Implemented code for Slamtec rplidar C1

1 files changed, 61 insertions, 0 deletions

diff --git a/LIDAR/sdk/include/rplidar_protocol.h b/LIDAR/sdk/include/rplidar_protocol.h
new file mode 100644
index 0000000..cddb9c8
--- /dev/null
+++ b/LIDAR/sdk/include/rplidar_protocol.h
@@ -0,0 +1,61 @@
+/*
+ *  RPLIDAR SDK
+ *
+ *  Copyright (c) 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *  Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+/*
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, 
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, 
+ *    this list of conditions and the following disclaimer in the documentation 
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#pragma once
+#include "sl_lidar_protocol.h"
+// RP-Lidar Input Packets
+
+#define RPLIDAR_CMD_SYNC_BYTE        SL_LIDAR_CMD_SYNC_BYTE
+#define RPLIDAR_CMDFLAG_HAS_PAYLOAD  SL_LIDAR_CMDFLAG_HAS_PAYLOAD
+
+
+#define RPLIDAR_ANS_SYNC_BYTE1       SL_LIDAR_ANS_SYNC_BYTE1
+#define RPLIDAR_ANS_SYNC_BYTE2       SL_LIDAR_ANS_SYNC_BYTE2
+
+#define RPLIDAR_ANS_PKTFLAG_LOOP     SL_LIDAR_ANS_PKTFLAG_LOOP
+
+#define RPLIDAR_ANS_HEADER_SIZE_MASK        SL_LIDAR_ANS_HEADER_SIZE_MASK
+#define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT    SL_LIDAR_ANS_HEADER_SUBTYPE_SHIFT
+
+#if defined(_WIN32)
+#pragma pack(1)
+#endif
+
+typedef sl_lidar_cmd_packet_t rplidar_cmd_packet_t;
+typedef sl_lidar_ans_header_t rplidar_ans_header_t;
+
+
+#if defined(_WIN32)
+#pragma pack()
+#endif