6a1 93 _u16 error_code;
yaaqobhpt 0:c25c4b67b6a1 94 } __attribute__((packed)) rplidar_response_device_health_t;
yaaqobhpt 0:c25c4b67b6a1 95
yaaqobhpt 0:c25c4b67b6a1 96 #if defined(_WIN32)
yaaqobhpt 0:c25c4b67b6a1 97 #pragma pack()
yaaqobhpt 0:c25c4b67b6a1 98 #endif
yaaqobhpt 0:c25c4b67b6a1 99
yaaqobhpt 0:c25c4b67b6a1 100