/**
|
******************************************************************************
|
* @file : YDLidar.h
|
* @brief : Header for YDLidar.c file.
|
* This file contains the Lidar defines of the application.
|
******************************************************************************
|
*/
|
|
#ifndef __YDLIDAR_H__
|
#define __YDLIDAR_H__
|
|
#define YDLIDAR_VER (0x100)
|
#pragma anon_unions
|
|
typedef struct LidarDotData
|
{
|
unsigned char intensity;
|
unsigned char s1;
|
/*
|
struct {
|
unsigned char flag:2;
|
unsigned char s1:6;
|
};
|
*/
|
unsigned char s2;
|
}stLidarDotData;
|
|
typedef struct tagLidarDotsPkt
|
{
|
unsigned short StSign;
|
unsigned char CT;
|
unsigned char LSN;
|
unsigned short FSA;
|
unsigned short LSA;
|
unsigned short CS;
|
stLidarDotData LidarDotDatas[40];
|
|
}stLidarDotsPkt, *pLidarDotsPkt;
|
|
|
typedef struct tagLidarVector
|
{
|
int intensit;
|
int angle;
|
int value;
|
}stLidarVector;
|
|
typedef struct tagLidarDot
|
{
|
int x;
|
int y;
|
int distance;
|
}stLidarDot;
|
|
|
extern int nPosX;
|
extern int nPosY;
|
extern int nPosZ;
|
extern int nPosZ1, nPosZ2;
|
|
extern int pCount1;
|
extern int pCount2;
|
|
extern int dCount1;
|
extern int dCount2;
|
|
extern int vCount1;
|
extern int vCount2;
|
|
|
int YdLidarStart(int nIdx); /* Start LiDar Running , nIde = 0 , 1 , -1 == ALL */
|
int YdLidarStop(int nIdx); /* stop Lidar Running , nIde = 0 , 1 , -1 == ALL */
|
|
|
int YdLidarParsePkt(int nLidarIdx, stLidarDotsPkt * pLindarPkt, int len1);
|
|
|
#endif /* __YDLIDAR_H__ */
|
