sdk
include
sl_lidar_protocol.h
Go to the documentation of this file.
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/*
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* Slamtec LIDAR SDK
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*
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* sl_lidar_protocol.h
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*
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* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
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*/
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/*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include "
sl_types.h
"
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#define SL_LIDAR_CMD_SYNC_BYTE 0xA5
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#define SL_LIDAR_CMDFLAG_HAS_PAYLOAD 0x80
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#define SL_LIDAR_ANS_SYNC_BYTE1 0xA5
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#define SL_LIDAR_ANS_SYNC_BYTE2 0x5A
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#define SL_LIDAR_ANS_PKTFLAG_LOOP 0x1
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#define SL_LIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
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#define SL_LIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)
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#if defined(_WIN32)
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#pragma pack(1)
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#endif
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typedef
struct
sl_lidar_cmd_packet_t
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{
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sl_u8
syncByte
;
//must be SL_LIDAR_CMD_SYNC_BYTE
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sl_u8
cmd_flag
;
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sl_u8
size
;
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sl_u8
data
[0];
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}
__attribute__
((packed))
sl_lidar_cmd_packet_t
;
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typedef
struct
sl_lidar_ans_header_t
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{
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sl_u8
syncByte1
;
// must be SL_LIDAR_ANS_SYNC_BYTE1
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sl_u8
syncByte2
;
// must be SL_LIDAR_ANS_SYNC_BYTE2
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sl_u32
size_q30_subtype
;
// see _u32 size:30; _u32 subType:2;
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sl_u8
type
;
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}
__attribute__
((packed))
sl_lidar_ans_header_t
;
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#if defined(_WIN32)
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#pragma pack()
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#endif
sl_lidar_ans_header_t::syncByte2
sl_u8 syncByte2
Definition:
sl_lidar_protocol.h:65
sl_types.h
sl_lidar_ans_header_t::size_q30_subtype
sl_u32 size_q30_subtype
Definition:
sl_lidar_protocol.h:66
sl_lidar_cmd_packet_t
Definition:
sl_lidar_protocol.h:53
sl_lidar_cmd_packet_t::cmd_flag
sl_u8 cmd_flag
Definition:
sl_lidar_protocol.h:56
sl_lidar_cmd_packet_t::syncByte
sl_u8 syncByte
Definition:
sl_lidar_protocol.h:55
sl_lidar_cmd_packet_t::data
sl_u8 data[0]
Definition:
sl_lidar_protocol.h:58
sl_lidar_ans_header_t::type
sl_u8 type
Definition:
sl_lidar_protocol.h:67
sl_lidar_ans_header_t::syncByte1
sl_u8 syncByte1
Definition:
sl_lidar_protocol.h:64
__attribute__
struct sl_lidar_cmd_packet_t __attribute__((packed)) sl_lidar_cmd_packet_t
sl_lidar_ans_header_t
Definition:
sl_lidar_protocol.h:62
sl_lidar_cmd_packet_t::size
sl_u8 size
Definition:
sl_lidar_protocol.h:57
rplidar_ros
Author(s):
autogenerated on Tue Jun 13 2023 02:07:38