rplidar_protocol.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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:
 *
 * 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;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */
 
#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