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rplidar_cmd.h File Reference
#include "rplidar_protocol.h"
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Classes

struct  _rplidar_payload_express_scan_t
 
struct  _rplidar_payload_motor_pwm_t
 
struct  _rplidar_payload_acc_board_flag_t
 
struct  _rplidar_response_acc_board_flag_t
 
struct  _rplidar_response_sample_rate_t
 
struct  _rplidar_response_measurement_node_t
 
struct  _rplidar_response_cabin_nodes_t
 
struct  _rplidar_response_capsule_measurement_nodes_t
 
struct  _rplidar_response_device_info_t
 
struct  _rplidar_response_device_health_t
 

Macros

#define RPLIDAR_CMD_STOP   0x25
 
#define RPLIDAR_CMD_SCAN   0x20
 
#define RPLIDAR_CMD_FORCE_SCAN   0x21
 
#define RPLIDAR_CMD_RESET   0x40
 
#define RPLIDAR_CMD_GET_DEVICE_INFO   0x50
 
#define RPLIDAR_CMD_GET_DEVICE_HEALTH   0x52
 
#define RPLIDAR_CMD_GET_SAMPLERATE   0x59
 
#define RPLIDAR_CMD_EXPRESS_SCAN   0x82
 
#define RPLIDAR_CMD_SET_MOTOR_PWM   0xF0
 
#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG   0xFF
 
#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL   0
 
#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE   1
 
#define MAX_MOTOR_PWM   1023
 
#define DEFAULT_MOTOR_PWM   660
 
#define RPLIDAR_ANS_TYPE_DEVINFO   0x4
 
#define RPLIDAR_ANS_TYPE_DEVHEALTH   0x6
 
#define RPLIDAR_ANS_TYPE_MEASUREMENT   0x81
 
#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED   0x82
 
#define RPLIDAR_ANS_TYPE_SAMPLE_RATE   0x15
 
#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG   0xFF
 
#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK   (0x1)
 
#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_MEASUREMENT_CHECKBIT   (0x1<<0)
 
#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT   1
 
#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK   (0x3)
 
#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK   (0xFC)
 
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1   0xA
 
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2   0x5
 
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT   (0x1<<15)
 

Functions

struct
_rplidar_payload_express_scan_t 
__attribute__ ((packed)) rplidar_payload_express_scan_t
 

Variables

_u8 working_mode
 
_u32 reserved
 
_u16 pwm_value
 
_u32 support_flag
 
_u16 std_sample_duration_us
 
_u16 express_sample_duration_us
 
_u8 sync_quality
 
_u16 angle_q6_checkbit
 
_u16 distance_q2
 
_u16 distance_angle_1
 
_u16 distance_angle_2
 
_u8 offset_angles_q3
 
_u8 s_checksum_1
 
_u8 s_checksum_2
 
_u16 start_angle_sync_q6
 
rplidar_response_cabin_nodes_t cabins [16]
 
_u8 model
 
_u16 firmware_version
 
_u8 hardware_version
 
_u8 serialnum [16]
 
_u8 status
 
_u16 error_code
 

Macro Definition Documentation

#define DEFAULT_MOTOR_PWM   660
#define MAX_MOTOR_PWM   1023

Definition at line 76 of file rplidar_cmd.h.

#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG   0xFF
#define RPLIDAR_ANS_TYPE_DEVHEALTH   0x6
#define RPLIDAR_ANS_TYPE_DEVINFO   0x4
#define RPLIDAR_ANS_TYPE_MEASUREMENT   0x81
#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED   0x82
#define RPLIDAR_ANS_TYPE_SAMPLE_RATE   0x15
#define RPLIDAR_CMD_EXPRESS_SCAN   0x82
#define RPLIDAR_CMD_FORCE_SCAN   0x21
#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG   0xFF
#define RPLIDAR_CMD_GET_DEVICE_HEALTH   0x52
#define RPLIDAR_CMD_GET_DEVICE_INFO   0x50
#define RPLIDAR_CMD_GET_SAMPLERATE   0x59
#define RPLIDAR_CMD_RESET   0x40
#define RPLIDAR_CMD_SCAN   0x20
#define RPLIDAR_CMD_SET_MOTOR_PWM   0xF0
#define RPLIDAR_CMD_STOP   0x25
#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE   1
#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL   0
#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK   (0x1)
#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT   1
#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT   (0x1<<0)
#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK   (0x3)

Definition at line 127 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK   (0xFC)

Definition at line 128 of file rplidar_cmd.h.

#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1   0xA
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2   0x5
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT   (0x1<<15)
#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT   2
#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT   (0x1<<0)
#define RPLIDAR_STATUS_ERROR   0x2

Definition at line 108 of file rplidar_cmd.h.

#define RPLIDAR_STATUS_OK   0x0

Definition at line 106 of file rplidar_cmd.h.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::getDeviceHealth().

#define RPLIDAR_STATUS_WARNING   0x1

Definition at line 107 of file rplidar_cmd.h.

Function Documentation

struct _rplidar_ans_header_t __attribute__ ( (packed )

Variable Documentation

_u16 angle_q6_checkbit
rplidar_response_cabin_nodes_t cabins[16]

Definition at line 24 of file rplidar_cmd.h.

_u16 distance_angle_1

Definition at line 21 of file rplidar_cmd.h.

_u16 distance_angle_2

Definition at line 22 of file rplidar_cmd.h.

_u16 distance_q2
_u16 error_code

Definition at line 22 of file rplidar_cmd.h.

_u16 express_sample_duration_us

Definition at line 22 of file rplidar_cmd.h.

_u16 firmware_version

Definition at line 22 of file rplidar_cmd.h.

_u8 hardware_version

Definition at line 23 of file rplidar_cmd.h.

_u8 model
_u8 offset_angles_q3

Definition at line 23 of file rplidar_cmd.h.

_u16 pwm_value

Definition at line 21 of file rplidar_cmd.h.

_u32 reserved

Definition at line 22 of file rplidar_cmd.h.

_u8 s_checksum_1

Definition at line 21 of file rplidar_cmd.h.

_u8 s_checksum_2

Definition at line 22 of file rplidar_cmd.h.

_u8 serialnum[16]

Definition at line 24 of file rplidar_cmd.h.

_u16 start_angle_sync_q6
_u8 status
_u16 std_sample_duration_us

Definition at line 21 of file rplidar_cmd.h.

_u32 support_flag

Definition at line 21 of file rplidar_cmd.h.

_u8 sync_quality
_u8 working_mode

Definition at line 21 of file rplidar_cmd.h.




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