ydlidar_cmd.h

//
// The MIT License (MIT)
//
// Copyright (c) 2020 EAIBOT. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
#pragma once

#define LIDAR_CMD_STOP                      0x65
#define LIDAR_CMD_SCAN                      0x60
#define LIDAR_CMD_FORCE_SCAN                0x61
#define LIDAR_CMD_RESET                     0x80
#define LIDAR_CMD_FORCE_STOP                0x00
#define LIDAR_CMD_GET_EAI                   0x55
#define LIDAR_CMD_GET_DEVICE_INFO           0x90
#define LIDAR_CMD_GET_DEVICE_HEALTH         0x92
#define LIDAR_ANS_TYPE_DEVINFO              0x4
#define LIDAR_ANS_TYPE_DEVHEALTH            0x6
#define LIDAR_CMD_SYNC_BYTE                 0xA5
#define LIDAR_CMDFLAG_HAS_PAYLOAD           0x80
#define LIDAR_ANS_SYNC_BYTE1                0xA5
#define LIDAR_ANS_SYNC_BYTE2                0x5A
#define LIDAR_ANS_TYPE_MEASUREMENT          0x81
#define LIDAR_RESP_MEASUREMENT_SYNCBIT        (0x1<<0)
#define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT  2
#define LIDAR_RESP_MEASUREMENT_CHECKBIT       (0x1<<0)
#define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT    1
#define LIDAR_RESP_MEASUREMENT_DISTANCE_SHIFT  2

#define LIDAR_CMD_RUN_POSITIVE             0x06
#define LIDAR_CMD_RUN_INVERSION            0x07
#define LIDAR_CMD_SET_AIMSPEED_ADDMIC      0x09
#define LIDAR_CMD_SET_AIMSPEED_DISMIC      0x0A
#define LIDAR_CMD_SET_AIMSPEED_ADD         0x0B
#define LIDAR_CMD_SET_AIMSPEED_DIS         0x0C
#define LIDAR_CMD_GET_AIMSPEED             0x0D

#define LIDAR_CMD_SET_SAMPLING_RATE        0xD0
#define LIDAR_CMD_GET_SAMPLING_RATE        0xD1
#define LIDAR_STATUS_OK                    0x0
#define LIDAR_STATUS_WARNING               0x1
#define LIDAR_STATUS_ERROR                 0x2

#define LIDAR_CMD_GET_OFFSET_ANGLE          0x93

typedef enum {
  CT_Normal = 0,
  CT_RingStart  = 1,
  CT_Tail,
} CT;
#define Node_Default_Quality (10<<2)
#define Node_Sync 0x01
#define Node_NotSync 0x00
#define PackagePaidBytes 10
#define PH 0x55AA

/// Packet Header MSB
#define HEADER_MSB 0xAA
/// Packet Header LSB
#define HEADER_LSB 0x55

#define FREINDEX 0
#define HEALTHINDEX 3
#define READ_DEFAULT_TIMEOUT 1000
#define INFO_DEFAULT_TIMEOUT 20
#define SCAN_DEFAULT_TIMEOUT 100