rplidar_cmd.h File Reference

#include "rplidar_protocol.h"

Include dependency graph for rplidar_cmd.h:

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

Go to the source code of this file.

Classes
struct	_rplidar_payload_acc_board_flag_t
struct	_rplidar_payload_express_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_device_health_t
struct	_rplidar_response_device_info_t
struct	_rplidar_response_measurement_node_t
struct	_rplidar_response_sample_rate_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_MEASUREMENT   0x81
#define	RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED   0x82
#define	RPLIDAR_ANS_TYPE_SAMPLE_RATE   0x15
#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_SAMPLERATE   0x59
#define	RPLIDAR_CMD_RESET   0x40
#define	RPLIDAR_CMD_SCAN   0x20
#define	RPLIDAR_CMD_SET_MOTOR_PWM   0xF0
#define	RPLIDAR_CMD_STOP   0x25
#define	RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE   1
#define	RPLIDAR_EXPRESS_SCAN_MODE_NORMAL   0
#define	RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK   (0x1)
#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_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
Functions
struct _rplidar_payload_express_scan_t	__attribute__ ((packed)) rplidar_payload_express_scan_t
Variables
_u16	angle_q6_checkbit
rplidar_response_cabin_nodes_t	cabins [16]
_u16	distance_angle_1
_u16	distance_angle_2
_u16	distance_q2
_u16	error_code
_u16	express_sample_duration_us
_u16	firmware_version
_u8	hardware_version
_u8	model
_u8	offset_angles_q3
_u16	pwm_value
_u32	reserved
_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_quality
_u8	working_mode

---

Define Documentation

#define DEFAULT_MOTOR_PWM   660

Definition at line 77 of file rplidar_cmd.h.

#define MAX_MOTOR_PWM   1023

Definition at line 76 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG   0xFF

Definition at line 98 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_DEVHEALTH   0x6

Definition at line 89 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_DEVINFO   0x4

Definition at line 88 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_MEASUREMENT   0x81

Definition at line 91 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED   0x82

Definition at line 93 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_SAMPLE_RATE   0x15

Definition at line 96 of file rplidar_cmd.h.

#define RPLIDAR_CMD_EXPRESS_SCAN   0x82

Definition at line 56 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 60 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_SAMPLERATE   0x59

Definition at line 53 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_MOTOR_PWM   0xF0

Definition at line 59 of file rplidar_cmd.h.

#define RPLIDAR_CMD_STOP   0x25

Definition at line 43 of file rplidar_cmd.h.

#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE   1

Definition at line 70 of file rplidar_cmd.h.

#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL   0

Definition at line 69 of file rplidar_cmd.h.

#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK   (0x1)

Definition at line 100 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT   1

Definition at line 113 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT   (0x1<<0)

Definition at line 112 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK   (0x3)

Definition at line 127 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK   (0xFC)

Definition at line 128 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1   0xA

Definition at line 137 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2   0x5

Definition at line 138 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT   (0x1<<15)

Definition at line 140 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT   2

Definition at line 111 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT   (0x1<<0)

Definition at line 110 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_ERROR   0x2

Definition at line 108 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_OK   0x0

Definition at line 106 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_WARNING   0x1

Definition at line 107 of file rplidar_cmd.h.

---

Function Documentation

struct _rplidar_ans_header_t __attribute__

(

(packed)

)

---

Variable Documentation

_u16 angle_q6_checkbit

Definition at line 126 of file rplidar_cmd.h.

rplidar_response_cabin_nodes_t cabins[16]

Definition at line 151 of file rplidar_cmd.h.

_u16 distance_angle_1

Definition at line 135 of file rplidar_cmd.h.

_u16 distance_angle_2

Definition at line 136 of file rplidar_cmd.h.

_u16 distance_q2

Definition at line 127 of file rplidar_cmd.h.

_u16 error_code

Definition at line 161 of file rplidar_cmd.h.

_u16 express_sample_duration_us

Definition at line 120 of file rplidar_cmd.h.

_u16 firmware_version

Definition at line 156 of file rplidar_cmd.h.

_u8 hardware_version

Definition at line 157 of file rplidar_cmd.h.

_u8 model

Definition at line 155 of file rplidar_cmd.h.

_u8 offset_angles_q3

Definition at line 137 of file rplidar_cmd.h.

_u16 pwm_value

Definition at line 81 of file rplidar_cmd.h.

_u32 reserved

Definition at line 76 of file rplidar_cmd.h.

_u8 s_checksum_1

Definition at line 148 of file rplidar_cmd.h.

_u8 s_checksum_2

Definition at line 149 of file rplidar_cmd.h.

_u8 serialnum[16]

Definition at line 158 of file rplidar_cmd.h.

_u16 start_angle_sync_q6

Definition at line 150 of file rplidar_cmd.h.

_u8 status

Definition at line 160 of file rplidar_cmd.h.

_u16 std_sample_duration_us

Definition at line 119 of file rplidar_cmd.h.

_u32 support_flag

Definition at line 104 of file rplidar_cmd.h.

_u8 sync_quality

Definition at line 125 of file rplidar_cmd.h.

_u8 working_mode

Definition at line 75 of file rplidar_cmd.h.