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LivoxGen1: Add Get/SetReturn rate proto headers

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This commit is contained in:
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.cpp
+156
View File
@@ -838,5 +838,161 @@ bool HeartbeatACK::validateCrc32() const
return isValid; return isValid;
} }
// SetLiDARReturnMode methods
SetLiDARReturnMode::SetLiDARReturnMode()
{
// Initialize header
header.sof = 0xAA;
header.version = 0x01;
header.length = sizeof(SetLiDARReturnMode);
header.crc_16 = 0; // Will be calculated later
// Initialize command
command.cmd_set = 0x01; // LiDAR Command
command.cmd_id = 0x06; // Set LiDAR Return Mode
// Initialize mode (default to Single Return First)
mode = 0x00;
// Initialize footer
footer.crc_32 = 0; // Will be calculated later
}
uint32_t SetLiDARReturnMode::calculateCrc32() const
{
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
size_t messageSize = sizeof(SetLiDARReturnMode) - sizeof(footer.crc_32);
return comms::calculateCrc32(messageData, messageSize);
}
void SetLiDARReturnMode::swapContentsToProtocolEndianness()
{
if (endian::isLittleEndian()) { return; }
header.swapToProtocolEndianness();
command.swapToProtocolEndianness();
// mode is uint8_t, no endianness conversion needed
footer.swapToProtocolEndianness();
}
bool SetLiDARReturnMode::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x01) && (command.cmd_id == 0x06) &&
(mode <= 0x03) && // Valid modes: 0x00-0x03
footer.sanityCheck();
}
bool SetLiDARReturnMode::validateCrc32() const
{
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
size_t messageSize = sizeof(SetLiDARReturnMode) - sizeof(footer.crc_32);
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
return (calculatedCrc == footer.crc_32);
}
// SetLiDARReturnModeResponse methods
void SetLiDARReturnModeResponse::swapContentsToHostEndianness()
{
if (endian::isLittleEndian()) { return; }
header.swapToHostEndianness();
command.swapToHostEndianness();
// ret_code is uint8_t, no endianness conversion needed
// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
}
bool SetLiDARReturnModeResponse::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x01) && (command.cmd_id == 0x06) &&
(ret_code <= 0x01) && // Valid return codes: 0x00-0x01
footer.sanityCheck();
}
bool SetLiDARReturnModeResponse::validateCrc32() const
{
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
size_t messageSize = sizeof(SetLiDARReturnModeResponse) - sizeof(footer.crc_32);
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
return (calculatedCrc == footer.crc_32);
}
// GetLiDARReturnMode methods
GetLiDARReturnMode::GetLiDARReturnMode()
{
// Initialize header
header.sof = 0xAA;
header.version = 0x01;
header.length = sizeof(GetLiDARReturnMode);
header.crc_16 = 0; // Will be calculated later
// Initialize command
command.cmd_set = 0x01; // LiDAR Command
command.cmd_id = 0x07; // Get LiDAR Return Mode
// Initialize footer
footer.crc_32 = 0; // Will be calculated later
}
uint32_t GetLiDARReturnMode::calculateCrc32() const
{
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
size_t messageSize = sizeof(GetLiDARReturnMode) - sizeof(footer.crc_32);
return comms::calculateCrc32(messageData, messageSize);
}
void GetLiDARReturnMode::swapContentsToProtocolEndianness()
{
if (endian::isLittleEndian()) { return; }
header.swapToProtocolEndianness();
command.swapToProtocolEndianness();
footer.swapToProtocolEndianness();
}
bool GetLiDARReturnMode::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x01) && (command.cmd_id == 0x07) &&
footer.sanityCheck();
}
bool GetLiDARReturnMode::validateCrc32() const
{
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
size_t messageSize = sizeof(GetLiDARReturnMode) - sizeof(footer.crc_32);
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
return (calculatedCrc == footer.crc_32);
}
// GetLiDARReturnModeResponse methods
void GetLiDARReturnModeResponse::swapContentsToHostEndianness()
{
if (endian::isLittleEndian()) { return; }
header.swapToHostEndianness();
command.swapToHostEndianness();
// ret_code and mode are uint8_t, no endianness conversion needed
// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
}
bool GetLiDARReturnModeResponse::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x01) && (command.cmd_id == 0x07) &&
(ret_code <= 0x01) && // Valid return codes: 0x00-0x01
(mode <= 0x03) && // Valid modes: 0x00-0x03
footer.sanityCheck();
}
bool GetLiDARReturnModeResponse::validateCrc32() const
{
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
size_t messageSize = sizeof(GetLiDARReturnModeResponse) - sizeof(footer.crc_32);
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
return (calculatedCrc == footer.crc_32);
}
} // namespace comms } // namespace comms
} // namespace livoxProto1 } // namespace livoxProto1
commonLibs/livoxProto1/protocol.h
+68
View File
@@ -299,6 +299,74 @@ struct HeartbeatACK
bool validateCrc32() const; bool validateCrc32() const;
} __attribute__((packed)); } __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 comms
} // namespace livoxProto1 } // namespace livoxProto1