rplidar_protocol.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;
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 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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 */

#pragma once

#include "rptypes.h"

// RP-Lidar Input Packets

#define RPLIDAR_CMD_SYNC_BYTE 0xA5
#define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80

#define RPLIDAR_ANS_SYNC_BYTE1 0xA5
#define RPLIDAR_ANS_SYNC_BYTE2 0x5A

#define RPLIDAR_ANS_PKTFLAG_LOOP 0x1

#define RPLIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
#define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)

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

typedef struct _rplidar_cmd_packet_t
{
    _u8 syncByte;  // must be RPLIDAR_CMD_SYNC_BYTE
    _u8 cmd_flag;
    _u8 size;
    _u8* data;
} __attribute__((packed)) rplidar_cmd_packet_t;

typedef struct _rplidar_ans_header_t
{
    _u8 syncByte1;  // must be RPLIDAR_ANS_SYNC_BYTE1
    _u8 syncByte2;  // must be RPLIDAR_ANS_SYNC_BYTE2
    _u32 size_q30_subtype;  // see _u32 size:30; _u32 subType:2;
    _u8 type;
} __attribute__((packed)) rplidar_ans_header_t;

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