diff options
Diffstat (limited to 'LIDAR/sdk/include/rplidar_cmd.h')
| -rw-r--r-- | LIDAR/sdk/include/rplidar_cmd.h | 215 |
1 files changed, 215 insertions, 0 deletions
diff --git a/LIDAR/sdk/include/rplidar_cmd.h b/LIDAR/sdk/include/rplidar_cmd.h new file mode 100644 index 0000000..6bfc7e7 --- /dev/null +++ b/LIDAR/sdk/include/rplidar_cmd.h @@ -0,0 +1,215 @@ +/* + * 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_cmd.h" +#include "rplidar_protocol.h" + +// Commands +//----------------------------------------- + +#define RPLIDAR_AUTOBAUD_MAGICBYTE SL_LIDAR_AUTOBAUD_MAGICBYTE + +// Commands without payload and response +#define RPLIDAR_CMD_STOP SL_LIDAR_CMD_STOP +#define RPLIDAR_CMD_SCAN SL_LIDAR_CMD_SCAN +#define RPLIDAR_CMD_FORCE_SCAN SL_LIDAR_CMD_FORCE_SCAN +#define RPLIDAR_CMD_RESET SL_LIDAR_CMD_RESET + + +// Commands without payload but have response +#define RPLIDAR_CMD_GET_DEVICE_INFO SL_LIDAR_CMD_GET_DEVICE_INFO +#define RPLIDAR_CMD_GET_DEVICE_HEALTH SL_LIDAR_CMD_GET_DEVICE_HEALTH + +#define RPLIDAR_CMD_GET_SAMPLERATE SL_LIDAR_CMD_GET_SAMPLERATE //added in fw 1.17 + +#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL + +// Commands with payload but no response +#define RPLIDAR_CMD_NEW_BAUDRATE_CONFIRM SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM //added in fw 1.30 + +// Commands with payload and have response +#define RPLIDAR_CMD_EXPRESS_SCAN SL_LIDAR_CMD_EXPRESS_SCAN //added in fw 1.17 +#define RPLIDAR_CMD_HQ_SCAN SL_LIDAR_CMD_HQ_SCAN //added in fw 1.24 +#define RPLIDAR_CMD_GET_LIDAR_CONF SL_LIDAR_CMD_GET_LIDAR_CONF //added in fw 1.24 +#define RPLIDAR_CMD_SET_LIDAR_CONF SL_LIDAR_CMD_SET_LIDAR_CONF //added in fw 1.24 +//add for A2 to set RPLIDAR motor pwm when using accessory board +#define RPLIDAR_CMD_SET_MOTOR_PWM SL_LIDAR_CMD_SET_MOTOR_PWM +#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG SL_LIDAR_CMD_GET_ACC_BOARD_FLAG + +#if defined(_WIN32) +#pragma pack(1) +#endif + + +// Payloads +// ------------------------------------------ +#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL +#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE // won't been supported but keep to prevent build fail +//for express working flag(extending express scan protocol) +#define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST +#define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION + +//for ultra express working flag +#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD +#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY + +#define RPLIDAR_HQ_SCAN_FLAG_CCW (0x1<<0) +#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER (0x1<<1) +#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE (0x1<<2) + +typedef sl_lidar_payload_express_scan_t rplidar_payload_express_scan_t; +typedef sl_lidar_payload_hq_scan_t rplidar_payload_hq_scan_t; +typedef sl_lidar_payload_get_scan_conf_t rplidar_payload_get_scan_conf_t; +typedef sl_lidar_payload_motor_pwm_t rplidar_payload_motor_pwm_t; +typedef sl_lidar_payload_acc_board_flag_t rplidar_payload_acc_board_flag_t; +typedef sl_lidar_payload_set_scan_conf_t rplidar_payload_set_scan_conf_t; +typedef sl_lidar_payload_new_bps_confirmation_t rplidar_payload_new_bps_confirmation_t; + +// Response +// ------------------------------------------ +#define RPLIDAR_ANS_TYPE_DEVINFO SL_LIDAR_ANS_TYPE_DEVINFO +#define RPLIDAR_ANS_TYPE_DEVHEALTH SL_LIDAR_ANS_TYPE_DEVHEALTH +#define RPLIDAR_ANS_TYPE_MEASUREMENT SL_LIDAR_ANS_TYPE_MEASUREMENT +// Added in FW ver 1.17 +#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED +#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ +// Added in FW ver 1.17 +#define RPLIDAR_ANS_TYPE_SAMPLE_RATE SL_LIDAR_ANS_TYPE_SAMPLE_RATE +//added in FW ver 1.23alpha +#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA +//added in FW ver 1.24 +#define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF +#define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF +#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED +#define RPLIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED + +#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG + +#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK + +typedef sl_lidar_response_acc_board_flag_t rplidar_response_acc_board_flag_t; + + +#define RPLIDAR_STATUS_OK SL_LIDAR_STATUS_OK +#define RPLIDAR_STATUS_WARNING SL_LIDAR_STATUS_WARNING +#define RPLIDAR_STATUS_ERROR SL_LIDAR_STATUS_ERROR + +#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_SYNCBIT +#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT +#define RPLIDAR_RESP_HQ_FLAG_SYNCBIT SL_LIDAR_RESP_HQ_FLAG_SYNCBIT +#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT SL_LIDAR_RESP_MEASUREMENT_CHECKBIT +#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT + +typedef sl_lidar_response_sample_rate_t rplidar_response_sample_rate_t; +typedef sl_lidar_response_measurement_node_t rplidar_response_measurement_node_t; + +//[distance_sync flags] +#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK +#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK + +typedef sl_lidar_response_cabin_nodes_t rplidar_response_cabin_nodes_t; + + +#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1 +#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2 +#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC +#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT + + +typedef sl_lidar_response_capsule_measurement_nodes_t rplidar_response_capsule_measurement_nodes_t; +typedef sl_lidar_response_dense_cabin_nodes_t rplidar_response_dense_cabin_nodes_t; +typedef sl_lidar_response_dense_capsule_measurement_nodes_t rplidar_response_dense_capsule_measurement_nodes_t; +typedef sl_lidar_response_ultra_dense_capsule_measurement_nodes_t rplidar_response_ultra_dense_capsule_measurement_nodes_t; +// ext1 : x2 boost mode + +#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS +#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS + +typedef sl_lidar_response_ultra_cabin_nodes_t rplidar_response_ultra_cabin_nodes_t; +typedef sl_lidar_response_ultra_capsule_measurement_nodes_t rplidar_response_ultra_capsule_measurement_nodes_t; +typedef sl_lidar_response_measurement_node_hq_t rplidar_response_measurement_node_hq_t; +typedef sl_lidar_response_hq_capsule_measurement_nodes_t rplidar_response_hq_capsule_measurement_nodes_t; + + +# define RPLIDAR_CONF_SCAN_COMMAND_STD SL_LIDAR_CONF_SCAN_COMMAND_STD +# define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS +# define RPLIDAR_CONF_SCAN_COMMAND_HQ SL_LIDAR_CONF_SCAN_COMMAND_HQ +# define RPLIDAR_CONF_SCAN_COMMAND_BOOST SL_LIDAR_CONF_SCAN_COMMAND_BOOST +# define RPLIDAR_CONF_SCAN_COMMAND_STABILITY SL_LIDAR_CONF_SCAN_COMMAND_STABILITY +# define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY + +#define RPLIDAR_CONF_ANGLE_RANGE SL_LIDAR_CONF_ANGLE_RANGE +#define RPLIDAR_CONF_DESIRED_ROT_FREQ SL_LIDAR_CONF_DESIRED_ROT_FREQ +#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP SL_LIDAR_CONF_SCAN_COMMAND_BITMAP +#define RPLIDAR_CONF_MIN_ROT_FREQ SL_LIDAR_CONF_MIN_ROT_FREQ +#define RPLIDAR_CONF_MAX_ROT_FREQ SL_LIDAR_CONF_MAX_ROT_FREQ +#define RPLIDAR_CONF_MAX_DISTANCE SL_LIDAR_CONF_MAX_DISTANCE + +#define RPLIDAR_CONF_SCAN_MODE_COUNT SL_LIDAR_CONF_SCAN_MODE_COUNT +#define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE +#define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE +#define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE +#define RPLIDAR_CONF_SCAN_MODE_TYPICAL SL_LIDAR_CONF_SCAN_MODE_TYPICAL +#define RPLIDAR_CONF_SCAN_MODE_NAME SL_LIDAR_CONF_SCAN_MODE_NAME +#define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP +#define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP +#define RPLIDAR_CONF_LIDAR_STATIC_IP_ADDR SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR +#define RPLIDAR_CONF_LIDAR_MAC_ADDR SL_LIDAR_CONF_LIDAR_MAC_ADDR + +#define RPLIDAR_CONF_DETECTED_SERIAL_BPS SL_LIDAR_CONF_DETECTED_SERIAL_BPS + +typedef sl_lidar_response_get_lidar_conf_t rplidar_response_get_lidar_conf_t; +typedef sl_lidar_response_set_lidar_conf_t rplidar_response_set_lidar_conf_t; +typedef sl_lidar_response_device_info_t rplidar_response_device_info_t; +typedef sl_lidar_response_device_health_t rplidar_response_device_health_t; +typedef sl_lidar_ip_conf_t rplidar_ip_conf_t; +typedef sl_lidar_response_device_macaddr_info_t rplidar_response_device_macaddr_info_t; + +// Definition of the variable bit scale encoding mechanism +#define RPLIDAR_VARBITSCALE_X2_SRC_BIT SL_LIDAR_VARBITSCALE_X2_SRC_BIT +#define RPLIDAR_VARBITSCALE_X4_SRC_BIT SL_LIDAR_VARBITSCALE_X4_SRC_BIT +#define RPLIDAR_VARBITSCALE_X8_SRC_BIT SL_LIDAR_VARBITSCALE_X8_SRC_BIT +#define RPLIDAR_VARBITSCALE_X16_SRC_BIT SL_LIDAR_VARBITSCALE_X16_SRC_BIT + +#define RPLIDAR_VARBITSCALE_X2_DEST_VAL SL_LIDAR_VARBITSCALE_X2_DEST_VAL +#define RPLIDAR_VARBITSCALE_X4_DEST_VAL SL_LIDAR_VARBITSCALE_X4_DEST_VAL +#define RPLIDAR_VARBITSCALE_X8_DEST_VAL SL_LIDAR_VARBITSCALE_X8_DEST_VAL +#define RPLIDAR_VARBITSCALE_X16_DEST_VAL SL_LIDAR_VARBITSCALE_X16_DEST_VAL + +#define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) + +#if defined(_WIN32) +#pragma pack() +#endif |