diff options
Diffstat (limited to 'LIDAR/sdk/include/sl_lidar_cmd.h')
| -rw-r--r-- | LIDAR/sdk/include/sl_lidar_cmd.h | 388 |
1 files changed, 388 insertions, 0 deletions
diff --git a/LIDAR/sdk/include/sl_lidar_cmd.h b/LIDAR/sdk/include/sl_lidar_cmd.h new file mode 100644 index 0000000..bd3f8d2 --- /dev/null +++ b/LIDAR/sdk/include/sl_lidar_cmd.h @@ -0,0 +1,388 @@ +/* +* Slamtec LIDAR SDK +* +* sl_lidar_cmd.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_lidar_protocol.h" + + // Commands + //----------------------------------------- + + +#define SL_LIDAR_AUTOBAUD_MAGICBYTE 0x41 + + // Commands without payload and response +#define SL_LIDAR_CMD_STOP 0x25 +#define SL_LIDAR_CMD_SCAN 0x20 +#define SL_LIDAR_CMD_FORCE_SCAN 0x21 +#define SL_LIDAR_CMD_RESET 0x40 + +// Commands with payload but no response +#define SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM 0x90 //added in fw 1.30 + +// Commands without payload but have response +#define SL_LIDAR_CMD_GET_DEVICE_INFO 0x50 +#define SL_LIDAR_CMD_GET_DEVICE_HEALTH 0x52 + +#define SL_LIDAR_CMD_GET_SAMPLERATE 0x59 //added in fw 1.17 + +#define SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8 + + +// Commands with payload and have response +#define SL_LIDAR_CMD_EXPRESS_SCAN 0x82 //added in fw 1.17 +#define SL_LIDAR_CMD_HQ_SCAN 0x83 //added in fw 1.24 +#define SL_LIDAR_CMD_GET_LIDAR_CONF 0x84 //added in fw 1.24 +#define SL_LIDAR_CMD_SET_LIDAR_CONF 0x85 //added in fw 1.24 +//add for A2 to set RPLIDAR motor pwm when using accessory board +#define SL_LIDAR_CMD_SET_MOTOR_PWM 0xF0 +#define SL_LIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF + +#if defined(_WIN32) +#pragma pack(1) +#endif + + +// Payloads +// ------------------------------------------ +#define SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL 0 +#define SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE 0 // won't been supported but keep to prevent build fail +//for express working flag(extending express scan protocol) +#define SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST 0x0001 +#define SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION 0x0002 + +//for ultra express working flag +#define SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD 0x0001 +#define SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY 0x0002 + +typedef struct _sl_lidar_payload_express_scan_t +{ + sl_u8 working_mode; + sl_u16 working_flags; + sl_u16 param; +} __attribute__((packed)) sl_lidar_payload_express_scan_t; + +typedef struct _sl_lidar_payload_hq_scan_t +{ + sl_u8 flag; + sl_u8 reserved[32]; +} __attribute__((packed)) sl_lidar_payload_hq_scan_t; + +typedef struct _sl_lidar_payload_get_scan_conf_t +{ + sl_u32 type; +} __attribute__((packed)) sl_lidar_payload_get_scan_conf_t; + +typedef struct _sl_payload_set_scan_conf_t { + sl_u32 type; +} __attribute__((packed)) sl_lidar_payload_set_scan_conf_t; + + +#define DEFAULT_MOTOR_SPEED (0xFFFFu) + +typedef struct _sl_lidar_payload_motor_pwm_t +{ + sl_u16 pwm_value; +} __attribute__((packed)) sl_lidar_payload_motor_pwm_t; + +typedef struct _sl_lidar_payload_acc_board_flag_t +{ + sl_u32 reserved; +} __attribute__((packed)) sl_lidar_payload_acc_board_flag_t; + +typedef struct _sl_lidar_payload_hq_spd_ctrl_t { + sl_u16 rpm; +} __attribute__((packed))sl_lidar_payload_hq_spd_ctrl_t; + + +typedef struct _sl_lidar_payload_new_bps_confirmation_t { + sl_u16 flag; // reserved, must be 0x5F5F + sl_u32 required_bps; + sl_u16 param; +} __attribute__((packed)) sl_lidar_payload_new_bps_confirmation_t; + +// Response +// ------------------------------------------ +#define SL_LIDAR_ANS_TYPE_DEVINFO 0x4 +#define SL_LIDAR_ANS_TYPE_DEVHEALTH 0x6 + +#define SL_LIDAR_ANS_TYPE_MEASUREMENT 0x81 +// Added in FW ver 1.17 +#define SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82 +#define SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ 0x83 +//added in FW ver 1.23alpha +#define SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA 0x84 +#define SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED 0x85 +#define SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED 0x86 + + +// Added in FW ver 1.17 +#define SL_LIDAR_ANS_TYPE_SAMPLE_RATE 0x15 + +//added in FW ver 1.24 +#define SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF 0x20 +#define SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF 0x21 + + +#define SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF + +#define SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1) +typedef struct _sl_lidar_response_acc_board_flag_t +{ + sl_u32 support_flag; +} __attribute__((packed)) sl_lidar_response_acc_board_flag_t; + + +#define SL_LIDAR_STATUS_OK 0x0 +#define SL_LIDAR_STATUS_WARNING 0x1 +#define SL_LIDAR_STATUS_ERROR 0x2 + +#define SL_LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) +#define SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 + +#define SL_LIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0) + +#define SL_LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) +#define SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 + +typedef struct _sl_lidar_response_sample_rate_t +{ + sl_u16 std_sample_duration_us; + sl_u16 express_sample_duration_us; +} __attribute__((packed)) sl_lidar_response_sample_rate_t; + +typedef struct _sl_lidar_response_measurement_node_t +{ + sl_u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6; + sl_u16 angle_q6_checkbit; // check_bit:1;angle_q6:15; + sl_u16 distance_q2; +} __attribute__((packed)) sl_lidar_response_measurement_node_t; + +//[distance_sync flags] +#define SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3) +#define SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC) + +typedef struct _sl_lidar_response_cabin_nodes_t +{ + sl_u16 distance_angle_1; // see [distance_sync flags] + sl_u16 distance_angle_2; // see [distance_sync flags] + sl_u8 offset_angles_q3; +} __attribute__((packed)) sl_lidar_response_cabin_nodes_t; + + +#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA +#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5 + +#define SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5 + +#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15) + +typedef struct _sl_lidar_response_capsule_measurement_nodes_t +{ + sl_u8 s_checksum_1; // see [s_checksum_1] + sl_u8 s_checksum_2; // see [s_checksum_1] + sl_u16 start_angle_sync_q6; + sl_lidar_response_cabin_nodes_t cabins[16]; +} __attribute__((packed)) sl_lidar_response_capsule_measurement_nodes_t; + +typedef struct _sl_lidar_response_dense_cabin_nodes_t +{ + sl_u16 distance; +} __attribute__((packed)) sl_lidar_response_dense_cabin_nodes_t; + +typedef struct _sl_lidar_response_dense_capsule_measurement_nodes_t +{ + sl_u8 s_checksum_1; // see [s_checksum_1] + sl_u8 s_checksum_2; // see [s_checksum_1] + sl_u16 start_angle_sync_q6; + sl_lidar_response_dense_cabin_nodes_t cabins[40]; +} __attribute__((packed)) sl_lidar_response_dense_capsule_measurement_nodes_t; + + +typedef struct _sl_lidar_response_ultra_dense_cabin_nodes_t { + sl_u16 qualityl_distance_scale[2]; + sl_u8 qualityh_array; +} __attribute__((packed)) sl_lidar_response_ultra_dense_cabin_nodes_t; + +typedef struct _sl_lidar_response_ultra_dense_capsule_measurement_nodes_t { + sl_u8 s_checksum_1; // see [s_checksum_1] + sl_u8 s_checksum_2; // see [s_checksum_1] + sl_u32 time_stamp; + sl_u16 dev_status; + sl_u16 start_angle_sync_q6; + sl_lidar_response_ultra_dense_cabin_nodes_t cabins[32]; +} __attribute__((packed)) sl_lidar_response_ultra_dense_capsule_measurement_nodes_t; + + +// ext1 : x2 boost mode + +#define SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS 12 +#define SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS 10 + +typedef struct _sl_lidar_response_ultra_cabin_nodes_t +{ + // 31 0 + // | predict2 10bit | predict1 10bit | major 12bit | + sl_u32 combined_x3; +} __attribute__((packed)) sl_lidar_response_ultra_cabin_nodes_t; + +typedef struct _sl_lidar_response_ultra_capsule_measurement_nodes_t +{ + sl_u8 s_checksum_1; // see [s_checksum_1] + sl_u8 s_checksum_2; // see [s_checksum_1] + sl_u16 start_angle_sync_q6; + sl_lidar_response_ultra_cabin_nodes_t ultra_cabins[32]; +} __attribute__((packed)) sl_lidar_response_ultra_capsule_measurement_nodes_t; + +typedef struct sl_lidar_response_measurement_node_hq_t +{ + sl_u16 angle_z_q14; + sl_u32 dist_mm_q2; + sl_u8 quality; + sl_u8 flag; +} __attribute__((packed)) sl_lidar_response_measurement_node_hq_t; + +typedef struct _sl_lidar_response_hq_capsule_measurement_nodes_t +{ + sl_u8 sync_byte; + sl_u64 time_stamp; + sl_lidar_response_measurement_node_hq_t node_hq[96]; + sl_u32 crc32; +}__attribute__((packed)) sl_lidar_response_hq_capsule_measurement_nodes_t; + + +# define SL_LIDAR_CONF_SCAN_COMMAND_STD 0 +# define SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS 1 +# define SL_LIDAR_CONF_SCAN_COMMAND_HQ 2 +# define SL_LIDAR_CONF_SCAN_COMMAND_BOOST 3 +# define SL_LIDAR_CONF_SCAN_COMMAND_STABILITY 4 +# define SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY 5 + +#define SL_LIDAR_CONF_ANGLE_RANGE 0x00000000 +#define SL_LIDAR_CONF_DESIRED_ROT_FREQ 0x00000001 +#define SL_LIDAR_CONF_SCAN_COMMAND_BITMAP 0x00000002 +#define SL_LIDAR_CONF_MIN_ROT_FREQ 0x00000004 +#define SL_LIDAR_CONF_MAX_ROT_FREQ 0x00000005 +#define SL_LIDAR_CONF_MAX_DISTANCE 0x00000060 + +#define SL_LIDAR_CONF_SCAN_MODE_COUNT 0x00000070 +#define SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE 0x00000071 +#define SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE 0x00000074 +#define SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE 0x00000075 +#define SL_LIDAR_CONF_LIDAR_MAC_ADDR 0x00000079 +#define SL_LIDAR_CONF_SCAN_MODE_TYPICAL 0x0000007C +#define SL_LIDAR_CONF_SCAN_MODE_NAME 0x0000007F + + +#define SL_LIDAR_CONF_MODEL_REVISION_ID 0x00000080 +#define SL_LIDAR_CONF_MODEL_NAME_ALIAS 0x00000081 + +#define SL_LIDAR_CONF_DETECTED_SERIAL_BPS 0x000000A1 + +#define SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR 0x0001CCC0 +#define SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP 4 +#define SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP 5 + +typedef struct _sl_lidar_response_get_lidar_conf +{ + sl_u32 type; + sl_u8 payload[0]; +}__attribute__((packed)) sl_lidar_response_get_lidar_conf_t; + +typedef struct _sl_lidar_response_set_lidar_conf +{ + sl_u32 type; + sl_u32 result; +}__attribute__((packed)) sl_lidar_response_set_lidar_conf_t; + + +typedef struct _sl_lidar_response_device_info_t +{ + sl_u8 model; + sl_u16 firmware_version; + sl_u8 hardware_version; + sl_u8 serialnum[16]; +} __attribute__((packed)) sl_lidar_response_device_info_t; + +typedef struct _sl_lidar_response_device_health_t +{ + sl_u8 status; + sl_u16 error_code; +} __attribute__((packed)) sl_lidar_response_device_health_t; + +typedef struct _sl_lidar_ip_conf_t { + sl_u8 ip_addr[4]; + sl_u8 net_mask[4]; + sl_u8 gw[4]; +}__attribute__((packed)) sl_lidar_ip_conf_t; + +typedef struct _sl_lidar_response_device_macaddr_info_t { + sl_u8 macaddr[6]; +} __attribute__((packed)) sl_lidar_response_device_macaddr_info_t; + +typedef struct _sl_lidar_response_desired_rot_speed_t{ + sl_u16 rpm; + sl_u16 pwm_ref; +}__attribute__((packed)) sl_lidar_response_desired_rot_speed_t; + +// Definition of the variable bit scale encoding mechanism +#define SL_LIDAR_VARBITSCALE_X2_SRC_BIT 9 +#define SL_LIDAR_VARBITSCALE_X4_SRC_BIT 11 +#define SL_LIDAR_VARBITSCALE_X8_SRC_BIT 12 +#define SL_LIDAR_VARBITSCALE_X16_SRC_BIT 14 + +#define SL_LIDAR_VARBITSCALE_X2_DEST_VAL 512 +#define SL_LIDAR_VARBITSCALE_X4_DEST_VAL 1280 +#define SL_LIDAR_VARBITSCALE_X8_DEST_VAL 1792 +#define SL_LIDAR_VARBITSCALE_X16_DEST_VAL 3328 + +#define SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) \ + ( (((0x1<<(_BITS_)) - SL_LIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \ + ((SL_LIDAR_VARBITSCALE_X16_DEST_VAL - SL_LIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \ + ((SL_LIDAR_VARBITSCALE_X8_DEST_VAL - SL_LIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \ + ((SL_LIDAR_VARBITSCALE_X4_DEST_VAL - SL_LIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \ + SL_LIDAR_VARBITSCALE_X2_DEST_VAL - 1) + + +#if defined(_WIN32) +#pragma pack() +#endif + +#if defined(_MSC_VER) +#pragma warning(pop) +#endif
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