text: /*
   *  RPLIDAR SDK
   *
   *  Copyright (c) 2009 - 2014 RoboPeak Team
   *  http://www.robopeak.com
   *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
   *  http://www.slamtec.com
   *
   */
  /*
   * Redistribution and use in source and binary forms, with or without 
   * modification, are permitted provided that the following conditions are met:
   *
   * 1. Redistributions of source code must retain the above copyright notice, 
   *    this list of conditions and the following disclaimer.
   *
   * 2. Redistributions in binary form must reproduce the above copyright notice, 
   *    this list of conditions and the following disclaimer in the documentation 
   *    and/or other materials provided with the distribution.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
   * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
   * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
   * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
   * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
   * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
   * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
   * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
   * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
   * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
   */
  
  #pragma once
  
  #include "rplidar_protocol.h"
  
  // Commands
  //-----------------------------------------
  
  // Commands without payload and response
  #define RPLIDAR_CMD_STOP               0x25
  #define RPLIDAR_CMD_SCAN               0x20
  #define RPLIDAR_CMD_FORCE_SCAN         0x21
  #define RPLIDAR_CMD_RESET              0x40
  
  
  // Commands without payload but have response
  #define RPLIDAR_CMD_GET_DEVICE_INFO    0x50
  #define RPLIDAR_CMD_GET_DEVICE_HEALTH  0x52
  
  #define RPLIDAR_CMD_GET_SAMPLERATE     0x59 //added in fw 1.17
  
  // Commands with payload and have response
  #define RPLIDAR_CMD_EXPRESS_SCAN       0x82 //added in fw 1.17
  
  #define RPLIDAR_CMD_GET_LIDAR_CONF           0x84 //added in fw 1.24
  #define RPLIDAR_CMD_SET_LIDAR_CONF           0x85 //added in fw 1.24
  //add for A2 to set RPLIDAR motor pwm when using accessory board
  #define RPLIDAR_CMD_SET_MOTOR_PWM      0xF0
  #define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF
  
  #if defined(_WIN32)
  #pragma pack(1)
  #endif
  
  
  // Payloads
  // ------------------------------------------
  #define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL      0 
  #define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE    0  // won't been supported but keep to prevent build fail
  //for express working flag(extending express scan protocol)
  #define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST                 0x0001 
  #define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION    0x0002
  
  //for ultra express working flag
  #define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD                 0x0001 
  #define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY    0x0002
  typedef struct _rplidar_payload_express_scan_t {
      _u8   working_mode;
      _u16  working_flags;
      _u16  param;
  } __attribute__((packed)) rplidar_payload_express_scan_t;
  
  typedef struct _rplidar_payload_get_scan_conf_t {
      _u32  type;
      _u8   reserved[32];
  } __attribute__((packed)) rplidar_payload_get_scan_conf_t;
  #define MAX_MOTOR_PWM               1023
  #define DEFAULT_MOTOR_PWM           660
  typedef struct _rplidar_payload_motor_pwm_t {
      _u16 pwm_value;
  } __attribute__((packed)) rplidar_payload_motor_pwm_t;
  
  typedef struct _rplidar_payload_acc_board_flag_t {
      _u32 reserved;
  } __attribute__((packed)) rplidar_payload_acc_board_flag_t;
  
  // Response
  // ------------------------------------------
  #define RPLIDAR_ANS_TYPE_DEVINFO          0x4
  #define RPLIDAR_ANS_TYPE_DEVHEALTH        0x6
  
  #define RPLIDAR_ANS_TYPE_MEASUREMENT                0x81
  // Added in FW ver 1.17
  #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED       0x82
  
  // Added in FW ver 1.17
  #define RPLIDAR_ANS_TYPE_SAMPLE_RATE      0x15
  //added in FW ver 1.23alpha
  #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA  0x84
  //added in FW ver 1.24
  #define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF     0x20
  #define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF     0x21
  
  #define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG   0xFF
  
  #define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK      (0x1)
  typedef struct _rplidar_response_acc_board_flag_t {
      _u32 support_flag;
  } __attribute__((packed)) rplidar_response_acc_board_flag_t;
  
  
  #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
  
  typedef struct _rplidar_response_sample_rate_t {
      _u16  std_sample_duration_us;
      _u16  express_sample_duration_us;
  } __attribute__((packed)) rplidar_response_sample_rate_t;
  
  typedef struct _rplidar_response_measurement_node_t {
      _u8    sync_quality;      // syncbit:1;syncbit_inverse:1;quality:6;
      _u16   angle_q6_checkbit; // check_bit:1;angle_q6:15;
      _u16   distance_q2;
  } __attribute__((packed)) rplidar_response_measurement_node_t;
  
  //[distance_sync flags]
  #define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK           (0x3)
  #define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK        (0xFC)
  
  typedef struct _rplidar_response_cabin_nodes_t {
      _u16   distance_angle_1; // see [distance_sync flags]
      _u16   distance_angle_2; // see [distance_sync flags]
      _u8    offset_angles_q3;  
  } __attribute__((packed)) rplidar_response_cabin_nodes_t;   
  
  
  #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1               0xA
  #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2               0x5
  
  #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT              (0x1<<15)
  
  typedef struct _rplidar_response_capsule_measurement_nodes_t {
      _u8                             s_checksum_1; // see [s_checksum_1]
      _u8                             s_checksum_2; // see [s_checksum_1]
      _u16                            start_angle_sync_q6;
      rplidar_response_cabin_nodes_t  cabins[16];
  } __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t;
  // ext1 : x2 boost mode
  
  #define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS     12
  #define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS   10
  
  typedef struct _rplidar_response_ultra_cabin_nodes_t {
      // 31                                              0
      // | predict2 10bit | predict1 10bit | major 12bit |
      _u32 combined_x3;
  } __attribute__((packed)) rplidar_response_ultra_cabin_nodes_t;  
  
  typedef struct _rplidar_response_ultra_capsule_measurement_nodes_t {
      _u8                             s_checksum_1; // see [s_checksum_1]
      _u8                             s_checksum_2; // see [s_checksum_1]
      _u16                            start_angle_sync_q6;
      rplidar_response_ultra_cabin_nodes_t  ultra_cabins[32];
  } __attribute__((packed)) rplidar_response_ultra_capsule_measurement_nodes_t;
  
  typedef struct rplidar_response_measurement_node_hq_t {
      _u16   angle_z_q14; 
      _u32   dist_mm_q2; 
      _u8    quality;  
      _u8    flag;
  } __attribute__((packed)) rplidar_response_measurement_node_hq_t;
  
  #   define RPLIDAR_CONF_SCAN_COMMAND_STD            0
  #   define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS        1
  #   define RPLIDAR_CONF_SCAN_COMMAND_HQ             2
  #   define RPLIDAR_CONF_SCAN_COMMAND_BOOST          3
  #   define RPLIDAR_CONF_SCAN_COMMAND_STABILITY      4
  #   define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY    5
  #define RPLIDAR_CONF_MIN_ROT_FREQ                   0x00000004
  #define RPLIDAR_CONF_MAX_ROT_FREQ                   0x00000005
  #define RPLIDAR_CONF_MAX_DISTANCE                   0x00000060
          
  #define RPLIDAR_CONF_SCAN_MODE_COUNT                0x00000070
  #define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE        0x00000071
  #define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE         0x00000074
  #define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE             0x00000075
  #define RPLIDAR_CONF_SCAN_MODE_TYPICAL              0x0000007C
  #define RPLIDAR_CONF_SCAN_MODE_NAME                 0x0000007F
  #define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP                 4
  #define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP               5
  
  typedef struct _rplidar_response_get_lidar_conf{
      _u32 type;
      _u8  payload[0];
  }__attribute__((packed)) rplidar_response_get_lidar_conf_t;
  
  typedef struct _rplidar_response_set_lidar_conf{
      _u32 result;
  }__attribute__((packed)) rplidar_response_set_lidar_conf_t;
  
  
  typedef struct _rplidar_response_device_info_t {
      _u8   model;
      _u16  firmware_version;
      _u8   hardware_version;
      _u8   serialnum[16];
  } __attribute__((packed)) rplidar_response_device_info_t;
  
  typedef struct _rplidar_response_device_health_t {
      _u8   status;
      _u16  error_code;
  } __attribute__((packed)) rplidar_response_device_health_t;
  
  // Definition of the variable bit scale encoding mechanism
  #define RPLIDAR_VARBITSCALE_X2_SRC_BIT  9
  #define RPLIDAR_VARBITSCALE_X4_SRC_BIT  11
  #define RPLIDAR_VARBITSCALE_X8_SRC_BIT  12
  #define RPLIDAR_VARBITSCALE_X16_SRC_BIT 14
  
  #define RPLIDAR_VARBITSCALE_X2_DEST_VAL 512
  #define RPLIDAR_VARBITSCALE_X4_DEST_VAL 1280
  #define RPLIDAR_VARBITSCALE_X8_DEST_VAL 1792
  #define RPLIDAR_VARBITSCALE_X16_DEST_VAL 3328
  
  #define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) \
      (  (((0x1<<(_BITS_)) - RPLIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \
         ((RPLIDAR_VARBITSCALE_X16_DEST_VAL - RPLIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \
         ((RPLIDAR_VARBITSCALE_X8_DEST_VAL - RPLIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \
         ((RPLIDAR_VARBITSCALE_X4_DEST_VAL - RPLIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \
         RPLIDAR_VARBITSCALE_X2_DEST_VAL - 1)
  
  
  #if defined(_WIN32)
  #pragma pack()
  #endif
  