rplidar_protocol.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://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:
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once

// 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