rplidar_cmd.h File Reference

#include "rplidar_protocol.h"

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Classes
struct	_rplidar_response_device_health_t
struct	_rplidar_response_device_info_t
struct	_rplidar_response_measurement_node_t
Defines
#define	RPLIDAR_ANS_TYPE_DEVHEALTH   0x6
#define	RPLIDAR_ANS_TYPE_DEVINFO   0x4
#define	RPLIDAR_ANS_TYPE_MEASUREMENT   0x81
#define	RPLIDAR_CMD_FORCE_SCAN   0x21
#define	RPLIDAR_CMD_GET_DEVICE_HEALTH   0x52
#define	RPLIDAR_CMD_GET_DEVICE_INFO   0x50
#define	RPLIDAR_CMD_RESET   0x40
#define	RPLIDAR_CMD_SCAN   0x20
#define	RPLIDAR_CMD_STOP   0x25
#define	RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT   1
#define	RPLIDAR_RESP_MEASUREMENT_CHECKBIT   (0x1<<0)
#define	RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT   2
#define	RPLIDAR_RESP_MEASUREMENT_SYNCBIT   (0x1<<0)
#define	RPLIDAR_STATUS_ERROR   0x2
#define	RPLIDAR_STATUS_OK   0x0
#define	RPLIDAR_STATUS_WARNING   0x1
Functions
struct _rplidar_response_measurement_node_t	__attribute__ ((packed)) rplidar_response_measurement_node_t
Variables
_u16	angle_q6_checkbit
_u16	distance_q2
_u16	error_code
_u16	firmware_version
_u8	hardware_version
_u8	model
_u8	serialnum [16]
_u8	status
_u8	sync_quality

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Define Documentation

#define RPLIDAR_ANS_TYPE_DEVHEALTH   0x6

Definition at line 66 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_DEVINFO   0x4

Definition at line 65 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_MEASUREMENT   0x81

Definition at line 63 of file rplidar_cmd.h.

#define RPLIDAR_CMD_FORCE_SCAN   0x21

Definition at line 48 of file rplidar_cmd.h.

#define RPLIDAR_CMD_GET_DEVICE_HEALTH   0x52

Definition at line 54 of file rplidar_cmd.h.

#define RPLIDAR_CMD_GET_DEVICE_INFO   0x50

Definition at line 53 of file rplidar_cmd.h.

#define RPLIDAR_CMD_RESET   0x40

Definition at line 49 of file rplidar_cmd.h.

#define RPLIDAR_CMD_SCAN   0x20

Definition at line 47 of file rplidar_cmd.h.

#define RPLIDAR_CMD_STOP   0x25

Definition at line 46 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT   1

Definition at line 76 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT   (0x1<<0)

Definition at line 75 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT   2

Definition at line 74 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT   (0x1<<0)

Definition at line 73 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_ERROR   0x2

Definition at line 71 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_OK   0x0

Definition at line 69 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_WARNING   0x1

Definition at line 70 of file rplidar_cmd.h.

---

Function Documentation

struct _rplidar_ans_header_t __attribute__

(

(packed)

)

---

Variable Documentation

_u16 angle_q6_checkbit

Definition at line 84 of file rplidar_cmd.h.

_u16 distance_q2

Definition at line 85 of file rplidar_cmd.h.

_u16 error_code

Definition at line 96 of file rplidar_cmd.h.

_u16 firmware_version

Definition at line 91 of file rplidar_cmd.h.

_u8 hardware_version

Definition at line 92 of file rplidar_cmd.h.

_u8 model

Definition at line 90 of file rplidar_cmd.h.

_u8 serialnum[16]

Definition at line 93 of file rplidar_cmd.h.

_u8 status

Definition at line 95 of file rplidar_cmd.h.

_u8 sync_quality

Definition at line 83 of file rplidar_cmd.h.