73 lines
2.4 KiB
C
73 lines
2.4 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 - 2018 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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// RP-Lidar Input Packets
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#define RPLIDAR_CMD_SYNC_BYTE 0xA5
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#define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80
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#define RPLIDAR_ANS_SYNC_BYTE1 0xA5
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#define RPLIDAR_ANS_SYNC_BYTE2 0x5A
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#define RPLIDAR_ANS_PKTFLAG_LOOP 0x1
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#define RPLIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
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#define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)
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#if defined(_WIN32)
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#pragma pack(1)
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#endif
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typedef struct _rplidar_cmd_packet_t {
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_u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE
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_u8 cmd_flag;
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_u8 size;
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_u8 data[0];
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} __attribute__((packed)) rplidar_cmd_packet_t;
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typedef struct _rplidar_ans_header_t {
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_u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
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_u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
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_u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2;
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_u8 type;
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} __attribute__((packed)) rplidar_ans_header_t;
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#if defined(_WIN32)
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#pragma pack()
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#endif
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