Implemented code for Slamtec rplidar C1

1 files changed, 59 insertions, 0 deletions

diff --git a/LIDAR/sdk/src/arch/linux/timer.h b/LIDAR/sdk/src/arch/linux/timer.h
new file mode 100644
index 0000000..1641001
--- /dev/null
+++ b/LIDAR/sdk/src/arch/linux/timer.h
@@ -0,0 +1,59 @@
+/*
+ *  RPLIDAR SDK
+ *
+ *  Copyright (c) 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *  Copyright (c) 2014 - 2018 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 "hal/types.h"
+
+#include <unistd.h>
+static inline void delay(_word_size_t ms){
+    while (ms>=1000){
+        usleep(1000*1000);
+        ms-=1000;
+    };
+    if (ms!=0)
+        usleep(ms*1000);
+}
+
+// TODO: the highest timer interface should be clock_gettime
+namespace rp{ namespace arch{
+
+_u64 rp_getus();
+_u64 rp_getms();
+
+}}
+
+#define getms() rp::arch::rp_getms()
+#define getus() rp::arch::rp_getus()
+