/* * 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