#include "rplidar_protocol.h"
Go to the source code of this file.
#define DEFAULT_MOTOR_PWM 660 |
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#define MAX_MOTOR_PWM 1023 |
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#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF |
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#define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6 |
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#define RPLIDAR_ANS_TYPE_DEVINFO 0x4 |
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#define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81 |
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82 |
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#define RPLIDAR_ANS_TYPE_SAMPLE_RATE 0x15 |
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#define RPLIDAR_CMD_EXPRESS_SCAN 0x82 |
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#define RPLIDAR_CMD_FORCE_SCAN 0x21 |
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#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF |
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#define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52 |
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#define RPLIDAR_CMD_GET_DEVICE_INFO 0x50 |
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#define RPLIDAR_CMD_GET_SAMPLERATE 0x59 |
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#define RPLIDAR_CMD_RESET 0x40 |
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#define RPLIDAR_CMD_SCAN 0x20 |
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#define RPLIDAR_CMD_SET_MOTOR_PWM 0xF0 |
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#define RPLIDAR_CMD_STOP 0x25 |
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#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE 1 |
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#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL 0 |
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#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1) |
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#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 |
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#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) |
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#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3) |
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#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC) |
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA |
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5 |
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15) |
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#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 |
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#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) |
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#define RPLIDAR_STATUS_ERROR 0x2 |
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#define RPLIDAR_STATUS_OK 0x0 |
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#define RPLIDAR_STATUS_WARNING 0x1 |
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struct _rplidar_ans_header_t __attribute__ | ( | (packed) | ) |
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rplidar_response_cabin_nodes_t cabins[16] |
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