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LivoxGen1: Add Get/SetReturn rate proto headers

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Hayodea Hekol
2025-10-24 22:11:31 -04:00
parent dc864bad00
commit 3373393755
2 changed files with 224 additions and 0 deletions
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commonLibs/livoxProto1/protocol.h
+68
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@@ -299,6 +299,74 @@ struct HeartbeatACK
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION:
* Complete set LiDAR return mode command frame for Livox devices.
* This is the complete wire format including header, command fields, data, and footer.
*/
struct SetLiDARReturnMode
{
Header header; // 0-8: Protocol frame header
Command command; // 9-10: Command identification
uint8_t mode; // 11: Return Mode (0x00: Single Return First, 0x01: Single Return Strongest, 0x02: Dual Return, 0x03: Triple Return)
Footer footer; // 12-15: Protocol frame footer
SetLiDARReturnMode();
uint32_t calculateCrc32() const;
void swapContentsToProtocolEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION:
* Complete set LiDAR return mode response frame from Livox devices.
* This is the complete wire format including header, command fields, data, and footer.
*/
struct SetLiDARReturnModeResponse
{
Header header; // 0-8: Protocol frame header
Command command; // 9-10: Command identification
uint8_t ret_code; // 11: Return Code (0x00 = Success, 0x01 = Fail)
Footer footer; // 12-15: Protocol frame footer
void swapContentsToHostEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION:
* Complete get LiDAR return mode command frame for Livox devices.
* This is the complete wire format including header, command fields, data, and footer.
*/
struct GetLiDARReturnMode
{
Header header; // 0-8: Protocol frame header
Command command; // 9-10: Command identification
Footer footer; // 11-14: Protocol frame footer
GetLiDARReturnMode();
uint32_t calculateCrc32() const;
void swapContentsToProtocolEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION:
* Complete get LiDAR return mode response frame from Livox devices.
* This is the complete wire format including header, command fields, data, and footer.
*/
struct GetLiDARReturnModeResponse
{
Header header; // 0-8: Protocol frame header
Command command; // 9-10: Command identification
uint8_t ret_code; // 11: Return Code (0x00 = Success, 0x01 = Fail)
uint8_t mode; // 12: Return Mode (0x00: Single Return First, 0x01: Single Return Strongest, 0x02: Dual Return, 0x03: Triple Return)
Footer footer; // 13-16: Protocol frame footer
void swapContentsToHostEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
} // namespace comms
} // namespace livoxProto1