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rplidar_protocol.h
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1 /*
2  * RPLIDAR SDK
3  *
4  * Copyright (c) 2009 - 2014 RoboPeak Team
5  * http://www.robopeak.com
6  * Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
7  * http://www.slamtec.com
8  *
9  */
10 /*
11  * Redistribution and use in source and binary forms, with or without
12  * modification, are permitted provided that the following conditions are met:
13  *
14  * 1. Redistributions of source code must retain the above copyright notice,
15  * this list of conditions and the following disclaimer.
16  *
17  * 2. Redistributions in binary form must reproduce the above copyright notice,
18  * this list of conditions and the following disclaimer in the documentation
19  * and/or other materials provided with the distribution.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
23  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
24  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
25  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
26  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
27  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
28  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
29  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
30  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
31  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
32  *
33  */
34 
35 #pragma once
36 
37 // RP-Lidar Input Packets
38 
39 #define RPLIDAR_CMD_SYNC_BYTE 0xA5
40 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80
41 
42 
43 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5
44 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A
45 
46 #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1
47 
48 #define RPLIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
49 #define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)
50 
51 #if defined(_WIN32)
52 #pragma pack(1)
53 #endif
54 
55 typedef struct _rplidar_cmd_packet_t {
56  _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE
60 } __attribute__((packed)) rplidar_cmd_packet_t;
61 
62 
63 typedef struct _rplidar_ans_header_t {
64  _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
65  _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
66  _u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2;
68 } __attribute__((packed)) rplidar_ans_header_t;
69 
70 #if defined(_WIN32)
71 #pragma pack()
72 #endif
GLuint GLenum GLsizei GLsizei GLint GLint GLboolean packed
Definition: glext.h:5956
uint8_t _u8
Definition: rptypes.h:63
uint32_t _u32
Definition: rptypes.h:69
struct _rplidar_cmd_packet_t __attribute__((packed)) rplidar_cmd_packet_t



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