88 lines
2.2 KiB
C++
88 lines
2.2 KiB
C++
|
#ifndef LIVOXPROTO1_PROTOCOL_H
|
||
|
|
#define LIVOXPROTO1_PROTOCOL_H
|
||
|
|
|
||
|
|
#include <vector>
|
||
|
|
#include <string>
|
||
|
|
#include <memory>
|
||
|
|
#include <sstream>
|
||
|
|
#include <atomic>
|
||
|
|
#include <user/senseApiDesc.h>
|
||
|
|
|
||
|
|
namespace livoxProto1 {
|
||
|
|
namespace comms {
|
||
|
|
|
||
|
|
// Endianness detection
|
||
|
|
namespace endian {
|
||
|
|
inline bool isLittleEndian() {
|
||
|
|
union {
|
||
|
|
uint32_t i;
|
||
|
|
char c[4];
|
||
|
|
} test = {0x01020304};
|
||
|
|
return test.c[0] == 4;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/** EXPLANATION:
|
||
|
|
* Device types as defined in the Livox protocol specification
|
||
|
|
*/
|
||
|
|
enum class DeviceType : uint8_t {
|
||
|
|
Hub = 0,
|
||
|
|
Mid40 = 1,
|
||
|
|
Tele15 = 2,
|
||
|
|
Horizon = 3,
|
||
|
|
Mid70 = 6,
|
||
|
|
Avia = 7
|
||
|
|
};
|
||
|
|
|
||
|
|
/** EXPLANATION:
|
||
|
|
* Protocol frame header structure.
|
||
|
|
* All multi-byte fields are in little-endian format as per protocol spec.
|
||
|
|
*/
|
||
|
|
struct Header
|
||
|
|
{
|
||
|
|
uint8_t sof; // 0: Start of Frame (0xAA)
|
||
|
|
uint8_t version; // 1: Protocol Version (1)
|
||
|
|
uint16_t length; // 2-3: Frame Length (little-endian)
|
||
|
|
uint8_t cmd_type; // 4: Command Type (0x02 = MSG for broadcast)
|
||
|
|
uint16_t seq_num; // 5-6: Sequence Number (little-endian)
|
||
|
|
uint16_t crc_16; // 7-8: Header Checksum (little-endian)
|
||
|
|
|
||
|
|
void swapToHostEndianness();
|
||
|
|
bool sanityCheck() const;
|
||
|
|
} __attribute__((packed));
|
||
|
|
|
||
|
|
/** EXPLANATION:
|
||
|
|
* Protocol frame footer structure.
|
||
|
|
* All multi-byte fields are in little-endian format as per protocol spec.
|
||
|
|
*/
|
||
|
|
struct Footer
|
||
|
|
{
|
||
|
|
uint32_t crc_32; // 0-3: Whole Frame Checksum (little-endian)
|
||
|
|
|
||
|
|
void swapToHostEndianness();
|
||
|
|
bool sanityCheck() const;
|
||
|
|
} __attribute__((packed));
|
||
|
|
|
||
|
|
/** EXPLANATION:
|
||
|
|
* Complete wire format for Livox broadcast messages.
|
||
|
|
* All multi-byte fields are in little-endian format as per protocol spec.
|
||
|
|
*/
|
||
|
|
struct BroadcastMessage
|
||
|
|
{
|
||
|
|
Header header; // 0-8: Protocol frame header
|
||
|
|
uint8_t cmd_set; // 9: Command Set (0x00 = General)
|
||
|
|
uint8_t cmd_id; // 10: Command ID (0x00 = Broadcast)
|
||
|
|
uint8_t broadcast_code[16]; // 11-26: Device Broadcast Code (null-terminated string)
|
||
|
|
uint8_t dev_type; // 27: Device Type
|
||
|
|
uint16_t reserved; // 28-29: Reserved (little-endian)
|
||
|
|
Footer footer; // 30-33: Protocol frame footer
|
||
|
|
|
||
|
|
void swapToHostEndianness();
|
||
|
|
bool sanityCheck() const;
|
||
|
|
} __attribute__((packed));
|
||
|
|
|
||
|
|
} // namespace comms
|
||
|
|
} // namespace livoxProto1
|
||
|
|
|
||
|
|
#endif // LIVOXPROTO1_PROTOCOL_H
|