Classes | Macros | Functions | Variables
rplidar_cmd.h File Reference
#include "rplidar_protocol.h"
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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
 

Macros

#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
 

Macro Definition 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:

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

Definition at line 278 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_X8_DEST_VAL   1792

Definition at line 284 of file rplidar_cmd.h.

#define RPLIDAR_VARBITSCALE_X8_SRC_BIT   12

Definition at line 279 of file rplidar_cmd.h.

Function Documentation

struct _rplidar_ans_header_t __attribute__ ( (packed)  )

Variable Documentation

_u16 angle_q6_checkbit

Definition at line 3 of file rplidar_cmd.h.

_u16 angle_z_q14

Definition at line 2 of file rplidar_cmd.h.

rplidar_response_dense_cabin_nodes_t cabins

Definition at line 5 of file rplidar_cmd.h.

_u32 combined_x3

Definition at line 4 of file rplidar_cmd.h.

_u32 crc32

Definition at line 5 of file rplidar_cmd.h.

_u32 dist_mm_q2

Definition at line 3 of file rplidar_cmd.h.

_u16 distance

Definition at line 2 of file rplidar_cmd.h.

_u16 distance_angle_1

Definition at line 2 of file rplidar_cmd.h.

_u16 distance_angle_2

Definition at line 3 of file rplidar_cmd.h.

_u16 distance_q2

Definition at line 4 of file rplidar_cmd.h.

_u16 error_code

Definition at line 3 of file rplidar_cmd.h.

_u16 express_sample_duration_us

Definition at line 3 of file rplidar_cmd.h.

_u16 firmware_version

Definition at line 3 of file rplidar_cmd.h.

_u8 flag

Definition at line 2 of file rplidar_cmd.h.

_u8 hardware_version

Definition at line 4 of file rplidar_cmd.h.

_u8 model

Definition at line 2 of file rplidar_cmd.h.

Definition at line 4 of file rplidar_cmd.h.

_u8 offset_angles_q3

Definition at line 4 of file rplidar_cmd.h.

_u16 param

Definition at line 4 of file rplidar_cmd.h.

_u8 payload[0]

Definition at line 3 of file rplidar_cmd.h.

_u16 pwm_value

Definition at line 2 of file rplidar_cmd.h.

_u8 quality

Definition at line 4 of file rplidar_cmd.h.

_u32 reserved

Definition at line 3 of file rplidar_cmd.h.

_u32 result

Definition at line 2 of file rplidar_cmd.h.

_u8 s_checksum_1

Definition at line 2 of file rplidar_cmd.h.

_u8 s_checksum_2

Definition at line 3 of file rplidar_cmd.h.

_u8 serialnum[16]

Definition at line 5 of file rplidar_cmd.h.

_u16 start_angle_sync_q6

Definition at line 4 of file rplidar_cmd.h.

_u8 status

Definition at line 2 of file rplidar_cmd.h.

_u16 std_sample_duration_us

Definition at line 2 of file rplidar_cmd.h.

_u32 support_flag

Definition at line 2 of file rplidar_cmd.h.

_u8 sync_byte

Definition at line 2 of file rplidar_cmd.h.

_u8 sync_quality

Definition at line 2 of file rplidar_cmd.h.

_u64 time_stamp

Definition at line 3 of file rplidar_cmd.h.

_u32 type

Definition at line 2 of file rplidar_cmd.h.

rplidar_response_ultra_cabin_nodes_t ultra_cabins[32]

Definition at line 5 of file rplidar_cmd.h.

_u16 working_flags

Definition at line 3 of file rplidar_cmd.h.

_u8 working_mode

Definition at line 2 of file rplidar_cmd.h.



rplidar_ros
Author(s):
autogenerated on Wed Mar 20 2019 07:54:15