#include "rplidar_protocol.h"

Include dependency graph for rplidar_cmd.h:

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

Classes
struct	_rplidar_payload_acc_board_flag_t
struct	_rplidar_payload_express_scan_t
struct	_rplidar_payload_get_scan_conf_t
struct	_rplidar_payload_hq_scan_t
struct	_rplidar_payload_motor_pwm_t
struct	_rplidar_response_acc_board_flag_t
struct	_rplidar_response_cabin_nodes_t
struct	_rplidar_response_capsule_measurement_nodes_t
struct	_rplidar_response_dense_cabin_nodes_t
struct	_rplidar_response_dense_capsule_measurement_nodes_t
struct	_rplidar_response_device_health_t
struct	_rplidar_response_device_info_t
struct	_rplidar_response_get_lidar_conf
struct	_rplidar_response_hq_capsule_measurement_nodes_t
struct	_rplidar_response_measurement_node_t
struct	_rplidar_response_sample_rate_t
struct	_rplidar_response_set_lidar_conf
struct	_rplidar_response_ultra_cabin_nodes_t
struct	_rplidar_response_ultra_capsule_measurement_nodes_t
struct	rplidar_response_measurement_node_hq_t
Defines
#define	DEFAULT_MOTOR_PWM 660
#define	MAX_MOTOR_PWM 1023
#define	RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF
#define	RPLIDAR_ANS_TYPE_DEVHEALTH 0x6
#define	RPLIDAR_ANS_TYPE_DEVINFO 0x4
#define	RPLIDAR_ANS_TYPE_GET_LIDAR_CONF 0x20
#define	RPLIDAR_ANS_TYPE_MEASUREMENT 0x81
#define	RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82
#define	RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA 0x84
#define	RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED 0x85
#define	RPLIDAR_ANS_TYPE_MEASUREMENT_HQ 0x83
#define	RPLIDAR_ANS_TYPE_SAMPLE_RATE 0x15
#define	RPLIDAR_ANS_TYPE_SET_LIDAR_CONF 0x21
#define	RPLIDAR_CMD_EXPRESS_SCAN 0x82
#define	RPLIDAR_CMD_FORCE_SCAN 0x21
#define	RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF
#define	RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52
#define	RPLIDAR_CMD_GET_DEVICE_INFO 0x50
#define	RPLIDAR_CMD_GET_LIDAR_CONF 0x84
#define	RPLIDAR_CMD_GET_SAMPLERATE 0x59
#define	RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8
#define	RPLIDAR_CMD_HQ_SCAN 0x83
#define	RPLIDAR_CMD_RESET 0x40
#define	RPLIDAR_CMD_SCAN 0x20
#define	RPLIDAR_CMD_SET_LIDAR_CONF 0x85
#define	RPLIDAR_CMD_SET_MOTOR_PWM 0xF0
#define	RPLIDAR_CMD_STOP 0x25
#define	RPLIDAR_CONF_ANGLE_RANGE 0x00000000
#define	RPLIDAR_CONF_DESIRED_ROT_FREQ 0x00000001
#define	RPLIDAR_CONF_MAX_DISTANCE 0x00000060
#define	RPLIDAR_CONF_MAX_ROT_FREQ 0x00000005
#define	RPLIDAR_CONF_MIN_ROT_FREQ 0x00000004
#define	RPLIDAR_CONF_SCAN_COMMAND_BITMAP 0x00000002
#define	RPLIDAR_CONF_SCAN_COMMAND_BOOST 3
#define	RPLIDAR_CONF_SCAN_COMMAND_EXPRESS 1
#define	RPLIDAR_CONF_SCAN_COMMAND_HQ 2
#define	RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY 5
#define	RPLIDAR_CONF_SCAN_COMMAND_STABILITY 4
#define	RPLIDAR_CONF_SCAN_COMMAND_STD 0
#define	RPLIDAR_CONF_SCAN_MODE_ANS_TYPE 0x00000075
#define	RPLIDAR_CONF_SCAN_MODE_COUNT 0x00000070
#define	RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE 0x00000074
#define	RPLIDAR_CONF_SCAN_MODE_NAME 0x0000007F
#define	RPLIDAR_CONF_SCAN_MODE_TYPICAL 0x0000007C
#define	RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE 0x00000071
#define	RPLIDAR_EXPRESS_SCAN_FLAG_BOOST 0x0001
#define	RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION 0x0002
#define	RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE 0
#define	RPLIDAR_EXPRESS_SCAN_MODE_NORMAL 0
#define	RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP 5
#define	RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP 4
#define	RPLIDAR_HQ_SCAN_FLAG_CCW (0x1<<0)
#define	RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE (0x1<<2)
#define	RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER (0x1<<1)
#define	RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1)
#define	RPLIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0)
#define	RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
#define	RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
#define	RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3)
#define	RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC)
#define	RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA
#define	RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5
#define	RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15)
#define	RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS 12
#define	RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS 10
#define	RPLIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5
#define	RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
#define	RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
#define	RPLIDAR_STATUS_ERROR 0x2
#define	RPLIDAR_STATUS_OK 0x0
#define	RPLIDAR_STATUS_WARNING 0x1
#define	RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY 0x0002
#define	RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD 0x0001
#define	RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_)
#define	RPLIDAR_VARBITSCALE_X16_DEST_VAL 3328
#define	RPLIDAR_VARBITSCALE_X16_SRC_BIT 14
#define	RPLIDAR_VARBITSCALE_X2_DEST_VAL 512
#define	RPLIDAR_VARBITSCALE_X2_SRC_BIT 9
#define	RPLIDAR_VARBITSCALE_X4_DEST_VAL 1280
#define	RPLIDAR_VARBITSCALE_X4_SRC_BIT 11
#define	RPLIDAR_VARBITSCALE_X8_DEST_VAL 1792
#define	RPLIDAR_VARBITSCALE_X8_SRC_BIT 12
Functions
struct _rplidar_payload_express_scan_t	__attribute__ ((packed)) rplidar_payload_express_scan_t
Variables
_u16	angle_q6_checkbit
_u16	angle_z_q14
rplidar_response_cabin_nodes_t	cabins [16]
_u32	combined_x3
_u32	crc32
_u32	dist_mm_q2
_u16	distance
_u16	distance_angle_1
_u16	distance_angle_2
_u16	distance_q2
_u16	error_code
_u16	express_sample_duration_us
_u16	firmware_version
_u8	flag
_u8	hardware_version
_u8	model
rplidar_response_measurement_node_hq_t	node_hq [16]
_u8	offset_angles_q3
_u16	param
_u8	payload [0]
_u16	pwm_value
_u8	quality
_u8	reserved [32]
_u32	result
_u8	s_checksum_1
_u8	s_checksum_2
_u8	serialnum [16]
_u16	start_angle_sync_q6
_u8	status
_u16	std_sample_duration_us
_u32	support_flag
_u8	sync_byte
_u8	sync_quality
_u64	time_stamp
_u32	type
rplidar_response_ultra_cabin_nodes_t	ultra_cabins [32]
_u16	working_flags
_u8	working_mode

Define Documentation

#define DEFAULT_MOTOR_PWM 660

Definition at line 103 of file rplidar_cmd.h.

#define MAX_MOTOR_PWM 1023

Definition at line 102 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF

Definition at line 131 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6

Definition at line 115 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_DEVINFO 0x4

Definition at line 114 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF 0x20

Definition at line 128 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81

Definition at line 117 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82

Definition at line 119 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA 0x84

Definition at line 126 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED 0x85

Definition at line 130 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ 0x83

Definition at line 120 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_SAMPLE_RATE 0x15

Definition at line 124 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF 0x21

Definition at line 129 of file rplidar_cmd.h.

#define RPLIDAR_CMD_EXPRESS_SCAN 0x82

Definition at line 58 of file rplidar_cmd.h.

#define RPLIDAR_CMD_FORCE_SCAN 0x21

Definition at line 45 of file rplidar_cmd.h.

#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF

Definition at line 64 of file rplidar_cmd.h.

#define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52

Definition at line 51 of file rplidar_cmd.h.

#define RPLIDAR_CMD_GET_DEVICE_INFO 0x50

Definition at line 50 of file rplidar_cmd.h.

#define RPLIDAR_CMD_GET_LIDAR_CONF 0x84

Definition at line 60 of file rplidar_cmd.h.

#define RPLIDAR_CMD_GET_SAMPLERATE 0x59

Definition at line 53 of file rplidar_cmd.h.

#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8

Definition at line 55 of file rplidar_cmd.h.

#define RPLIDAR_CMD_HQ_SCAN 0x83

Definition at line 59 of file rplidar_cmd.h.

#define RPLIDAR_CMD_RESET 0x40

Definition at line 46 of file rplidar_cmd.h.

#define RPLIDAR_CMD_SCAN 0x20

Definition at line 44 of file rplidar_cmd.h.

#define RPLIDAR_CMD_SET_LIDAR_CONF 0x85

Definition at line 61 of file rplidar_cmd.h.

#define RPLIDAR_CMD_SET_MOTOR_PWM 0xF0

Definition at line 63 of file rplidar_cmd.h.

#define RPLIDAR_CMD_STOP 0x25

Definition at line 43 of file rplidar_cmd.h.

#define RPLIDAR_CONF_ANGLE_RANGE 0x00000000

Definition at line 238 of file rplidar_cmd.h.

#define RPLIDAR_CONF_DESIRED_ROT_FREQ 0x00000001

Definition at line 239 of file rplidar_cmd.h.

#define RPLIDAR_CONF_MAX_DISTANCE 0x00000060

Definition at line 243 of file rplidar_cmd.h.

#define RPLIDAR_CONF_MAX_ROT_FREQ 0x00000005

Definition at line 242 of file rplidar_cmd.h.

#define RPLIDAR_CONF_MIN_ROT_FREQ 0x00000004

Definition at line 241 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP 0x00000002

Definition at line 240 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_COMMAND_BOOST 3

Definition at line 234 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS 1

Definition at line 232 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_COMMAND_HQ 2

Definition at line 233 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY 5

Definition at line 236 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_COMMAND_STABILITY 4

Definition at line 235 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_COMMAND_STD 0

Definition at line 231 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE 0x00000075

Definition at line 248 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_MODE_COUNT 0x00000070

Definition at line 245 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE 0x00000074

Definition at line 247 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_MODE_NAME 0x0000007F

Definition at line 250 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_MODE_TYPICAL 0x0000007C

Definition at line 249 of file rplidar_cmd.h.

#define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE 0x00000071

Definition at line 246 of file rplidar_cmd.h.

#define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST 0x0001

Definition at line 76 of file rplidar_cmd.h.

#define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION 0x0002

Definition at line 77 of file rplidar_cmd.h.

#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE 0

Definition at line 74 of file rplidar_cmd.h.

#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL 0

Definition at line 73 of file rplidar_cmd.h.

#define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP 5

Definition at line 252 of file rplidar_cmd.h.

#define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP 4

Definition at line 251 of file rplidar_cmd.h.

#define RPLIDAR_HQ_SCAN_FLAG_CCW (0x1<<0)

Definition at line 83 of file rplidar_cmd.h.

#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE (0x1<<2)

Definition at line 85 of file rplidar_cmd.h.

#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER (0x1<<1)

Definition at line 84 of file rplidar_cmd.h.

#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1)

Definition at line 133 of file rplidar_cmd.h.

#define RPLIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0)

Definition at line 146 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1

Definition at line 149 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)

Definition at line 148 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3)

Definition at line 163 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC)

Definition at line 164 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA

Definition at line 173 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5

Definition at line 174 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15)

Definition at line 178 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS 12

Definition at line 200 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS 10

Definition at line 201 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5

Definition at line 176 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2

Definition at line 144 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)

Definition at line 143 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_ERROR 0x2

Definition at line 141 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_OK 0x0

Definition at line 139 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_WARNING 0x1

Definition at line 140 of file rplidar_cmd.h.

#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY 0x0002

Definition at line 81 of file rplidar_cmd.h.

#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD 0x0001

Definition at line 80 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS ( _BITS_ )

Value:

(  (((0x1<<(_BITS_)) - RPLIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \
       ((RPLIDAR_VARBITSCALE_X16_DEST_VAL - RPLIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \
       ((RPLIDAR_VARBITSCALE_X8_DEST_VAL - RPLIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \
       ((RPLIDAR_VARBITSCALE_X4_DEST_VAL - RPLIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \
       RPLIDAR_VARBITSCALE_X2_DEST_VAL - 1)

Definition at line 287 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_X16_DEST_VAL 3328

Definition at line 285 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_X16_SRC_BIT 14

Definition at line 280 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_X2_DEST_VAL 512

Definition at line 282 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_X2_SRC_BIT 9

Definition at line 277 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_X4_DEST_VAL 1280

Definition at line 283 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_X4_SRC_BIT 11