99 lines
3.2 KiB
C
99 lines
3.2 KiB
C
/*
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* Copyright (c) 2014, RoboPeak
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/*
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* RoboPeak LIDAR System
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* Data Packet IO packet definition for RP-LIDAR
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*
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* Copyright 2009 - 2014 RoboPeak Team
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* http://www.robopeak.com
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*
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*/
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#pragma once
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#include "rplidar_protocol.h"
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// Commands
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//-----------------------------------------
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// Commands without payload and response
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#define RPLIDAR_CMD_STOP 0x25
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#define RPLIDAR_CMD_SCAN 0x20
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#define RPLIDAR_CMD_FORCE_SCAN 0x21
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#define RPLIDAR_CMD_RESET 0x40
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// Commands without payload but have response
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#define RPLIDAR_CMD_GET_DEVICE_INFO 0x50
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#define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52
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#if defined(_WIN32)
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#pragma pack(1)
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#endif
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// Response
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// ------------------------------------------
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#define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81
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#define RPLIDAR_ANS_TYPE_DEVINFO 0x4
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#define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6
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#define RPLIDAR_STATUS_OK 0x0
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#define RPLIDAR_STATUS_WARNING 0x1
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#define RPLIDAR_STATUS_ERROR 0x2
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#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
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#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
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#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
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#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
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typedef struct _rplidar_response_measurement_node_t {
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_u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6;
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_u16 angle_q6_checkbit; // check_bit:1;angle_q6:15;
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_u16 distance_q2;
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} __attribute__((packed)) rplidar_response_measurement_node_t;
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typedef struct _rplidar_response_device_info_t {
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_u8 model;
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_u16 firmware_version;
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_u8 hardware_version;
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_u8 serialnum[16];
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} __attribute__((packed)) rplidar_response_device_info_t;
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typedef struct _rplidar_response_device_health_t {
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_u8 status;
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_u16 error_code;
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} __attribute__((packed)) rplidar_response_device_health_t;
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#if defined(_WIN32)
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#pragma pack()
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#endif
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