| 提交 | 用户 | age | ||
| 842bb6 | 1 | /** |
| Q | 2 | ****************************************************************************** |
| 3 | * @file : YDLidar.h | |
| 4 | * @brief : Header for YDLidar.c file. | |
| 5 | * This file contains the Lidar defines of the application. | |
| 6 | ****************************************************************************** | |
| 7 | */ | |
| 8 | ||
| 9 | #ifndef __YDLIDAR_H__ | |
| 10 | #define __YDLIDAR_H__ | |
| 11 | ||
| 12 | #define YDLIDAR_VER (0x100) | |
| 13 | #pragma anon_unions | |
| 14 | ||
| 15 | typedef struct LidarDotData | |
| 16 | { | |
| 17 | unsigned char intensity; | |
| 18 | unsigned char s1; | |
| 19 | /* | |
| 20 | struct { | |
| 21 | unsigned char flag:2; | |
| 22 | unsigned char s1:6; | |
| 23 | }; | |
| 24 | */ | |
| 25 | unsigned char s2; | |
| 26 | }stLidarDotData; | |
| 27 | ||
| 28 | typedef struct tagLidarDotsPkt | |
| 29 | { | |
| 30 | unsigned short StSign; | |
| 31 | unsigned char CT; | |
| 32 | unsigned char LSN; | |
| 33 | unsigned short FSA; | |
| 34 | unsigned short LSA; | |
| 35 | unsigned short CS; | |
| 36 | stLidarDotData LidarDotDatas[40]; | |
| 37 | ||
| 38 | }stLidarDotsPkt, *pLidarDotsPkt; | |
| 39 | ||
| 40 | ||
| 41 | typedef struct tagLidarVector | |
| 42 | { | |
| 43 | int intensit; | |
| 44 | int angle; | |
| 45 | int value; | |
| 46 | }stLidarVector; | |
| 47 | ||
| 48 | typedef struct tagLidarDot | |
| 49 | { | |
| 50 | int x; | |
| 51 | int y; | |
| 52 | int distance; | |
| 53 | }stLidarDot; | |
| 54 | ||
| 55 | ||
| 56 | extern int nPosX; | |
| 57 | extern int nPosY; | |
| 58 | extern int nPosZ; | |
| 59 | extern int nPosZ1, nPosZ2; | |
| 60 | ||
| 61 | extern int pCount1; | |
| 62 | extern int pCount2; | |
| 63 | ||
| 64 | extern int dCount1; | |
| 65 | extern int dCount2; | |
| 66 | ||
| 67 | extern int vCount1; | |
| 68 | extern int vCount2; | |
| 69 | ||
| 70 | ||
| 71 | int YdLidarStart(int nIdx); /* Start LiDar Running , nIde = 0 , 1 , -1 == ALL */ | |
| 72 | int YdLidarStop(int nIdx); /* stop Lidar Running , nIde = 0 , 1 , -1 == ALL */ | |
| 73 | ||
| 74 | ||
| 75 | int YdLidarParsePkt(int nLidarIdx, stLidarDotsPkt * pLindarPkt, int len1); | |
| 76 | ||
| 77 | ||
| 78 | #endif /* __YDLIDAR_H__ */ | |
| 79 | ||
