Implemented code for Slamtec rplidar C1

1 files changed, 85 insertions, 0 deletions

diff --git a/LIDAR/sdk/include/sl_lidar_protocol.h b/LIDAR/sdk/include/sl_lidar_protocol.h
new file mode 100644
index 0000000..a9a10c1
--- /dev/null
+++ b/LIDAR/sdk/include/sl_lidar_protocol.h
@@ -0,0 +1,85 @@
+/*
+* Slamtec LIDAR SDK
+*
+* sl_lidar_protocol.h
+*
+* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
+*/
+
+/*
+ * 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
+
+
+#if defined(_MSC_VER)
+#pragma warning(push)
+#pragma warning(disable:4200)
+#endif
+
+#include "sl_types.h"
+
+#define SL_LIDAR_CMD_SYNC_BYTE              0xA5
+#define SL_LIDAR_CMDFLAG_HAS_PAYLOAD        0x80
+
+#define SL_LIDAR_ANS_SYNC_BYTE1             0xA5
+#define SL_LIDAR_ANS_SYNC_BYTE2             0x5A
+
+#define SL_LIDAR_ANS_PKTFLAG_LOOP           0x1
+
+#define SL_LIDAR_ANS_HEADER_SIZE_MASK       0x3FFFFFFF
+#define SL_LIDAR_ANS_HEADER_SUBTYPE_SHIFT   (30)
+
+#if defined(_WIN32)
+#pragma pack(1)
+#endif
+
+
+
+typedef struct sl_lidar_cmd_packet_t
+{
+    sl_u8 syncByte; //must be SL_LIDAR_CMD_SYNC_BYTE
+    sl_u8 cmd_flag;
+    sl_u8 size;
+    sl_u8 data[0];
+} __attribute__((packed)) sl_lidar_cmd_packet_t;
+
+
+typedef struct sl_lidar_ans_header_t
+{
+    sl_u8  syncByte1; // must be SL_LIDAR_ANS_SYNC_BYTE1
+    sl_u8  syncByte2; // must be SL_LIDAR_ANS_SYNC_BYTE2
+    sl_u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2;
+    sl_u8  type;
+} __attribute__((packed)) sl_lidar_ans_header_t;
+
+#if defined(_WIN32)
+#pragma pack()
+#endif
+
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif
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