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rplidar_protocol.h
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33 
34 #pragma once
35 
36 // RP-Lidar Input Packets
37 
38 #define RPLIDAR_CMD_SYNC_BYTE 0xA5
39 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80
40 
41 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5
42 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A
43 
44 #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1
45 
46 #define RPLIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
47 #define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)
48 
49 #if defined(_WIN32)
50 #pragma pack(1)
51 #endif
52 
53 typedef struct _rplidar_cmd_packet_t
54 {
55  _u8 syncByte; // must be RPLIDAR_CMD_SYNC_BYTE
59 } __attribute__((packed)) rplidar_cmd_packet_t;
60 
61 typedef struct _rplidar_ans_header_t
62 {
63  _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
64  _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
65  _u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2;
67 } __attribute__((packed)) rplidar_ans_header_t;
68 
69 #if defined(_WIN32)
70 #pragma pack()
71 #endif
GLuint GLenum GLsizei GLsizei GLint GLint GLboolean packed
Definition: glext.h:6794
uint8_t _u8
Definition: rptypes.h:60
uint32_t _u32
Definition: rptypes.h:66
struct _rplidar_cmd_packet_t __attribute__((packed)) rplidar_cmd_packet_t



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