/**
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******************************************************************************
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* @file : OrdLidar.h
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* @brief : Header for OrdLidar.c file.
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* This file contains the Lidar defines of the application.
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******************************************************************************
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*/
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#ifndef __ORDLIDAR_H__
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#define __ORDLIDAR_H__
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#define ORDLIDAR_VER (0x100)
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#pragma anon_unions
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#include <stdint.h>
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#include <stdlib.h>
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#define TMPBUFF_SIZE (1024)
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#define MAX_BLOCK_POINT_NUM (100)
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#define MAX_BLOCK_SIZE (MAX_BLOCK_POINT_NUM * 4)
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#define POINT_CIRCLE_MAX_SIZE (4096)
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#define POINT_PKG_MAX_SIZE (200)
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#define POINT_PER_PACK (12)
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#define SET_TIME_OUT (10) //unit:s
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#define HEAD_FLAG (0xF5A5)
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#define TAIL_FLAG (0x31F2)
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#define HEAD_LEN (5)
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typedef enum
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{
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ORADAR_MS200 = 1,
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ORADAR_MS300 = 2,
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}oradar_lidar_type_id;
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typedef enum {
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ORADAR_TYPE_SERIAL = 0x0,/**< serial type.*/
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ORADAR_TYPC_UDP = 0x1,/**< socket udp type.*/
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ORADAR_TYPE_TCP = 0x1,/**< socket tcp type.*/
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} device_type_id;
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typedef enum
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{
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SET_ROTATION_SPEED = 0xA1,
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SET_RUN_MODE = 0xA2,
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}CMD;
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typedef enum
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{
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WRITE_PARAM = 0xC1,
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WRITE_PARAM_RESPONSE = 0xC2,
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READ_PARAM = 0xC3,
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READ_PARAM_RESPONSE = 0xC4,
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}CMD_TYPE;
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typedef struct uart_comm_st
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{
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uint16_t head_flag;
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uint8_t cmd;
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uint8_t cmd_type;
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uint8_t payload_len;
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uint8_t data[10];
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}uart_comm_t;
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typedef struct point_data_st
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{
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unsigned short distance;
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unsigned short intensity;
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float angle;
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} point_data_t;
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typedef enum frame_head_flag_et
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{
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HEAD_FLAG_NONE,
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HEAD_FLAG_OK,
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} frame_head_flag_t;
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typedef enum protocol_version_et
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{
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VERSION_NONE = 0,
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VERSION_MS200,
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} protocol_version_t;
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typedef struct __attribute__((packed))
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{
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uint16_t distance;
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uint8_t confidence;
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} OradarLidarPoint;
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typedef struct __attribute__((packed))
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{
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uint8_t header;
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uint8_t ver_len;
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uint16_t speed;
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uint16_t start_angle;
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OradarLidarPoint point[POINT_PER_PACK];
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uint16_t end_angle;
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uint16_t timestamp;
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uint8_t crc8;
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} OradarLidarFrame;
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typedef struct LidarDotData
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{
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unsigned char intensity;
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unsigned char s1;
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/*
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struct {
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unsigned char flag:2;
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unsigned char s1:6;
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};
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*/
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unsigned char s2;
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}stLidarDotData;
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typedef struct tagLidarDotsPkt
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{
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unsigned short StSign;
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unsigned char CT;
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unsigned char LSN;
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unsigned short FSA;
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unsigned short LSA;
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unsigned short CS;
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stLidarDotData LidarDotDatas[40];
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}stLidarDotsPkt, *pLidarDotsPkt;
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typedef struct tagLidarVector
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{
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int intensit;
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int angle;
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int value;
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}stLidarVector;
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typedef struct tagLidarDot
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{
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int x;
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int y;
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unsigned int distance;
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}stLidarDot;
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extern int nPosX;
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extern int nPosY;
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extern int nPosZ;
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extern int nPosZ1, nPosZ2;
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extern int pCount1;
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extern int pCount2;
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extern int eCount1;
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extern int eCount2;
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extern int dCount1;
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extern int dCount2;
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extern int vCount1;
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extern int vCount2;
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extern int results[32];
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int OrdLidarStart(int nIdx); /* Start LiDar Running , nIde = 0 , 1 , -1 == ALL */
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int OrdLidarStop(int nIdx); /* stop Lidar Running , nIde = 0 , 1 , -1 == ALL */
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int OrdLidarParsePkt(int nLidarIdx, OradarLidarFrame * pLindarPkt, int len1);
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int ProcessPos(int nLidarIdx, stLidarDot * pLindarDots, int nCount);
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#endif /* __ORDLIDAR_H__ */
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