/* * RPLIDAR SDK * * Copyright (c) 2009 - 2014 RoboPeak Team * http://www.robopeak.com * Copyright (c) 2014 - 2019 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 "rplidar_protocol.h" // Commands //----------------------------------------- // Commands without payload and response #define RPLIDAR_CMD_STOP 0x25 #define RPLIDAR_CMD_SCAN 0x20 #define RPLIDAR_CMD_FORCE_SCAN 0x21 #define RPLIDAR_CMD_RESET 0x40 // Commands without payload but have response #define RPLIDAR_CMD_GET_DEVICE_INFO 0x50 #define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52 #define RPLIDAR_CMD_GET_SAMPLERATE 0x59 //added in fw 1.17 #define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8 // Commands with payload and have response #define RPLIDAR_CMD_EXPRESS_SCAN 0x82 //added in fw 1.17 #define RPLIDAR_CMD_HQ_SCAN 0x83 //added in fw 1.24 #define RPLIDAR_CMD_GET_LIDAR_CONF 0x84 //added in fw 1.24 #define RPLIDAR_CMD_SET_LIDAR_CONF 0x85 //added in fw 1.24 //add for A2 to set RPLIDAR motor pwm when using accessory board #define RPLIDAR_CMD_SET_MOTOR_PWM 0xF0 #define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF #if defined(_WIN32) #pragma pack(1) #endif // Payloads // ------------------------------------------ #define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL 0 #define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE 0 // won't been supported but keep to prevent build fail //for express working flag(extending express scan protocol) #define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST 0x0001 #define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION 0x0002 //for ultra express working flag #define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD 0x0001 #define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY 0x0002 #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 struct _rplidar_payload_express_scan_t { _u8 working_mode; _u16 working_flags; _u16 param; } __attribute__((packed)) rplidar_payload_express_scan_t; typedef struct _rplidar_payload_hq_scan_t { _u8 flag; _u8 reserved[32]; } __attribute__((packed)) rplidar_payload_hq_scan_t; typedef struct _rplidar_payload_get_scan_conf_t { _u32 type; _u8 reserved[32]; } __attribute__((packed)) rplidar_payload_get_scan_conf_t; #define MAX_MOTOR_PWM 1023 #define DEFAULT_MOTOR_PWM 660 typedef struct _rplidar_payload_motor_pwm_t { _u16 pwm_value; } __attribute__((packed)) rplidar_payload_motor_pwm_t; typedef struct _rplidar_payload_acc_board_flag_t { _u32 reserved; } __attribute__((packed)) rplidar_payload_acc_board_flag_t; typedef struct _rplidar_payload_hq_spd_ctrl_t { _u16 rpm; } __attribute__((packed)) rplidar_payload_hq_spd_ctrl_t; // Response // ------------------------------------------ #define RPLIDAR_ANS_TYPE_DEVINFO 0x4 #define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6 #define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81 // Added in FW ver 1.17 #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82 #define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ 0x83 // Added in FW ver 1.17 #define RPLIDAR_ANS_TYPE_SAMPLE_RATE 0x15 //added in FW ver 1.23alpha #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA 0x84 //added in FW ver 1.24 #define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF 0x20 #define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF 0x21 #define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED 0x85 #define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF #define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1) typedef struct _rplidar_response_acc_board_flag_t { _u32 support_flag; } __attribute__((packed)) rplidar_response_acc_board_flag_t; #define RPLIDAR_STATUS_OK 0x0 #define RPLIDAR_STATUS_WARNING 0x1 #define RPLIDAR_STATUS_ERROR 0x2 #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 #define RPLIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0) #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 typedef struct _rplidar_response_sample_rate_t { _u16 std_sample_duration_us; _u16 express_sample_duration_us; } __attribute__((packed)) rplidar_response_sample_rate_t; typedef struct _rplidar_response_measurement_node_t { _u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6; _u16 angle_q6_checkbit; // check_bit:1;angle_q6:15; _u16 distance_q2; } __attribute__((packed)) rplidar_response_measurement_node_t; //[distance_sync flags] #define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3) #define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC) typedef struct _rplidar_response_cabin_nodes_t { _u16 distance_angle_1; // see [distance_sync flags] _u16 distance_angle_2; // see [distance_sync flags] _u8 offset_angles_q3; } __attribute__((packed)) rplidar_response_cabin_nodes_t; #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5 #define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5 #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15) typedef struct _rplidar_response_capsule_measurement_nodes_t { _u8 s_checksum_1; // see [s_checksum_1] _u8 s_checksum_2; // see [s_checksum_1] _u16 start_angle_sync_q6; rplidar_response_cabin_nodes_t cabins[16]; } __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t; typedef struct _rplidar_response_dense_cabin_nodes_t { _u16 distance; } __attribute__((packed)) rplidar_response_dense_cabin_nodes_t; typedef struct _rplidar_response_dense_capsule_measurement_nodes_t { _u8 s_checksum_1; // see [s_checksum_1] _u8 s_checksum_2; // see [s_checksum_1] _u16 start_angle_sync_q6; rplidar_response_dense_cabin_nodes_t cabins[40]; } __attribute__((packed)) rplidar_response_dense_capsule_measurement_nodes_t; // ext1 : x2 boost mode #define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS 12 #define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS 10 typedef struct _rplidar_response_ultra_cabin_nodes_t { // 31 0 // | predict2 10bit | predict1 10bit | major 12bit | _u32 combined_x3; } __attribute__((packed)) rplidar_response_ultra_cabin_nodes_t; typedef struct _rplidar_response_ultra_capsule_measurement_nodes_t { _u8 s_checksum_1; // see [s_checksum_1] _u8 s_checksum_2; // see [s_checksum_1] _u16 start_angle_sync_q6; rplidar_response_ultra_cabin_nodes_t ultra_cabins[32]; } __attribute__((packed)) rplidar_response_ultra_capsule_measurement_nodes_t; typedef struct rplidar_response_measurement_node_hq_t { _u16 angle_z_q14; _u32 dist_mm_q2; _u8 quality; _u8 flag; } __attribute__((packed)) rplidar_response_measurement_node_hq_t; typedef struct _rplidar_response_hq_capsule_measurement_nodes_t{ _u8 sync_byte; _u64 time_stamp; rplidar_response_measurement_node_hq_t node_hq[16]; _u32 crc32; }__attribute__((packed)) rplidar_response_hq_capsule_measurement_nodes_t; # define RPLIDAR_CONF_SCAN_COMMAND_STD 0 # define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS 1 # define RPLIDAR_CONF_SCAN_COMMAND_HQ 2 # define RPLIDAR_CONF_SCAN_COMMAND_BOOST 3 # define RPLIDAR_CONF_SCAN_COMMAND_STABILITY 4 # define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY 5 #define RPLIDAR_CONF_ANGLE_RANGE 0x00000000 #define RPLIDAR_CONF_DESIRED_ROT_FREQ 0x00000001 #define RPLIDAR_CONF_SCAN_COMMAND_BITMAP 0x00000002 #define RPLIDAR_CONF_MIN_ROT_FREQ 0x00000004 #define RPLIDAR_CONF_MAX_ROT_FREQ 0x00000005 #define RPLIDAR_CONF_MAX_DISTANCE 0x00000060 #define RPLIDAR_CONF_SCAN_MODE_COUNT 0x00000070 #define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE 0x00000071 #define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE 0x00000074 #define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE 0x00000075 #define RPLIDAR_CONF_SCAN_MODE_TYPICAL 0x0000007C #define RPLIDAR_CONF_SCAN_MODE_NAME 0x0000007F #define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP 4 #define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP 5 typedef struct _rplidar_response_get_lidar_conf{ _u32 type; _u8 payload[0]; }__attribute__((packed)) rplidar_response_get_lidar_conf_t; typedef struct _rplidar_response_set_lidar_conf{ _u32 result; }__attribute__((packed)) rplidar_response_set_lidar_conf_t; typedef struct _rplidar_response_device_info_t { _u8 model; _u16 firmware_version; _u8 hardware_version; _u8 serialnum[16]; } __attribute__((packed)) rplidar_response_device_info_t; typedef struct _rplidar_response_device_health_t { _u8 status; _u16 error_code; } __attribute__((packed)) rplidar_response_device_health_t; // Definition of the variable bit scale encoding mechanism #define RPLIDAR_VARBITSCALE_X2_SRC_BIT 9 #define RPLIDAR_VARBITSCALE_X4_SRC_BIT 11 #define RPLIDAR_VARBITSCALE_X8_SRC_BIT 12 #define RPLIDAR_VARBITSCALE_X16_SRC_BIT 14 #define RPLIDAR_VARBITSCALE_X2_DEST_VAL 512 #define RPLIDAR_VARBITSCALE_X4_DEST_VAL 1280 #define RPLIDAR_VARBITSCALE_X8_DEST_VAL 1792 #define RPLIDAR_VARBITSCALE_X16_DEST_VAL 3328 #define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) \ ( (((0x1<<(_BITS_)) - RPLIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \ ((RPLIDAR_VARBITSCALE_X16_DEST_VAL - RPLIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \ ((RPLIDAR_VARBITSCALE_X8_DEST_VAL - RPLIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \ ((RPLIDAR_VARBITSCALE_X4_DEST_VAL - RPLIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \ RPLIDAR_VARBITSCALE_X2_DEST_VAL - 1) #if defined(_WIN32) #pragma pack() #endif