#include "rplidar_protocol.h"
Go to the source code of this file.
Classes | |
| struct | _rplidar_payload_express_scan_t |
| struct | _rplidar_payload_motor_pwm_t |
| struct | _rplidar_payload_acc_board_flag_t |
| struct | _rplidar_response_acc_board_flag_t |
| struct | _rplidar_response_sample_rate_t |
| struct | _rplidar_response_measurement_node_t |
| struct | _rplidar_response_cabin_nodes_t |
| struct | _rplidar_response_capsule_measurement_nodes_t |
| struct | _rplidar_response_device_info_t |
| struct | _rplidar_response_device_health_t |
Functions | |
| struct _rplidar_payload_express_scan_t | __attribute__ ((packed)) rplidar_payload_express_scan_t |
Variables | |
| _u8 | working_mode |
| _u32 | reserved |
| _u16 | pwm_value |
| _u32 | support_flag |
| _u16 | std_sample_duration_us |
| _u16 | express_sample_duration_us |
| _u8 | sync_quality |
| _u16 | angle_q6_checkbit |
| _u16 | distance_q2 |
| _u16 | distance_angle_1 |
| _u16 | distance_angle_2 |
| _u8 | offset_angles_q3 |
| _u8 | s_checksum_1 |
| _u8 | s_checksum_2 |
| _u16 | start_angle_sync_q6 |
| rplidar_response_cabin_nodes_t | cabins [16] |
| _u8 | model |
| _u16 | firmware_version |
| _u8 | hardware_version |
| _u8 | serialnum [16] |
| _u8 | status |
| _u16 | error_code |
Macro Definition Documentation
◆ DEFAULT_MOTOR_PWM
| #define DEFAULT_MOTOR_PWM 660 |
Definition at line 75 of file rplidar_cmd.h.
◆ MAX_MOTOR_PWM
| #define MAX_MOTOR_PWM 1023 |
Definition at line 74 of file rplidar_cmd.h.
◆ RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG
| #define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF |
Definition at line 98 of file rplidar_cmd.h.
◆ RPLIDAR_ANS_TYPE_DEVHEALTH
| #define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6 |
Definition at line 89 of file rplidar_cmd.h.
◆ RPLIDAR_ANS_TYPE_DEVINFO
| #define RPLIDAR_ANS_TYPE_DEVINFO 0x4 |
Definition at line 88 of file rplidar_cmd.h.
◆ RPLIDAR_ANS_TYPE_MEASUREMENT
| #define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81 |
Definition at line 91 of file rplidar_cmd.h.
◆ RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED
| #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82 |
Definition at line 93 of file rplidar_cmd.h.
◆ RPLIDAR_ANS_TYPE_SAMPLE_RATE
| #define RPLIDAR_ANS_TYPE_SAMPLE_RATE 0x15 |
Definition at line 96 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_EXPRESS_SCAN
| #define RPLIDAR_CMD_EXPRESS_SCAN 0x82 |
Definition at line 54 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_FORCE_SCAN
| #define RPLIDAR_CMD_FORCE_SCAN 0x21 |
Definition at line 44 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_GET_ACC_BOARD_FLAG
| #define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF |
Definition at line 58 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_GET_DEVICE_HEALTH
| #define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52 |
Definition at line 49 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_GET_DEVICE_INFO
| #define RPLIDAR_CMD_GET_DEVICE_INFO 0x50 |
Definition at line 48 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_GET_SAMPLERATE
| #define RPLIDAR_CMD_GET_SAMPLERATE 0x59 |
Definition at line 51 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_RESET
| #define RPLIDAR_CMD_RESET 0x40 |
Definition at line 45 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_SCAN
| #define RPLIDAR_CMD_SCAN 0x20 |
Definition at line 43 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_SET_MOTOR_PWM
| #define RPLIDAR_CMD_SET_MOTOR_PWM 0xF0 |
Definition at line 57 of file rplidar_cmd.h.
◆ RPLIDAR_CMD_STOP
| #define RPLIDAR_CMD_STOP 0x25 |
Definition at line 42 of file rplidar_cmd.h.
◆ RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE
| #define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE 1 |
Definition at line 67 of file rplidar_cmd.h.
◆ RPLIDAR_EXPRESS_SCAN_MODE_NORMAL
| #define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL 0 |
Definition at line 66 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK
| #define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1) |
Definition at line 100 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT
| #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 |
Definition at line 113 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_CHECKBIT
| #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1 << 0) |
Definition at line 112 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK
| #define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3) |
Definition at line 129 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK
| #define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC) |
Definition at line 130 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1
| #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA |
Definition at line 139 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2
| #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5 |
Definition at line 140 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT
| #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1 << 15) |
Definition at line 142 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT
| #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 |
Definition at line 111 of file rplidar_cmd.h.
◆ RPLIDAR_RESP_MEASUREMENT_SYNCBIT
| #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1 << 0) |
Definition at line 110 of file rplidar_cmd.h.
◆ RPLIDAR_STATUS_ERROR
| #define RPLIDAR_STATUS_ERROR 0x2 |
Definition at line 108 of file rplidar_cmd.h.
◆ RPLIDAR_STATUS_OK
| #define RPLIDAR_STATUS_OK 0x0 |
Definition at line 106 of file rplidar_cmd.h.
◆ RPLIDAR_STATUS_WARNING
| #define RPLIDAR_STATUS_WARNING 0x1 |
Definition at line 107 of file rplidar_cmd.h.
Function Documentation
◆ __attribute__()
| struct _rplidar_ans_header_t __attribute__ | ( | (packed) | ) |
Variable Documentation
◆ angle_q6_checkbit
| _u16 angle_q6_checkbit |
Definition at line 3 of file rplidar_cmd.h.
Referenced by rp::standalone::rplidar::RPlidarDriverSerialImpl::ascendScanData(), and mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple().
◆ cabins
| rplidar_response_cabin_nodes_t cabins[16] |
Definition at line 5 of file rplidar_cmd.h.
◆ distance_angle_1
| _u16 distance_angle_1 |
Definition at line 2 of file rplidar_cmd.h.
◆ distance_angle_2
| _u16 distance_angle_2 |
Definition at line 3 of file rplidar_cmd.h.
◆ distance_q2
| _u16 distance_q2 |
Definition at line 4 of file rplidar_cmd.h.
Referenced by rp::standalone::rplidar::RPlidarDriverSerialImpl::ascendScanData(), and mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple().
◆ error_code
| _u16 error_code |
Definition at line 3 of file rplidar_cmd.h.
◆ express_sample_duration_us
| _u16 express_sample_duration_us |
Definition at line 3 of file rplidar_cmd.h.
◆ firmware_version
| _u16 firmware_version |
Definition at line 3 of file rplidar_cmd.h.
◆ hardware_version
| _u8 hardware_version |
Definition at line 4 of file rplidar_cmd.h.
◆ model
| _u8 model |
Definition at line 2 of file rplidar_cmd.h.
Referenced by mrpt::obs::gnss::Message_NV_OEM6_VERSION::dumpToStream(), mrpt::pbmap::PbMapLocaliser::searchPlaneContext(), mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::setCurrentPositionModel(), and mrpt::hwdrivers::CVelodyneScanner::setModelName().
◆ offset_angles_q3
| _u8 offset_angles_q3 |
Definition at line 4 of file rplidar_cmd.h.
◆ pwm_value
| _u16 pwm_value |
Definition at line 2 of file rplidar_cmd.h.
◆ reserved
| _u32 reserved |
Definition at line 3 of file rplidar_cmd.h.
◆ s_checksum_1
| _u8 s_checksum_1 |
Definition at line 2 of file rplidar_cmd.h.
◆ s_checksum_2
| _u8 s_checksum_2 |
Definition at line 3 of file rplidar_cmd.h.
◆ serialnum
| _u8 serialnum[16] |
Definition at line 5 of file rplidar_cmd.h.
◆ start_angle_sync_q6
| _u16 start_angle_sync_q6 |
Definition at line 4 of file rplidar_cmd.h.
Referenced by rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitCapsuledNode().
◆ status
| _u8 status |
Definition at line 2 of file rplidar_cmd.h.
Referenced by mrpt::comms::net::DNS_resolve_async(), mrpt::hwdrivers::CGillAnemometer::doProcess(), SerialInterface::escape(), xsens::Cmt1s::escape(), mrpt::system::getCallStackBackTrace(), xsens::Cmt3::getGpsStatus(), XMLNode::ParseXMLElement(), mrpt::vision::detail::trackFeatures_deleteOOB(), mrpt::vision::detail::trackFeatures_deleteOOB_impl_simple_feat(), mrpt::vision::CFeatureTracker_KL::trackFeatures_impl_templ(), and XsDataPacket_assignFromXsLegacyDataPacket().
◆ std_sample_duration_us
| _u16 std_sample_duration_us |
Definition at line 2 of file rplidar_cmd.h.
◆ support_flag
| _u32 support_flag |
Definition at line 2 of file rplidar_cmd.h.
◆ sync_quality
| _u8 sync_quality |
Definition at line 2 of file rplidar_cmd.h.
Referenced by rp::standalone::rplidar::RPlidarDriverSerialImpl::_cacheCapsuledScanData(), and rp::standalone::rplidar::RPlidarDriverSerialImpl::_cacheScanData().
◆ working_mode
| _u8 working_mode |
Definition at line 2 of file rplidar_cmd.h.