rplidar_cmd.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
/*
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#pragma once

#include "rplidar_protocol.h"

// Commands
//-----------------------------------------

// Commands without payload and response
#define RPLIDAR_CMD_STOP 0x25
#define RPLIDAR_CMD_SCAN 0x20
#define RPLIDAR_CMD_FORCE_SCAN 0x21
#define RPLIDAR_CMD_RESET 0x40

// Commands without payload but have response
#define RPLIDAR_CMD_GET_DEVICE_INFO 0x50
#define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52

#define RPLIDAR_CMD_GET_SAMPLERATE 0x59  // added in fw 1.17

// Commands with payload and have response
#define RPLIDAR_CMD_EXPRESS_SCAN 0x82  // added in fw 1.17

// add for A2 to set RPLIDAR motor pwm when using accessory board
#define RPLIDAR_CMD_SET_MOTOR_PWM 0xF0
#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF

#if defined(_WIN32)
#pragma pack(1)
#endif

// Payloads
// ------------------------------------------
#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL 0
#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE 1
typedef struct _rplidar_payload_express_scan_t
{
    _u8 working_mode;
    _u32 reserved;
} __attribute__((packed)) rplidar_payload_express_scan_t;

#define MAX_MOTOR_PWM 1023
#define DEFAULT_MOTOR_PWM 660
typedef struct _rplidar_payload_motor_pwm_t
{
    _u16 pwm_value;
} __attribute__((packed)) rplidar_payload_motor_pwm_t;

typedef struct _rplidar_payload_acc_board_flag_t
{
    _u32 reserved;
} __attribute__((packed)) rplidar_payload_acc_board_flag_t;

// Response
// ------------------------------------------
#define RPLIDAR_ANS_TYPE_DEVINFO 0x4
#define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6

#define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81
// Added in FW ver 1.17
#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82

// Added in FW ver 1.17
#define RPLIDAR_ANS_TYPE_SAMPLE_RATE 0x15

#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF

#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1)
typedef struct _rplidar_response_acc_board_flag_t
{
    _u32 support_flag;
} __attribute__((packed)) rplidar_response_acc_board_flag_t;

#define RPLIDAR_STATUS_OK 0x0
#define RPLIDAR_STATUS_WARNING 0x1
#define RPLIDAR_STATUS_ERROR 0x2

#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1 << 0)
#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1 << 0)
#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1

typedef struct _rplidar_response_sample_rate_t
{
    _u16 std_sample_duration_us;
    _u16 express_sample_duration_us;
} __attribute__((packed)) rplidar_response_sample_rate_t;

typedef struct _rplidar_response_measurement_node_t
{
    _u8 sync_quality;  // syncbit:1;syncbit_inverse:1;quality:6;
    _u16 angle_q6_checkbit;  // check_bit:1;angle_q6:15;
    _u16 distance_q2;
} __attribute__((packed)) rplidar_response_measurement_node_t;

//[distance_sync flags]
#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3)
#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC)

typedef struct _rplidar_response_cabin_nodes_t
{
    _u16 distance_angle_1;  // see [distance_sync flags]
    _u16 distance_angle_2;  // see [distance_sync flags]
    _u8 offset_angles_q3;
} __attribute__((packed)) rplidar_response_cabin_nodes_t;

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1 << 15)

typedef struct _rplidar_response_capsule_measurement_nodes_t
{
    _u8 s_checksum_1;  // see [s_checksum_1]
    _u8 s_checksum_2;  // see [s_checksum_1]
    _u16 start_angle_sync_q6;
    rplidar_response_cabin_nodes_t cabins[16];
} __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t;

typedef struct _rplidar_response_device_info_t
{
    _u8 model;
    _u16 firmware_version;
    _u8 hardware_version;
    _u8 serialnum[16];
} __attribute__((packed)) rplidar_response_device_info_t;

typedef struct _rplidar_response_device_health_t
{
    _u8 status;
    _u16 error_code;
} __attribute__((packed)) rplidar_response_device_health_t;

#if defined(_WIN32)
#pragma pack()
#endif