216 lines
12 KiB
C
216 lines
12 KiB
C
/*
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* RPLIDAR SDK
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*
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* Copyright (c) 2009 - 2014 RoboPeak Team
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* http://www.robopeak.com
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* Copyright (c) 2014-2020 Shanghai Slamtec Co., Ltd.
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* http://www.slamtec.com
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*
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*/
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/*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include "sl_lidar_cmd.h"
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#include "rplidar_protocol.h"
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// Commands
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//-----------------------------------------
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#define RPLIDAR_AUTOBAUD_MAGICBYTE SL_LIDAR_AUTOBAUD_MAGICBYTE
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// Commands without payload and response
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#define RPLIDAR_CMD_STOP SL_LIDAR_CMD_STOP
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#define RPLIDAR_CMD_SCAN SL_LIDAR_CMD_SCAN
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#define RPLIDAR_CMD_FORCE_SCAN SL_LIDAR_CMD_FORCE_SCAN
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#define RPLIDAR_CMD_RESET SL_LIDAR_CMD_RESET
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// Commands without payload but have response
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#define RPLIDAR_CMD_GET_DEVICE_INFO SL_LIDAR_CMD_GET_DEVICE_INFO
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#define RPLIDAR_CMD_GET_DEVICE_HEALTH SL_LIDAR_CMD_GET_DEVICE_HEALTH
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#define RPLIDAR_CMD_GET_SAMPLERATE SL_LIDAR_CMD_GET_SAMPLERATE //added in fw 1.17
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#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL
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// Commands with payload but no response
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#define RPLIDAR_CMD_NEW_BAUDRATE_CONFIRM SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM //added in fw 1.30
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// Commands with payload and have response
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#define RPLIDAR_CMD_EXPRESS_SCAN SL_LIDAR_CMD_EXPRESS_SCAN //added in fw 1.17
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#define RPLIDAR_CMD_HQ_SCAN SL_LIDAR_CMD_HQ_SCAN //added in fw 1.24
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#define RPLIDAR_CMD_GET_LIDAR_CONF SL_LIDAR_CMD_GET_LIDAR_CONF //added in fw 1.24
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#define RPLIDAR_CMD_SET_LIDAR_CONF SL_LIDAR_CMD_SET_LIDAR_CONF //added in fw 1.24
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//add for A2 to set RPLIDAR motor pwm when using accessory board
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#define RPLIDAR_CMD_SET_MOTOR_PWM SL_LIDAR_CMD_SET_MOTOR_PWM
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#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG SL_LIDAR_CMD_GET_ACC_BOARD_FLAG
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#if defined(_WIN32)
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#pragma pack(1)
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#endif
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// Payloads
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// ------------------------------------------
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#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL
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#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE // won't been supported but keep to prevent build fail
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//for express working flag(extending express scan protocol)
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#define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST
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#define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION
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//for ultra express working flag
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#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD
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#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY
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#define RPLIDAR_HQ_SCAN_FLAG_CCW (0x1<<0)
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#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER (0x1<<1)
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#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE (0x1<<2)
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typedef sl_lidar_payload_express_scan_t rplidar_payload_express_scan_t;
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typedef sl_lidar_payload_hq_scan_t rplidar_payload_hq_scan_t;
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typedef sl_lidar_payload_get_scan_conf_t rplidar_payload_get_scan_conf_t;
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typedef sl_lidar_payload_motor_pwm_t rplidar_payload_motor_pwm_t;
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typedef sl_lidar_payload_acc_board_flag_t rplidar_payload_acc_board_flag_t;
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typedef sl_lidar_payload_set_scan_conf_t rplidar_payload_set_scan_conf_t;
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typedef sl_lidar_payload_new_bps_confirmation_t rplidar_payload_new_bps_confirmation_t;
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// Response
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// ------------------------------------------
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#define RPLIDAR_ANS_TYPE_DEVINFO SL_LIDAR_ANS_TYPE_DEVINFO
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#define RPLIDAR_ANS_TYPE_DEVHEALTH SL_LIDAR_ANS_TYPE_DEVHEALTH
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#define RPLIDAR_ANS_TYPE_MEASUREMENT SL_LIDAR_ANS_TYPE_MEASUREMENT
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// Added in FW ver 1.17
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ
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// Added in FW ver 1.17
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#define RPLIDAR_ANS_TYPE_SAMPLE_RATE SL_LIDAR_ANS_TYPE_SAMPLE_RATE
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//added in FW ver 1.23alpha
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA
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//added in FW ver 1.24
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#define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF
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#define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED
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#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG
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#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK
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typedef sl_lidar_response_acc_board_flag_t rplidar_response_acc_board_flag_t;
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#define RPLIDAR_STATUS_OK SL_LIDAR_STATUS_OK
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#define RPLIDAR_STATUS_WARNING SL_LIDAR_STATUS_WARNING
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#define RPLIDAR_STATUS_ERROR SL_LIDAR_STATUS_ERROR
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#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_SYNCBIT
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#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT
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#define RPLIDAR_RESP_HQ_FLAG_SYNCBIT SL_LIDAR_RESP_HQ_FLAG_SYNCBIT
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#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT SL_LIDAR_RESP_MEASUREMENT_CHECKBIT
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#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT
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typedef sl_lidar_response_sample_rate_t rplidar_response_sample_rate_t;
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typedef sl_lidar_response_measurement_node_t rplidar_response_measurement_node_t;
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//[distance_sync flags]
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#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK
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#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK
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typedef sl_lidar_response_cabin_nodes_t rplidar_response_cabin_nodes_t;
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2
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#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT
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typedef sl_lidar_response_capsule_measurement_nodes_t rplidar_response_capsule_measurement_nodes_t;
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typedef sl_lidar_response_dense_cabin_nodes_t rplidar_response_dense_cabin_nodes_t;
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typedef sl_lidar_response_dense_capsule_measurement_nodes_t rplidar_response_dense_capsule_measurement_nodes_t;
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typedef sl_lidar_response_ultra_dense_capsule_measurement_nodes_t rplidar_response_ultra_dense_capsule_measurement_nodes_t;
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// ext1 : x2 boost mode
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#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS
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#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS
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typedef sl_lidar_response_ultra_cabin_nodes_t rplidar_response_ultra_cabin_nodes_t;
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typedef sl_lidar_response_ultra_capsule_measurement_nodes_t rplidar_response_ultra_capsule_measurement_nodes_t;
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typedef sl_lidar_response_measurement_node_hq_t rplidar_response_measurement_node_hq_t;
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typedef sl_lidar_response_hq_capsule_measurement_nodes_t rplidar_response_hq_capsule_measurement_nodes_t;
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# define RPLIDAR_CONF_SCAN_COMMAND_STD SL_LIDAR_CONF_SCAN_COMMAND_STD
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# define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS
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# define RPLIDAR_CONF_SCAN_COMMAND_HQ SL_LIDAR_CONF_SCAN_COMMAND_HQ
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# define RPLIDAR_CONF_SCAN_COMMAND_BOOST SL_LIDAR_CONF_SCAN_COMMAND_BOOST
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# define RPLIDAR_CONF_SCAN_COMMAND_STABILITY SL_LIDAR_CONF_SCAN_COMMAND_STABILITY
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# define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY
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#define RPLIDAR_CONF_ANGLE_RANGE SL_LIDAR_CONF_ANGLE_RANGE
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#define RPLIDAR_CONF_DESIRED_ROT_FREQ SL_LIDAR_CONF_DESIRED_ROT_FREQ
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#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP SL_LIDAR_CONF_SCAN_COMMAND_BITMAP
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#define RPLIDAR_CONF_MIN_ROT_FREQ SL_LIDAR_CONF_MIN_ROT_FREQ
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#define RPLIDAR_CONF_MAX_ROT_FREQ SL_LIDAR_CONF_MAX_ROT_FREQ
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#define RPLIDAR_CONF_MAX_DISTANCE SL_LIDAR_CONF_MAX_DISTANCE
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#define RPLIDAR_CONF_SCAN_MODE_COUNT SL_LIDAR_CONF_SCAN_MODE_COUNT
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#define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE
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#define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE
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#define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE
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#define RPLIDAR_CONF_SCAN_MODE_TYPICAL SL_LIDAR_CONF_SCAN_MODE_TYPICAL
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#define RPLIDAR_CONF_SCAN_MODE_NAME SL_LIDAR_CONF_SCAN_MODE_NAME
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#define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP
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#define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP
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#define RPLIDAR_CONF_LIDAR_STATIC_IP_ADDR SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR
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#define RPLIDAR_CONF_LIDAR_MAC_ADDR SL_LIDAR_CONF_LIDAR_MAC_ADDR
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#define RPLIDAR_CONF_DETECTED_SERIAL_BPS SL_LIDAR_CONF_DETECTED_SERIAL_BPS
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typedef sl_lidar_response_get_lidar_conf_t rplidar_response_get_lidar_conf_t;
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typedef sl_lidar_response_set_lidar_conf_t rplidar_response_set_lidar_conf_t;
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typedef sl_lidar_response_device_info_t rplidar_response_device_info_t;
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typedef sl_lidar_response_device_health_t rplidar_response_device_health_t;
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typedef sl_lidar_ip_conf_t rplidar_ip_conf_t;
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typedef sl_lidar_response_device_macaddr_info_t rplidar_response_device_macaddr_info_t;
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// Definition of the variable bit scale encoding mechanism
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#define RPLIDAR_VARBITSCALE_X2_SRC_BIT SL_LIDAR_VARBITSCALE_X2_SRC_BIT
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#define RPLIDAR_VARBITSCALE_X4_SRC_BIT SL_LIDAR_VARBITSCALE_X4_SRC_BIT
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#define RPLIDAR_VARBITSCALE_X8_SRC_BIT SL_LIDAR_VARBITSCALE_X8_SRC_BIT
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#define RPLIDAR_VARBITSCALE_X16_SRC_BIT SL_LIDAR_VARBITSCALE_X16_SRC_BIT
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#define RPLIDAR_VARBITSCALE_X2_DEST_VAL SL_LIDAR_VARBITSCALE_X2_DEST_VAL
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#define RPLIDAR_VARBITSCALE_X4_DEST_VAL SL_LIDAR_VARBITSCALE_X4_DEST_VAL
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#define RPLIDAR_VARBITSCALE_X8_DEST_VAL SL_LIDAR_VARBITSCALE_X8_DEST_VAL
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#define RPLIDAR_VARBITSCALE_X16_DEST_VAL SL_LIDAR_VARBITSCALE_X16_DEST_VAL
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#define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_)
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#if defined(_WIN32)
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#pragma pack()
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#endif
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