sl_lidar_protocol.h
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1 /*
2 * Slamtec LIDAR SDK
3 *
4 * sl_lidar_protocol.h
5 *
6 * Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
7 */
8 
9 /*
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions are met:
12  *
13  * 1. Redistributions of source code must retain the above copyright notice,
14  * this list of conditions and the following disclaimer.
15  *
16  * 2. Redistributions in binary form must reproduce the above copyright notice,
17  * this list of conditions and the following disclaimer in the documentation
18  * and/or other materials provided with the distribution.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
22  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
23  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
24  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
25  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
26  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
27  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
28  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
29  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
30  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31  *
32  */
33 
34 #pragma once
35 
36 #include "sl_types.h"
37 
38 #define SL_LIDAR_CMD_SYNC_BYTE 0xA5
39 #define SL_LIDAR_CMDFLAG_HAS_PAYLOAD 0x80
40 
41 #define SL_LIDAR_ANS_SYNC_BYTE1 0xA5
42 #define SL_LIDAR_ANS_SYNC_BYTE2 0x5A
43 
44 #define SL_LIDAR_ANS_PKTFLAG_LOOP 0x1
45 
46 #define SL_LIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
47 #define SL_LIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)
48 
49 #if defined(_WIN32)
50 #pragma pack(1)
51 #endif
52 
53 typedef struct sl_lidar_cmd_packet_t
54 {
55  sl_u8 syncByte; //must be SL_LIDAR_CMD_SYNC_BYTE
56  sl_u8 cmd_flag;
57  sl_u8 size;
58  sl_u8 data[0];
60 
61 
62 typedef struct sl_lidar_ans_header_t
63 {
64  sl_u8 syncByte1; // must be SL_LIDAR_ANS_SYNC_BYTE1
65  sl_u8 syncByte2; // must be SL_LIDAR_ANS_SYNC_BYTE2
66  sl_u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2;
67  sl_u8 type;
69 
70 #if defined(_WIN32)
71 #pragma pack()
72 #endif
struct sl_lidar_cmd_packet_t __attribute__((packed)) sl_lidar_cmd_packet_t


rplidar_ros
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autogenerated on Tue Jun 13 2023 02:07:38