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| 842bb6 | 1 | /** |
| Q | 2 | ****************************************************************************** |
| 3 | * @file : OrdLidar.h | |
| 4 | * @brief : Header for OrdLidar.c file. | |
| 5 | * This file contains the Lidar defines of the application. | |
| 6 | ****************************************************************************** | |
| 7 | */ | |
| 8 | ||
| 9 | #ifndef __ORDLIDAR_H__ | |
| 10 | #define __ORDLIDAR_H__ | |
| 11 | ||
| 12 | #define ORDLIDAR_VER (0x100) | |
| 13 | #pragma anon_unions | |
| 14 | ||
| 15 | #include <stdint.h> | |
| 16 | #include <stdlib.h> | |
| 17 | ||
| 18 | #define TMPBUFF_SIZE (1024) | |
| 19 | #define MAX_BLOCK_POINT_NUM (100) | |
| 20 | #define MAX_BLOCK_SIZE (MAX_BLOCK_POINT_NUM * 4) | |
| 21 | #define POINT_CIRCLE_MAX_SIZE (4096) | |
| 22 | #define POINT_PKG_MAX_SIZE (200) | |
| 23 | #define POINT_PER_PACK (12) | |
| 24 | ||
| 25 | #define SET_TIME_OUT (10) //unit:s | |
| 26 | #define HEAD_FLAG (0xF5A5) | |
| 27 | #define TAIL_FLAG (0x31F2) | |
| 28 | #define HEAD_LEN (5) | |
| 29 | ||
| 30 | typedef enum | |
| 31 | { | |
| 32 | ORADAR_MS200 = 1, | |
| 33 | ORADAR_MS300 = 2, | |
| 34 | }oradar_lidar_type_id; | |
| 35 | ||
| 36 | typedef enum { | |
| 37 | ORADAR_TYPE_SERIAL = 0x0,/**< serial type.*/ | |
| 38 | ORADAR_TYPC_UDP = 0x1,/**< socket udp type.*/ | |
| 39 | ORADAR_TYPE_TCP = 0x1,/**< socket tcp type.*/ | |
| 40 | } device_type_id; | |
| 41 | ||
| 42 | typedef enum | |
| 43 | { | |
| 44 | SET_ROTATION_SPEED = 0xA1, | |
| 45 | SET_RUN_MODE = 0xA2, | |
| 46 | }CMD; | |
| 47 | ||
| 48 | typedef enum | |
| 49 | { | |
| 50 | WRITE_PARAM = 0xC1, | |
| 51 | WRITE_PARAM_RESPONSE = 0xC2, | |
| 52 | READ_PARAM = 0xC3, | |
| 53 | READ_PARAM_RESPONSE = 0xC4, | |
| 54 | }CMD_TYPE; | |
| 55 | ||
| 56 | typedef struct uart_comm_st | |
| 57 | { | |
| 58 | uint16_t head_flag; | |
| 59 | uint8_t cmd; | |
| 60 | uint8_t cmd_type; | |
| 61 | uint8_t payload_len; | |
| 62 | uint8_t data[10]; | |
| 63 | }uart_comm_t; | |
| 64 | ||
| 65 | typedef struct point_data_st | |
| 66 | { | |
| 67 | unsigned short distance; | |
| 68 | unsigned short intensity; | |
| 69 | float angle; | |
| 70 | } point_data_t; | |
| 71 | ||
| 72 | typedef enum frame_head_flag_et | |
| 73 | { | |
| 74 | HEAD_FLAG_NONE, | |
| 75 | HEAD_FLAG_OK, | |
| 76 | } frame_head_flag_t; | |
| 77 | ||
| 78 | typedef enum protocol_version_et | |
| 79 | { | |
| 80 | VERSION_NONE = 0, | |
| 81 | VERSION_MS200, | |
| 82 | } protocol_version_t; | |
| 83 | ||
| 84 | typedef struct __attribute__((packed)) | |
| 85 | { | |
| 86 | uint16_t distance; | |
| 87 | uint8_t confidence; | |
| 88 | } OradarLidarPoint; | |
| 89 | ||
| 90 | typedef struct __attribute__((packed)) | |
| 91 | { | |
| 92 | uint8_t header; | |
| 93 | uint8_t ver_len; | |
| 94 | uint16_t speed; | |
| 95 | uint16_t start_angle; | |
| 96 | OradarLidarPoint point[POINT_PER_PACK]; | |
| 97 | uint16_t end_angle; | |
| 98 | uint16_t timestamp; | |
| 99 | uint8_t crc8; | |
| 100 | } OradarLidarFrame; | |
| 101 | ||
| 102 | ||
| 103 | ||
| 104 | typedef struct LidarDotData | |
| 105 | { | |
| 106 | unsigned char intensity; | |
| 107 | unsigned char s1; | |
| 108 | /* | |
| 109 | struct { | |
| 110 | unsigned char flag:2; | |
| 111 | unsigned char s1:6; | |
| 112 | }; | |
| 113 | */ | |
| 114 | unsigned char s2; | |
| 115 | }stLidarDotData; | |
| 116 | ||
| 117 | typedef struct tagLidarDotsPkt | |
| 118 | { | |
| 119 | unsigned short StSign; | |
| 120 | unsigned char CT; | |
| 121 | unsigned char LSN; | |
| 122 | unsigned short FSA; | |
| 123 | unsigned short LSA; | |
| 124 | unsigned short CS; | |
| 125 | stLidarDotData LidarDotDatas[40]; | |
| 126 | ||
| 127 | }stLidarDotsPkt, *pLidarDotsPkt; | |
| 128 | ||
| 129 | ||
| 130 | typedef struct tagLidarVector | |
| 131 | { | |
| 132 | int intensit; | |
| 133 | int angle; | |
| 134 | int value; | |
| 135 | }stLidarVector; | |
| 136 | ||
| 137 | typedef struct tagLidarDot | |
| 138 | { | |
| 139 | int x; | |
| 140 | int y; | |
| 141 | unsigned int distance; | |
| 142 | }stLidarDot; | |
| 143 | ||
| 144 | ||
| 145 | extern int nPosX; | |
| 146 | extern int nPosY; | |
| 147 | extern int nPosZ; | |
| 148 | extern int nPosZ1, nPosZ2; | |
| 149 | ||
| 150 | extern int pCount1; | |
| 151 | extern int pCount2; | |
| 152 | ||
| 153 | extern int eCount1; | |
| 154 | extern int eCount2; | |
| 155 | ||
| 156 | extern int dCount1; | |
| 157 | extern int dCount2; | |
| 158 | ||
| 159 | extern int vCount1; | |
| 160 | extern int vCount2; | |
| 161 | ||
| 162 | extern int results[32]; | |
| 163 | ||
| 164 | ||
| 165 | int OrdLidarStart(int nIdx); /* Start LiDar Running , nIde = 0 , 1 , -1 == ALL */ | |
| 166 | int OrdLidarStop(int nIdx); /* stop Lidar Running , nIde = 0 , 1 , -1 == ALL */ | |
| 167 | ||
| 168 | ||
| 169 | int OrdLidarParsePkt(int nLidarIdx, OradarLidarFrame * pLindarPkt, int len1); | |
| 170 | ||
| 171 | int ProcessPos(int nLidarIdx, stLidarDot * pLindarDots, int nCount); | |
| 172 | ||
| 173 | #endif /* __ORDLIDAR_H__ */ | |
| 174 | ||
