MRPT  1.9.9
rplidar_protocol.h File Reference
#include "rptypes.h"
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Classes

struct  _rplidar_cmd_packet_t
 
struct  _rplidar_ans_header_t
 

Macros

#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)
 

Functions

struct _rplidar_cmd_packet_t __attribute__ ((packed)) rplidar_cmd_packet_t
 

Variables

_u8 syncByte
 
_u8 cmd_flag
 
_u8 size
 
_u8data
 
_u8 syncByte1
 
_u8 syncByte2
 
_u32 size_q30_subtype
 
_u8 type
 

Macro Definition Documentation

◆ RPLIDAR_ANS_HEADER_SIZE_MASK

◆ RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT

#define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT   (30)

Definition at line 49 of file rplidar_protocol.h.

◆ RPLIDAR_ANS_PKTFLAG_LOOP

#define RPLIDAR_ANS_PKTFLAG_LOOP   0x1

Definition at line 46 of file rplidar_protocol.h.

◆ RPLIDAR_ANS_SYNC_BYTE1

#define RPLIDAR_ANS_SYNC_BYTE1   0xA5

◆ RPLIDAR_ANS_SYNC_BYTE2

#define RPLIDAR_ANS_SYNC_BYTE2   0x5A

◆ RPLIDAR_CMD_SYNC_BYTE

#define RPLIDAR_CMD_SYNC_BYTE   0xA5

◆ RPLIDAR_CMDFLAG_HAS_PAYLOAD

#define RPLIDAR_CMDFLAG_HAS_PAYLOAD   0x80

Function Documentation

◆ __attribute__()

struct _rplidar_cmd_packet_t __attribute__ ( (packed )

Variable Documentation

◆ cmd_flag

_u8 cmd_flag

Definition at line 262 of file rplidar_protocol.h.

◆ data

Definition at line 264 of file rplidar_protocol.h.

◆ size

Definition at line 263 of file rplidar_protocol.h.

◆ size_q30_subtype

_u32 size_q30_subtype

Definition at line 263 of file rplidar_protocol.h.

◆ syncByte

_u8 syncByte

Definition at line 261 of file rplidar_protocol.h.

◆ syncByte1

_u8 syncByte1

Definition at line 261 of file rplidar_protocol.h.

◆ syncByte2

_u8 syncByte2

Definition at line 262 of file rplidar_protocol.h.

◆ type

Definition at line 264 of file rplidar_protocol.h.




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