00001 /* 00002 * Copyright (c) 2014, RoboPeak 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright notice, 00009 * this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above copyright notice, 00012 * this list of conditions and the following disclaimer in the documentation 00013 * and/or other materials provided with the distribution. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 00017 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 00018 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 00019 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00020 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00021 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 00022 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 00023 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 00024 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 00025 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 * 00027 */ 00028 /* 00029 * RoboPeak LIDAR System 00030 * Data Packet IO packet definition for RP-LIDAR 00031 * 00032 * Copyright 2009 - 2014 RoboPeak Team 00033 * http://www.robopeak.com 00034 * 00035 */ 00036 00037 00038 #pragma once 00039 00040 #include "rplidar_protocol.h" 00041 00042 // Commands 00043 //----------------------------------------- 00044 00045 // Commands without payload and response 00046 #define RPLIDAR_CMD_STOP 0x25 00047 #define RPLIDAR_CMD_SCAN 0x20 00048 #define RPLIDAR_CMD_FORCE_SCAN 0x21 00049 #define RPLIDAR_CMD_RESET 0x40 00050 00051 00052 // Commands without payload but have response 00053 #define RPLIDAR_CMD_GET_DEVICE_INFO 0x50 00054 #define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52 00055 00056 #if defined(_WIN32) 00057 #pragma pack(1) 00058 #endif 00059 00060 00061 // Response 00062 // ------------------------------------------ 00063 #define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81 00064 00065 #define RPLIDAR_ANS_TYPE_DEVINFO 0x4 00066 #define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6 00067 00068 00069 #define RPLIDAR_STATUS_OK 0x0 00070 #define RPLIDAR_STATUS_WARNING 0x1 00071 #define RPLIDAR_STATUS_ERROR 0x2 00072 00073 #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) 00074 #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 00075 #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) 00076 #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 00077 00078 typedef struct _rplidar_response_measurement_node_t { 00079 _u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6; 00080 _u16 angle_q6_checkbit; // check_bit:1;angle_q6:15; 00081 _u16 distance_q2; 00082 } __attribute__((packed)) rplidar_response_measurement_node_t; 00083 00084 typedef struct _rplidar_response_device_info_t { 00085 _u8 model; 00086 _u16 firmware_version; 00087 _u8 hardware_version; 00088 _u8 serialnum[16]; 00089 } __attribute__((packed)) rplidar_response_device_info_t; 00090 00091 typedef struct _rplidar_response_device_health_t { 00092 _u8 status; 00093 _u16 error_code; 00094 } __attribute__((packed)) rplidar_response_device_health_t; 00095 00096 #if defined(_WIN32) 00097 #pragma pack() 00098 #endif