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 protocol 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 // RP-Lidar Input Packets 00041 00042 #define RPLIDAR_CMD_SYNC_BYTE 0xA5 00043 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80 00044 00045 00046 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5 00047 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A 00048 00049 #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1 00050 00051 00052 #if defined(_WIN32) 00053 #pragma pack(1) 00054 #endif 00055 00056 typedef struct _rplidar_cmd_packet_t { 00057 _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE 00058 _u8 cmd_flag; 00059 _u8 size; 00060 _u8 data[0]; 00061 } __attribute__((packed)) rplidar_cmd_packet_t; 00062 00063 00064 typedef struct _rplidar_ans_header_t { 00065 _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1 00066 _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2 00067 _u32 size:30; 00068 _u32 subType:2; 00069 _u8 type; 00070 } __attribute__((packed)) rplidar_ans_header_t; 00071 00072 #if defined(_WIN32) 00073 #pragma pack() 00074 #endif