/**
  ******************************************************************************
  * @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__ */