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rpLidarTypes.h
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rpLidarTypes.h
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/*
* @author KKest
* @created 19.01.2022
*
* Types for rpLidar library
*
*/
#ifndef rplidarTypes_h
#define rplidarTypes_h
#include "Arduino.h"
#define SL_RESULT_OK (sl_result)0
#define SL_RESULT_FAIL_BIT (sl_result)0x80000000
#define SL_RESULT_ALREADY_DONE (sl_result)0x20
#define SL_RESULT_INVALID_DATA (sl_result)(0x8000 | SL_RESULT_FAIL_BIT)
#define SL_RESULT_OPERATION_FAIL (sl_result)(0x8001 | SL_RESULT_FAIL_BIT)
#define SL_RESULT_OPERATION_TIMEOUT (sl_result)(0x8002 | SL_RESULT_FAIL_BIT)
#define SL_RESULT_OPERATION_STOP (sl_result)(0x8003 | SL_RESULT_FAIL_BIT)
#define SL_RESULT_OPERATION_NOT_SUPPORT (sl_result)(0x8004 | SL_RESULT_FAIL_BIT)
#define SL_RESULT_FORMAT_NOT_SUPPORT (sl_result)(0x8005 | SL_RESULT_FAIL_BIT)
#define SL_RESULT_INSUFFICIENT_MEMORY (sl_result)(0x8006 | SL_RESULT_FAIL_BIT)
#define DEFAULT_TIMEOUT 2000
#define MAX_SCAN_NODES (1024)
#define SL_LIDAR_STATUS_OK 0x0
#define SL_LIDAR_STATUS_WARNING 0x1
#define SL_LIDAR_STATUS_ERROR 0x2
#define SL_LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
#define SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
#define SL_LIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0)
#define SL_LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
#define SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
// Definition of the variable bit scale encoding mechanism
#define SL_LIDAR_VARBITSCALE_X2_SRC_BIT 9
#define SL_LIDAR_VARBITSCALE_X4_SRC_BIT 11
#define SL_LIDAR_VARBITSCALE_X8_SRC_BIT 12
#define SL_LIDAR_VARBITSCALE_X16_SRC_BIT 14
#define SL_LIDAR_VARBITSCALE_X2_DEST_VAL 512
#define SL_LIDAR_VARBITSCALE_X4_DEST_VAL 1280
#define SL_LIDAR_VARBITSCALE_X8_DEST_VAL 1792
#define SL_LIDAR_VARBITSCALE_X16_DEST_VAL 3328
#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA
#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5
#define SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5
#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15)
#define SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) \
( (((0x1<<(_BITS_)) - SL_LIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \
((SL_LIDAR_VARBITSCALE_X16_DEST_VAL - SL_LIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \
((SL_LIDAR_VARBITSCALE_X8_DEST_VAL - SL_LIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \
((SL_LIDAR_VARBITSCALE_X4_DEST_VAL - SL_LIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \
SL_LIDAR_VARBITSCALE_X2_DEST_VAL - 1)
typedef uint8_t rp_descriptor_t[7];
typedef uint8_t rq_Packet_t[9];
typedef uint8_t rq_message_t[2];
typedef uint32_t sl_result;
typedef uint8_t sl_u8;
typedef uint16_t sl_u16;
typedef uint32_t sl_u32;
/// hold a measure point for standard scan mode
typedef struct scanDataPoint
{
uint8_t quality;
uint8_t angle_low;
uint8_t angle_high;
uint8_t distance_low;
uint8_t distance_high;
}stScanDataPoint_t;
typedef struct _sl_lidar_response_ultra_cabin_nodes_t
{
// 31 0
// | predict2 10bit | predict1 10bit | major 12bit |
sl_u32 combined_x3;
} __attribute__((packed)) sl_lidar_response_ultra_cabin_nodes_t;
typedef struct _sl_lidar_response_ultra_capsule_measurement_nodes_t
{
sl_u8 s_checksum_1; // see [s_checksum_1]
sl_u8 s_checksum_2; // see [s_checksum_1]
sl_u16 start_angle_sync_q6;
sl_lidar_response_ultra_cabin_nodes_t ultra_cabins[32];
} sl_lidar_response_ultra_capsule_measurement_nodes_t;
typedef struct _sl_lidar_response_measurement_node_hq_t
{
sl_u16 angle_z_q14;
sl_u32 dist_mm_q2;
sl_u8 quality;
sl_u8 flag;
} __attribute__((packed)) sl_lidar_response_measurement_node_hq_t;
struct scanDot {
sl_u8 quality;
float angle;
float dist;
};
typedef struct Point
{
double angle;
uint16_t distance;
}point_t;
typedef struct deviceHealtStatus
{
uint8_t status;
uint8_t errorCode_low;
uint8_t errorCode_high;
}stDeviceStatus_t;
typedef struct expressData
{
uint16_t angle;
uint16_t cabin[40];
}stExpressDataPacket_t;
typedef struct expressDataStorage
{
uint8_t angle_low;
uint8_t angle_high;
uint16_t distance;
}expressDataStorage_t;
typedef struct rp_stDeviceInfo
{
uint8_t model;
uint8_t firmware_minor;
uint8_t firmware_major;
uint8_t hardware;
uint8_t serialnumber[16];
}stDeviceInfo_t;
enum enDescriptor
{
legacyVersion, ///< Legacy scan version
extendedVersion, ///< Extendet scan version
denseVersion, ///< Dense scan version
startScan, ///< start scan
forceScan, ///< force to scan in idle mode
deviceInfo, ///< deviceInfo of the Lidar
healthInfo, ///< Error Codes and Status
sampleRate, ///< momentary sampleRate
deviceConf,
ultradense
};
typedef struct _sl_lidar_ans_header_t
{
sl_u8 syncByte1; // must be SL_LIDAR_ANS_SYNC_BYTE1
sl_u8 syncByte2; // must be SL_LIDAR_ANS_SYNC_BYTE2
sl_u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2;
sl_u8 type;
} __attribute__((packed)) sl_lidar_ans_header_t;
enum enRequest
{
rq_stop,
rq_reset,
rq_scan,
rq_scanExpress,
rq_scanForce,
rq_info,
rq_health,
rq_sampleRate,
rq_deviceConf
};
enum enMode
{
stop,
standard,
express
};
extern rp_descriptor_t resp_descriptor[]; ///< List of Response descriptors
extern rq_message_t req_message[]; ///< List of Request Messages
extern rq_Packet_t req_Express[]; ///< Request Message for Express Scan Modes
#endif