#include "sl_lidar_protocol.h"

Include dependency graph for sl_lidar_cmd.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	_sl_lidar_ip_conf_t

struct	_sl_lidar_payload_acc_board_flag_t

struct	_sl_lidar_payload_express_scan_t

struct	_sl_lidar_payload_get_scan_conf_t

struct	_sl_lidar_payload_hq_scan_t

struct	_sl_lidar_payload_hq_spd_ctrl_t

struct	_sl_lidar_payload_motor_pwm_t

struct	_sl_lidar_payload_new_bps_confirmation_t

struct	_sl_lidar_response_acc_board_flag_t

struct	_sl_lidar_response_cabin_nodes_t

struct	_sl_lidar_response_capsule_measurement_nodes_t

struct	_sl_lidar_response_dense_cabin_nodes_t

struct	_sl_lidar_response_dense_capsule_measurement_nodes_t

struct	_sl_lidar_response_desired_rot_speed_t

struct	_sl_lidar_response_device_health_t

struct	_sl_lidar_response_device_info_t

struct	_sl_lidar_response_device_macaddr_info_t

struct	_sl_lidar_response_get_lidar_conf

struct	_sl_lidar_response_hq_capsule_measurement_nodes_t

struct	_sl_lidar_response_measurement_node_t

struct	_sl_lidar_response_sample_rate_t

struct	_sl_lidar_response_set_lidar_conf

struct	_sl_lidar_response_ultra_cabin_nodes_t

struct	_sl_lidar_response_ultra_capsule_measurement_nodes_t

struct	_sl_lidar_response_ultra_dense_cabin_nodes_t

struct	_sl_lidar_response_ultra_dense_capsule_measurement_nodes_t

struct	_sl_payload_set_scan_conf_t

struct	sl_lidar_response_measurement_node_hq_t

Macros
#define	DEFAULT_MOTOR_SPEED (0xFFFFu)

#define	SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF

#define	SL_LIDAR_ANS_TYPE_DEVHEALTH 0x6

#define	SL_LIDAR_ANS_TYPE_DEVINFO 0x4

#define	SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF 0x20

#define	SL_LIDAR_ANS_TYPE_MEASUREMENT 0x81

#define	SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82

#define	SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA 0x84

#define	SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED 0x85

#define	SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ 0x83

#define	SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED 0x86

#define	SL_LIDAR_ANS_TYPE_SAMPLE_RATE 0x15

#define	SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF 0x21

#define	SL_LIDAR_AUTOBAUD_MAGICBYTE 0x41

#define	SL_LIDAR_CMD_EXPRESS_SCAN 0x82

#define	SL_LIDAR_CMD_FORCE_SCAN 0x21

#define	SL_LIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF

#define	SL_LIDAR_CMD_GET_DEVICE_HEALTH 0x52

#define	SL_LIDAR_CMD_GET_DEVICE_INFO 0x50

#define	SL_LIDAR_CMD_GET_LIDAR_CONF 0x84

#define	SL_LIDAR_CMD_GET_SAMPLERATE 0x59

#define	SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8

#define	SL_LIDAR_CMD_HQ_SCAN 0x83

#define	SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM 0x90

#define	SL_LIDAR_CMD_RESET 0x40

#define	SL_LIDAR_CMD_SCAN 0x20

#define	SL_LIDAR_CMD_SET_LIDAR_CONF 0x85

#define	SL_LIDAR_CMD_SET_MOTOR_PWM 0xF0

#define	SL_LIDAR_CMD_STOP 0x25

#define	SL_LIDAR_CONF_ANGLE_RANGE 0x00000000

#define	SL_LIDAR_CONF_DESIRED_ROT_FREQ 0x00000001

#define	SL_LIDAR_CONF_DETECTED_SERIAL_BPS 0x000000A1

#define	SL_LIDAR_CONF_LIDAR_MAC_ADDR 0x00000079

#define	SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR 0x0001CCC0

#define	SL_LIDAR_CONF_MAX_DISTANCE 0x00000060

#define	SL_LIDAR_CONF_MAX_ROT_FREQ 0x00000005

#define	SL_LIDAR_CONF_MIN_ROT_FREQ 0x00000004

#define	SL_LIDAR_CONF_MODEL_NAME_ALIAS 0x00000081

#define	SL_LIDAR_CONF_MODEL_REVISION_ID 0x00000080

#define	SL_LIDAR_CONF_SCAN_COMMAND_BITMAP 0x00000002

#define	SL_LIDAR_CONF_SCAN_COMMAND_BOOST 3

#define	SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS 1

#define	SL_LIDAR_CONF_SCAN_COMMAND_HQ 2

#define	SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY 5

#define	SL_LIDAR_CONF_SCAN_COMMAND_STABILITY 4

#define	SL_LIDAR_CONF_SCAN_COMMAND_STD 0

#define	SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE 0x00000075

#define	SL_LIDAR_CONF_SCAN_MODE_COUNT 0x00000070

#define	SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE 0x00000074

#define	SL_LIDAR_CONF_SCAN_MODE_NAME 0x0000007F

#define	SL_LIDAR_CONF_SCAN_MODE_TYPICAL 0x0000007C

#define	SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE 0x00000071

#define	SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST 0x0001

#define	SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION 0x0002

#define	SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE 0

#define	SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL 0

#define	SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP 5

#define	SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP 4

#define	SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1)

#define	SL_LIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0)

#define	SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1

#define	SL_LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)

#define	SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3)

#define	SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC)

#define	SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA

#define	SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5

#define	SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15)

#define	SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS 12

#define	SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS 10

#define	SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5

#define	SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2

#define	SL_LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)

#define	SL_LIDAR_STATUS_ERROR 0x2

#define	SL_LIDAR_STATUS_OK 0x0

#define	SL_LIDAR_STATUS_WARNING 0x1

#define	SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY 0x0002

#define	SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD 0x0001

#define	SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_)

#define	SL_LIDAR_VARBITSCALE_X16_DEST_VAL 3328

#define	SL_LIDAR_VARBITSCALE_X16_SRC_BIT 14

#define	SL_LIDAR_VARBITSCALE_X2_DEST_VAL 512

#define	SL_LIDAR_VARBITSCALE_X2_SRC_BIT 9

#define	SL_LIDAR_VARBITSCALE_X4_DEST_VAL 1280

#define	SL_LIDAR_VARBITSCALE_X4_SRC_BIT 11

#define	SL_LIDAR_VARBITSCALE_X8_DEST_VAL 1792

#define	SL_LIDAR_VARBITSCALE_X8_SRC_BIT 12

Functions
struct _sl_lidar_payload_express_scan_t	__attribute__ ((packed)) sl_lidar_payload_express_scan_t

Variables
sl_u16	angle_q6_checkbit

sl_u16	angle_z_q14

sl_lidar_response_cabin_nodes_t	cabins [16]

sl_u32	combined_x3

sl_u32	crc32

sl_u16	dev_status

sl_u32	dist_mm_q2

sl_u16	distance

sl_u16	distance_angle_1

sl_u16	distance_angle_2

sl_u16	distance_q2

sl_u16	error_code

sl_u16	express_sample_duration_us

sl_u16	firmware_version

sl_u8	flag

sl_u8	gw [4]

sl_u8	hardware_version

sl_u8	ip_addr [4]

sl_u8	macaddr [6]

sl_u8	model

sl_u8	net_mask [4]

sl_lidar_response_measurement_node_hq_t	node_hq [96]

sl_u8	offset_angles_q3

sl_u16	param

sl_u8	payload [0]

sl_u16	pwm_ref

sl_u16	pwm_value

sl_u8	quality

sl_u8	qualityh_array

sl_u16	qualityl_distance_scale [2]

sl_u32	required_bps

sl_u8	reserved [32]

sl_u32	result

sl_u16	rpm

sl_u8	s_checksum_1

sl_u8	s_checksum_2

sl_u8	serialnum [16]

sl_u16	start_angle_sync_q6

sl_u8	status

sl_u16	std_sample_duration_us

sl_u32	support_flag

sl_u8	sync_byte

sl_u8	sync_quality

sl_u32	time_stamp

sl_u32	type

sl_lidar_response_ultra_cabin_nodes_t	ultra_cabins [32]

sl_u16	working_flags

sl_u8	working_mode

Macro Definition Documentation

◆ DEFAULT_MOTOR_SPEED

#define DEFAULT_MOTOR_SPEED (0xFFFFu)

Definition at line 116 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG

#define SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF

Definition at line 162 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_DEVHEALTH

#define SL_LIDAR_ANS_TYPE_DEVHEALTH 0x6

Definition at line 142 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_DEVINFO

#define SL_LIDAR_ANS_TYPE_DEVINFO 0x4

Definition at line 141 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF

#define SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF 0x20

Definition at line 158 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT

#define SL_LIDAR_ANS_TYPE_MEASUREMENT 0x81

Definition at line 144 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED

#define SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82

Definition at line 146 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA

#define SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA 0x84

Definition at line 149 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED

#define SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED 0x85

Definition at line 150 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ

#define SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ 0x83

Definition at line 147 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED

#define SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED 0x86

Definition at line 151 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_SAMPLE_RATE

#define SL_LIDAR_ANS_TYPE_SAMPLE_RATE 0x15

Definition at line 155 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF

#define SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF 0x21

Definition at line 159 of file sl_lidar_cmd.h.

◆ SL_LIDAR_AUTOBAUD_MAGICBYTE

#define SL_LIDAR_AUTOBAUD_MAGICBYTE 0x41

Definition at line 47 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_EXPRESS_SCAN

#define SL_LIDAR_CMD_EXPRESS_SCAN 0x82

Definition at line 68 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_FORCE_SCAN

#define SL_LIDAR_CMD_FORCE_SCAN 0x21

Definition at line 52 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_GET_ACC_BOARD_FLAG

#define SL_LIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF

Definition at line 74 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_GET_DEVICE_HEALTH

#define SL_LIDAR_CMD_GET_DEVICE_HEALTH 0x52

Definition at line 60 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_GET_DEVICE_INFO

#define SL_LIDAR_CMD_GET_DEVICE_INFO 0x50

Definition at line 59 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_GET_LIDAR_CONF

#define SL_LIDAR_CMD_GET_LIDAR_CONF 0x84

Definition at line 70 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_GET_SAMPLERATE

#define SL_LIDAR_CMD_GET_SAMPLERATE 0x59

Definition at line 62 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL

#define SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8

Definition at line 64 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_HQ_SCAN

#define SL_LIDAR_CMD_HQ_SCAN 0x83

Definition at line 69 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM

#define SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM 0x90

Definition at line 56 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_RESET

#define SL_LIDAR_CMD_RESET 0x40

Definition at line 53 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_SCAN

#define SL_LIDAR_CMD_SCAN 0x20

Definition at line 51 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_SET_LIDAR_CONF

#define SL_LIDAR_CMD_SET_LIDAR_CONF 0x85

Definition at line 71 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_SET_MOTOR_PWM

#define SL_LIDAR_CMD_SET_MOTOR_PWM 0xF0

Definition at line 73 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CMD_STOP

#define SL_LIDAR_CMD_STOP 0x25

Definition at line 50 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_ANGLE_RANGE

#define SL_LIDAR_CONF_ANGLE_RANGE 0x00000000

Definition at line 296 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_DESIRED_ROT_FREQ

#define SL_LIDAR_CONF_DESIRED_ROT_FREQ 0x00000001

Definition at line 297 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_DETECTED_SERIAL_BPS

#define SL_LIDAR_CONF_DETECTED_SERIAL_BPS 0x000000A1

Definition at line 315 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_LIDAR_MAC_ADDR

#define SL_LIDAR_CONF_LIDAR_MAC_ADDR 0x00000079

Definition at line 307 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR

#define SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR 0x0001CCC0

Definition at line 317 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_MAX_DISTANCE

#define SL_LIDAR_CONF_MAX_DISTANCE 0x00000060

Definition at line 301 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_MAX_ROT_FREQ

#define SL_LIDAR_CONF_MAX_ROT_FREQ 0x00000005

Definition at line 300 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_MIN_ROT_FREQ

#define SL_LIDAR_CONF_MIN_ROT_FREQ 0x00000004

Definition at line 299 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_MODEL_NAME_ALIAS

#define SL_LIDAR_CONF_MODEL_NAME_ALIAS 0x00000081

Definition at line 313 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_MODEL_REVISION_ID

#define SL_LIDAR_CONF_MODEL_REVISION_ID 0x00000080

Definition at line 312 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_COMMAND_BITMAP

#define SL_LIDAR_CONF_SCAN_COMMAND_BITMAP 0x00000002

Definition at line 298 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_COMMAND_BOOST

#define SL_LIDAR_CONF_SCAN_COMMAND_BOOST 3

Definition at line 292 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS

#define SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS 1

Definition at line 290 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_COMMAND_HQ

#define SL_LIDAR_CONF_SCAN_COMMAND_HQ 2

Definition at line 291 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY

#define SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY 5

Definition at line 294 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_COMMAND_STABILITY

#define SL_LIDAR_CONF_SCAN_COMMAND_STABILITY 4

Definition at line 293 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_COMMAND_STD

#define SL_LIDAR_CONF_SCAN_COMMAND_STD 0

Definition at line 289 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE

#define SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE 0x00000075

Definition at line 306 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_MODE_COUNT

#define SL_LIDAR_CONF_SCAN_MODE_COUNT 0x00000070

Definition at line 303 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE

#define SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE 0x00000074

Definition at line 305 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_MODE_NAME

#define SL_LIDAR_CONF_SCAN_MODE_NAME 0x0000007F

Definition at line 309 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_MODE_TYPICAL

#define SL_LIDAR_CONF_SCAN_MODE_TYPICAL 0x0000007C

Definition at line 308 of file sl_lidar_cmd.h.

◆ SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE

#define SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE 0x00000071

Definition at line 304 of file sl_lidar_cmd.h.

◆ SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST

#define SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST 0x0001

Definition at line 86 of file sl_lidar_cmd.h.

◆ SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION

#define SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION 0x0002

Definition at line 87 of file sl_lidar_cmd.h.

◆ SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE

#define SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE 0

Definition at line 84 of file sl_lidar_cmd.h.

◆ SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL

#define SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL 0

Definition at line 83 of file sl_lidar_cmd.h.

◆ SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP

#define SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP 5

Definition at line 319 of file sl_lidar_cmd.h.

◆ SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP

#define SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP 4

Definition at line 318 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK

#define SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1)

Definition at line 164 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_HQ_FLAG_SYNCBIT

#define SL_LIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0)

Definition at line 178 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT

#define SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1

Definition at line 181 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_CHECKBIT

#define SL_LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)

Definition at line 180 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK

#define SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3)

Definition at line 197 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK

#define SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC)

Definition at line 198 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1

#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA

Definition at line 208 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2

#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5

Definition at line 209 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT

#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15)

Definition at line 213 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS

#define SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS 12

Definition at line 254 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS

#define SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS 10

Definition at line 255 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC

#define SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5

Definition at line 211 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT

#define SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2

Definition at line 176 of file sl_lidar_cmd.h.

◆ SL_LIDAR_RESP_MEASUREMENT_SYNCBIT

#define SL_LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)

Definition at line 175 of file sl_lidar_cmd.h.

◆ SL_LIDAR_STATUS_ERROR

#define SL_LIDAR_STATUS_ERROR 0x2

Definition at line 173 of file sl_lidar_cmd.h.

◆ SL_LIDAR_STATUS_OK

#define SL_LIDAR_STATUS_OK 0x0

Definition at line 171 of file sl_lidar_cmd.h.

◆ SL_LIDAR_STATUS_WARNING

#define SL_LIDAR_STATUS_WARNING 0x1

Definition at line 172 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY

#define SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY 0x0002

Definition at line 91 of file sl_lidar_cmd.h.

◆ SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD

#define SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD 0x0001

Definition at line 90 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS

#define SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS ( _BITS_ )

Value:

    (  (((0x1<<(_BITS_)) - SL_LIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \
       ((SL_LIDAR_VARBITSCALE_X16_DEST_VAL - SL_LIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \
       ((SL_LIDAR_VARBITSCALE_X8_DEST_VAL - SL_LIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \
       ((SL_LIDAR_VARBITSCALE_X4_DEST_VAL - SL_LIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \
       SL_LIDAR_VARBITSCALE_X2_DEST_VAL - 1)

Definition at line 374 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_X16_DEST_VAL

#define SL_LIDAR_VARBITSCALE_X16_DEST_VAL 3328

Definition at line 372 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_X16_SRC_BIT

#define SL_LIDAR_VARBITSCALE_X16_SRC_BIT 14

Definition at line 367 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_X2_DEST_VAL

#define SL_LIDAR_VARBITSCALE_X2_DEST_VAL 512

Definition at line 369 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_X2_SRC_BIT

#define SL_LIDAR_VARBITSCALE_X2_SRC_BIT 9

Definition at line 364 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_X4_DEST_VAL

#define SL_LIDAR_VARBITSCALE_X4_DEST_VAL 1280

Definition at line 370 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_X4_SRC_BIT

#define SL_LIDAR_VARBITSCALE_X4_SRC_BIT 11

Definition at line 365 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_X8_DEST_VAL

#define SL_LIDAR_VARBITSCALE_X8_DEST_VAL 1792

Definition at line 371 of file sl_lidar_cmd.h.

◆ SL_LIDAR_VARBITSCALE_X8_SRC_BIT

#define SL_LIDAR_VARBITSCALE_X8_SRC_BIT 12

Definition at line 366 of file sl_lidar_cmd.h.

Function Documentation

◆ attribute()

struct sl_lidar_ans_header_t __attribute__ ( (packed) )

Variable Documentation

◆ angle_q6_checkbit

sl_u16 angle_q6_checkbit

Definition at line 3 of file sl_lidar_cmd.h.

◆ angle_z_q14

sl_u16 angle_z_q14

Definition at line 2 of file sl_lidar_cmd.h.

◆ cabins

sl_lidar_response_ultra_dense_cabin_nodes_t cabins

Definition at line 5 of file sl_lidar_cmd.h.

◆ combined_x3

sl_u32 combined_x3

Definition at line 4 of file sl_lidar_cmd.h.

◆ crc32

sl_u32 crc32

Definition at line 5 of file sl_lidar_cmd.h.

◆ dev_status

sl_u16 dev_status

Definition at line 5 of file sl_lidar_cmd.h.

◆ dist_mm_q2

sl_u32 dist_mm_q2

Definition at line 3 of file sl_lidar_cmd.h.

◆ distance

sl_u16 distance

Definition at line 2 of file sl_lidar_cmd.h.

◆ distance_angle_1

sl_u16 distance_angle_1

Definition at line 2 of file sl_lidar_cmd.h.

◆ distance_angle_2

sl_u16 distance_angle_2

Definition at line 3 of file sl_lidar_cmd.h.

◆ distance_q2

sl_u16 distance_q2

Definition at line 4 of file sl_lidar_cmd.h.

◆ error_code

sl_u16 error_code

Definition at line 3 of file sl_lidar_cmd.h.

◆ express_sample_duration_us

sl_u16 express_sample_duration_us

Definition at line 3 of file sl_lidar_cmd.h.

◆ firmware_version

sl_u16 firmware_version

Definition at line 3 of file sl_lidar_cmd.h.

◆ flag

sl_u8 flag

Definition at line 2 of file sl_lidar_cmd.h.

◆ gw

sl_u8 gw[4]

Definition at line 4 of file sl_lidar_cmd.h.

◆ hardware_version

sl_u8 hardware_version

Definition at line 4 of file sl_lidar_cmd.h.

◆ ip_addr

sl_u8 ip_addr[4]

Definition at line 2 of file sl_lidar_cmd.h.

◆ macaddr

sl_u8 macaddr[6]

Definition at line 2 of file sl_lidar_cmd.h.

◆ model

sl_u8 model

Definition at line 2 of file sl_lidar_cmd.h.

◆ net_mask

sl_u8 net_mask[4]

Definition at line 3 of file sl_lidar_cmd.h.

◆ node_hq

sl_lidar_response_measurement_node_hq_t node_hq[96]

Definition at line 4 of file sl_lidar_cmd.h.

◆ offset_angles_q3

sl_u8 offset_angles_q3

Definition at line 4 of file sl_lidar_cmd.h.

◆ param

sl_u16 param

Definition at line 4 of file sl_lidar_cmd.h.

◆ payload

sl_u8 payload[0]

Definition at line 3 of file sl_lidar_cmd.h.

◆ pwm_ref

sl_u16 pwm_ref

Definition at line 3 of file sl_lidar_cmd.h.

◆ pwm_value

sl_u16 pwm_value

Definition at line 2 of file sl_lidar_cmd.h.

◆ quality

sl_u8 quality

Definition at line 4 of file sl_lidar_cmd.h.

◆ qualityh_array

sl_u8 qualityh_array

Definition at line 3 of file sl_lidar_cmd.h.

◆ qualityl_distance_scale

sl_u16 qualityl_distance_scale[2]

Definition at line 2 of file sl_lidar_cmd.h.

◆ required_bps

sl_u32 required_bps

Definition at line 3 of file sl_lidar_cmd.h.

◆ reserved

sl_u32 reserved

Definition at line 3 of file sl_lidar_cmd.h.

◆ result

sl_u32 result

Definition at line 3 of file sl_lidar_cmd.h.

◆ rpm

sl_u16 rpm

Definition at line 2 of file sl_lidar_cmd.h.

◆ s_checksum_1

sl_u8 s_checksum_1

Definition at line 2 of file sl_lidar_cmd.h.

◆ s_checksum_2

sl_u8 s_checksum_2

Definition at line 3 of file sl_lidar_cmd.h.

◆ serialnum

sl_u8 serialnum[16]

Definition at line 5 of file sl_lidar_cmd.h.

◆ start_angle_sync_q6

sl_u16 start_angle_sync_q6

Definition at line 4 of file sl_lidar_cmd.h.

◆ status

sl_u8 status

Definition at line 2 of file sl_lidar_cmd.h.

◆ std_sample_duration_us

sl_u16 std_sample_duration_us

Definition at line 2 of file sl_lidar_cmd.h.

◆ support_flag

sl_u32 support_flag

Definition at line 2 of file sl_lidar_cmd.h.

◆ sync_byte

sl_u8 sync_byte

Definition at line 2 of file sl_lidar_cmd.h.

◆ sync_quality

sl_u8 sync_quality

Definition at line 2 of file sl_lidar_cmd.h.

◆ time_stamp

sl_u64 time_stamp

Definition at line 4 of file sl_lidar_cmd.h.

◆ type

sl_u32 type

Definition at line 2 of file sl_lidar_cmd.h.

◆ ultra_cabins

sl_lidar_response_ultra_cabin_nodes_t ultra_cabins[32]

Definition at line 5 of file sl_lidar_cmd.h.

◆ working_flags

sl_u16 working_flags

Definition at line 3 of file sl_lidar_cmd.h.

◆ working_mode

sl_u8 working_mode

Definition at line 2 of file sl_lidar_cmd.h.

Classes

Macros

Functions

Variables

Macro Definition Documentation

◆ DEFAULT_MOTOR_SPEED

◆ SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG

◆ SL_LIDAR_ANS_TYPE_DEVHEALTH

◆ SL_LIDAR_ANS_TYPE_DEVINFO

◆ SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ

◆ SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED

◆ SL_LIDAR_ANS_TYPE_SAMPLE_RATE

◆ SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF

◆ SL_LIDAR_AUTOBAUD_MAGICBYTE

◆ SL_LIDAR_CMD_EXPRESS_SCAN

◆ SL_LIDAR_CMD_FORCE_SCAN

◆ SL_LIDAR_CMD_GET_ACC_BOARD_FLAG

◆ SL_LIDAR_CMD_GET_DEVICE_HEALTH

◆ SL_LIDAR_CMD_GET_DEVICE_INFO

◆ SL_LIDAR_CMD_GET_LIDAR_CONF

◆ SL_LIDAR_CMD_GET_SAMPLERATE

◆ SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL

◆ SL_LIDAR_CMD_HQ_SCAN

◆ SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM

◆ SL_LIDAR_CMD_RESET

◆ SL_LIDAR_CMD_SCAN

◆ SL_LIDAR_CMD_SET_LIDAR_CONF

◆ SL_LIDAR_CMD_SET_MOTOR_PWM

◆ SL_LIDAR_CMD_STOP

◆ SL_LIDAR_CONF_ANGLE_RANGE

◆ SL_LIDAR_CONF_DESIRED_ROT_FREQ

◆ SL_LIDAR_CONF_DETECTED_SERIAL_BPS

◆ SL_LIDAR_CONF_LIDAR_MAC_ADDR

◆ SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR

◆ SL_LIDAR_CONF_MAX_DISTANCE

◆ SL_LIDAR_CONF_MAX_ROT_FREQ

◆ SL_LIDAR_CONF_MIN_ROT_FREQ

◆ SL_LIDAR_CONF_MODEL_NAME_ALIAS

◆ SL_LIDAR_CONF_MODEL_REVISION_ID

◆ SL_LIDAR_CONF_SCAN_COMMAND_BITMAP

◆ SL_LIDAR_CONF_SCAN_COMMAND_BOOST

◆ SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS

◆ SL_LIDAR_CONF_SCAN_COMMAND_HQ

◆ SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY

◆ SL_LIDAR_CONF_SCAN_COMMAND_STABILITY

◆ SL_LIDAR_CONF_SCAN_COMMAND_STD

◆ SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE

◆ SL_LIDAR_CONF_SCAN_MODE_COUNT

◆ SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE

◆ SL_LIDAR_CONF_SCAN_MODE_NAME

◆ SL_LIDAR_CONF_SCAN_MODE_TYPICAL

◆ SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE

◆ SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST

◆ SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION

◆ SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE

◆ SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL

◆ SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP

◆ SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP

◆ SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK

◆ SL_LIDAR_RESP_HQ_FLAG_SYNCBIT

◆ SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT

◆ SL_LIDAR_RESP_MEASUREMENT_CHECKBIT

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS

◆ SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS

◆ SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC

◆ SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT

◆ SL_LIDAR_RESP_MEASUREMENT_SYNCBIT

◆ SL_LIDAR_STATUS_ERROR

◆ SL_LIDAR_STATUS_OK

◆ SL_LIDAR_STATUS_WARNING

◆ attribute()