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feat:support Mid70 and Avia

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Livox-SDK
2020-10-26 20:25:42 +08:00
parent 9f316ced0a
commit eb19d42ce4
23 changed files with 441 additions and 113 deletions
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sdk_core/include/livox_sdk.h
+85 -1
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@@ -163,6 +163,11 @@ typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data
* cloud data callback before beginning sampling.
* @param handle device handle.
* @param cb callback to receive point cloud data.
* @note 1: Don't do any blocking operations in callback function, it will affects further data's receiving;
* 2: For different device handle, callback to receive point cloud data will run on its own thread. If you bind
* different handle to same callback function, please make sure that operations in callback function are thread-safe;
* 3: callback function's data pointer will be invalid after callback fuction returns. It's recommended to
* copy all data_num of point cloud every time callback is triggered.
* @param client_data user data associated with the command.
*/
void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data);
@@ -332,6 +337,7 @@ typedef void (*SetDeviceParametersCallback)(livox_status status,
/**
* LiDAR Enable HighSensitivity.
* @note \ref LidarEnableHighSensitivity only support for Tele/Avia.
* @param handle device handle.
* @param cb callback for the command.
* @param client_data user data associated with the command.
@@ -341,6 +347,7 @@ livox_status LidarEnableHighSensitivity(uint8_t handle, SetDeviceParametersCallb
/**
* LiDAR Disable HighSensitivity.
* @note \ref LidarDisableHighSensitivity only support for Tele/Avia.
* @param handle device handle.
* @param cb callback for the command.
* @param client_data user data associated with the command.
@@ -363,6 +370,7 @@ typedef void (*GetDeviceParametersCallback)(livox_status status,
/**
* LiDAR Get HighSensitivity State.
* @note \ref LidarGetHighSensitivityState only support for Tele/Avia.
* @param handle device handle.
* @param cb callback for the command.
* @param client_data user data associated with the command.
@@ -370,6 +378,82 @@ typedef void (*GetDeviceParametersCallback)(livox_status status,
*/
livox_status LidarGetHighSensitivityState(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
/**
* LiDAR Set Scan Pattern.
* @note \ref LidarSetScanPattern only support for Avia.
* @param handle device handle.
* @param pattern scan pattern of LiDAR, see \ref LidarScanPattern for detail.
* @param cb callback for the command.
* @param client_data user data associated with the command.
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
*/
livox_status LidarSetScanPattern(uint8_t handle, LidarScanPattern pattern, SetDeviceParametersCallback cb, void *client_data);
/**
* LiDAR Get Scan Pattern.
* @note \ref LidarGetScanPattern only support for Avia.
* @param handle device handle.
* @param cb callback for the command.
* @param client_data user data associated with the command.
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
*/
livox_status LidarGetScanPattern(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
/**
* LiDAR Set Slot Number.
* @note \ref LidarSetSlotNum only support for Mid70/Avia.
* @param handle device handle.
* @param slot slot number of LiDAR, range from 1 to 9.
* @param cb callback for the command.
* @param client_data user data associated with the command.
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
*/
livox_status LidarSetSlotNum(uint8_t handle, uint8_t slot, SetDeviceParametersCallback cb, void *client_data);
/**
* LiDAR Get Slot Number.
* @note \ref LidarGetSlotNum only support for Mid70/Avia.
* @param handle device handle.
* @param cb callback for the command.
* @param client_data user data associated with the command.
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
*/
livox_status LidarGetSlotNum(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
/**
* @c DeviceResetParameters' response callback function.
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
* error code.
* @param handle device handle.
* @param response response from the device.
* @param client_data user data associated with the command.
*/
typedef void (*DeviceResetParametersCallback)(livox_status status,
uint8_t handle,
DeviceParameterResponse *response,
void *client_data);
/**
* Reset LiDAR/Hub's All Parameters, see \ref DeviceParamKeyName for all parameters.
* @param handle device handle.
* @param cb callback for the command.
* @param client_data user data associated with the command.
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
*/
livox_status DeviceResetAllParameters(uint8_t handle, DeviceResetParametersCallback cb, void *client_data);
/**
* Reset LiDAR/Hub's Parameters, see \ref DeviceParamKeyName for all parameters.
* @param handle device handle.
* @param keys keys to reset, see \ref DeviceParamKeyName for all parameters.
* @param num num of keys to reset.
* @param cb callback for the command.
* @param client_data user data associated with the command.
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
*/
livox_status DeviceResetParameters(uint8_t handle, DeviceParamKeyName * keys, uint8_t num, DeviceResetParametersCallback cb, void *client_data);
/**
* @c HubQueryLidarInformation response callback function.
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
@@ -882,7 +966,7 @@ livox_status LidarGetImuPushFrequency(uint8_t handle, LidarGetImuPushFrequencyCa
* Set GPRMC formate synchronization time.
* @note \ref LidarSetRmcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.
* @param handle device handle.
* @param rmc GPRMC\GNRMC format data.
* @param rmc GPRMC/GNRMC format data.
* @param rmc_length lenth of gprmc.
* @param cb callback for the command.
* @param client_data user data associated with the command.