YDLIDAR X2 SDK  V1.4.1
ydlidar_cmd.h
1 
2 #pragma once
3 
4 #define LIDAR_CMD_STOP 0x65
5 #define LIDAR_CMD_SCAN 0x60
6 #define LIDAR_CMD_FORCE_SCAN 0x61
7 #define LIDAR_CMD_RESET 0x80
8 #define LIDAR_CMD_FORCE_STOP 0x00
9 #define LIDAR_CMD_GET_EAI 0x55
10 #define LIDAR_CMD_GET_DEVICE_INFO 0x90
11 #define LIDAR_CMD_GET_DEVICE_HEALTH 0x92
12 #define LIDAR_ANS_TYPE_DEVINFO 0x4
13 #define LIDAR_ANS_TYPE_DEVHEALTH 0x6
14 #define LIDAR_CMD_SYNC_BYTE 0xA5
15 #define LIDAR_CMDFLAG_HAS_PAYLOAD 0x80
16 #define LIDAR_ANS_SYNC_BYTE1 0xA5
17 #define LIDAR_ANS_SYNC_BYTE2 0x5A
18 #define LIDAR_ANS_TYPE_MEASUREMENT 0x81
19 #define LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
20 #define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
21 #define LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
22 #define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
23 #define LIDAR_RESP_MEASUREMENT_DISTANCE_SHIFT 2
24 
25 #define LIDAR_CMD_RUN_POSITIVE 0x06
26 #define LIDAR_CMD_RUN_INVERSION 0x07
27 #define LIDAR_CMD_SET_AIMSPEED_ADDMIC 0x09
28 #define LIDAR_CMD_SET_AIMSPEED_DISMIC 0x0A
29 #define LIDAR_CMD_SET_AIMSPEED_ADD 0x0B
30 #define LIDAR_CMD_SET_AIMSPEED_DIS 0x0C
31 #define LIDAR_CMD_GET_AIMSPEED 0x0D
32 
33 #define LIDAR_CMD_SET_SAMPLING_RATE 0xD0
34 #define LIDAR_CMD_GET_SAMPLING_RATE 0xD1
35 #define LIDAR_STATUS_OK 0x0
36 #define LIDAR_STATUS_WARNING 0x1
37 #define LIDAR_STATUS_ERROR 0x2
38 
39 #define LIDAR_CMD_ENABLE_LOW_POWER 0x01
40 #define LIDAR_CMD_DISABLE_LOW_POWER 0x02
41 #define LIDAR_CMD_STATE_MODEL_MOTOR 0x05
42 #define LIDAR_CMD_ENABLE_CONST_FREQ 0x0E
43 #define LIDAR_CMD_DISABLE_CONST_FREQ 0x0F
44 
45 #define LIDAR_CMD_SAVE_SET_EXPOSURE 0x94
46 #define LIDAR_CMD_SET_LOW_EXPOSURE 0x95
47 #define LIDAR_CMD_ADD_EXPOSURE 0x96
48 #define LIDAR_CMD_DIS_EXPOSURE 0x97
49 
50 #define LIDAR_CMD_SET_HEART_BEAT 0xD9
51 #define LIDAR_CMD_SET_SETPOINTSFORONERINGFLAG 0xae
52 
53 #define PackageSampleMaxLngth 0x100
54 typedef enum {
55  CT_Normal = 0,
56  CT_RingStart = 1,
57  CT_Tail,
58 }CT;
59 #define Node_Default_Quality (10<<2)
60 #define Node_Sync 1
61 #define Node_NotSync 2
62 #define PackagePaidBytes 10
63 #define PH 0x55AA