feate(*): add doc

.gitignore

@@ -0,0 +1,33 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# IDE
+.vscode/*
+CMakeLists.txt.*

README.md

@@ -1,58 +1,55 @@
 YDLIDAR S2-Pro SDK PACKAGE V1.0.0
 =====================================================================
 
-SDK [test](https://github.com/ydlidar/S2-Pro) application for YDLIDAR
+# Table of Contents
 
-Visit EAI Website for more details about [YDLIDAR](http://www.ydlidar.com/) .
+1. [Introduction](#introduction)
+    - [Prerequisites](#prerequisites)
 
-How to build YDLIDAR SDK samples
-=====================================================================
-
-    $ git clone https://github.com/ydlidar/S2-Pro
-
-    $ mkdir build
-
-    $ cd build
-
-    $ cmake ../S2-Pro
-
-    $ make			###linux
-
-    $ vs open Project.sln	###windows
-
-How to run YDLIDAR SDK samples
-=====================================================================
-    $ cd samples
+2. [Installation](#installation)
+3. [Documents](#documents)
+4. [Support](#support)
+5. [Contact EAI](#contact-eai)
+
+# Introduction
+
+YDLidar S2-Pro SDK is the software development kit designed for YDLIDAR S2-Pro products. It is developed based on C++ following YDLidar S2-Pro SDK Communication Protocol, and provides easy-to-use C++,style API. With YDLidar S2-Pro SDK, users can quickly connect to YDLidar S2-Pro products and receive Laser scan data.
+
+YDLidar S2-Pro SDK consists of YDLidar S2-Pro SDK communication protocol, YDLidar S2-Pro SDK core, YDLidar S2-Pro SDK API, Linux/windows samples.
+
+### Prerequisites
+* Linux
+* Windows 7/10, Visual Studio 2015/2017
+* C++11 compiler
+
+
+## Installation
+
+* [Fork and then Clone S2-Pro's GitHub code](https://github.com/YDLIDAR/S2-Pro) 
+
+* [Build and Install](doc/howto/how_to_build_and_install.md) - This step is required
+
+## Documents
+* [LiDAR Dataset](doc/Dataset.md): All you need to know about LiDAR Models.
+
+* [SDK FlowChart](doc/Diagram.md): Development flowchart.
+
+* [YDLIDAR SDK API for Developers](doc/S2_Pro_SDK_API_for_Developers.md): All you need to know about S2-Pro API
 
-linux:
 
-    $ ./ydlidar_test
-    $Please enter the lidar serial port :/dev/ttyUSB0
-    $Please enter the lidar serial baud rate:115200
+* [HowTo](doc/howto/README.md): Brief technical solutions to common problems that developers face during the installation and use of the S2-Pro 
 
-windows:
+* [FAQs](doc/FAQs/README.md) 
 
-    $ ydlidar_test.exe
-    $Please enter the lidar serial port:COM3
-    $Please enter the lidar serial baud rate:115200
 
+## Support
 
-You should see YDLIDAR's scan result in the console:
+You can get support from YDLidar with the following methods:
+* Send email to [email protected] with a clear description of your problem and your setup
+* Github Issues
 
-    [YDLIDAR INFO] Now YDLIDAR SDK VERSION: 1.4.3
-    [YDLIDAR INFO] Connection established in /dev/ttyUSB0[115200]:
-    [YDLIDAR]:SDK Version: 1.4.3
-    [YDLIDAR][0.001000s]:Lidar running correctly ! The health status: good
-    [YDLIDAR][0.003000s] Device Info:
-    Firmware version: 1.3
-    Hardware version: 3
-    Model: S2Pro[4]
-    Serial: 2020080400011111
-    [YDLIDAR INFO][0.003000s] Current Scan Frequency: 6.000000Hz
-    [YDLIDAR INFO] Current Sampling Rate : 3K
-    [YDLIDAR INFO][0.010000s] single channel:  0
-    LiDAR init success!
-    [YDLIDAR INFO][1.043000s] Now YDLIDAR is scanning ......
-    Scan received: 377 ranges in 7.978732 HZ
+## Contact EAI
+![Development Path](doc/images/EAI.png)
 
+If you have any extra questions, please feel free to [contact us](http://www.ydlidar.cn/cn/contact)
 

doc/Dataset.md

@@ -0,0 +1,4 @@
+# YDLIDAR DATASET
+|LIDAR      | Model  |  Baudrate |  SampleRate(K) | Range(m)  		   |  Frequency(HZ) | Intenstiy(bit) | SingleChannel | voltage(V)|
+| :-------- |:--:|:--:|:--:|:--:|:--:|:--:|:--:|:--:|
+| S2-Pro        | 4	   |  115200   |   4            |  0.10~8.0        | 5~8      | false          | false    	  | 4.8~5.2   |

doc/Diagram.md

@@ -0,0 +1,51 @@
+# FlowChart
+
+```flow
+st=>start: Start
+op=>operation: Set Paramamters and Initialize
+op1=>operation: TrunOn
+tr=>operation: Try Again
+op2=>operation: doProcessSimple
+op3=>operation: TrunOff
+op4=>operation: disconnecting
+cond=>condition: success Yes or No?
+cond1=>condition: success Yes or No?
+cond2=>condition: success Yes or No?
+cond3=>condition: LOOP Yes or No?
+cond4=>condition: TryAgain Yes or No?
+e=>end: End
+en=>end: End
+
+st(left)->op->cond
+cond(yes)->op1->cond1
+cond(no)->op3->op4->e
+cond1(yes)->op2->cond3
+cond3(yes)->op2
+cond3(no, left)->op3->op4->e
+cond1(no,right)->tr(bottom)->cond4
+cond4(yes)->op3
+cond4(no)->op3(right)->op4(right)->e
+```
+
+# sequenceDiagram
+
+```mermaid
+sequenceDiagram
+note over UserProgram: Set Paramters
+note over UserProgram: Initialize SDK
+UserProgram->Command: Get LiDAR Information
+Command-->UserProgram: Device connected and Devce Information recevied
+note over UserProgram: TurnOn
+UserProgram->Command: Start LiDAR 
+Command-->UserProgram: LiDAR Started successfully
+UserProgram->LaserScan: Get Laser Scan Data
+LaserScan-->UserProgram:  Laser Scan Data Recvied
+note over UserProgram: doProcessSimple
+loop Laser Scan Data
+  LaserScan->UserProgram: doProcessSimple
+end
+note over UserProgram: TurnOff
+UserProgram->Command: TurnOff 
+note over UserProgram: disconnecting
+UserProgram->Command: disconnecting
+```

doc/FAQs/General_FAQs.md

@@ -0,0 +1,20 @@
+# General FAQs
+
+## I am new to the S2-Pro SDK project, where do I start?
+You have several options:
+
+- To build S2-Pro your computer, start by reviewing the [README.md](https://github.com/YDLIDAR/S2-Pro/blob/master/README.md)
+
+- To install and build YDLIDAR SDK on a robot Project, go to: [S2-Pro SDK quick start](https://github.com/YDLIDAR/S2-Pro/blob/master/doc/Tutorials.md).
+
+---
+## How do I send a pull request?
+Sending a pull request is simple.
+1.	Fork the S2-Pro Repository into your GitHub.
+2.	Create a Developer Branch in your Repository.
+3.	Commit your change in your Developer Branch.
+4.	Send the pull request from your GitHub Repository Webpage.
+
+---
+
+**More General FAQs to follow.**

doc/FAQs/General_FAQs_cn.md

@@ -0,0 +1,10 @@
+# General FAQs_cn
+
+## 请问我怎么样使用pull request？
+使用pull request非常简单。
+1.	将S2-Pro Repository fork到你自己的Github中。
+2.	在你的Repository中建立一个开发者 Branch。
+3.	在开发者Branch中commit你做的任何的改变
+4.	在你的github网页中使用pull request	
+
+**参考更多的FAQs**

doc/FAQs/Hardware_FAQs.md

@@ -0,0 +1,8 @@
+# Hardware FAQs
+
+---
+### Which types of YD LiDAR are supported by S2-Pro?
+please visit [this](https://github.com/YDLIDAR/S2-Pro/blob/master/doc/Dataset.md) page.
+
+---
+**More Hardware FAQs to follow.**

doc/FAQs/Hardware_FAQs_cn.md

@@ -0,0 +1,13 @@
+# 硬件FAQs：
+### YDLIDAR雷达需要什么硬件支持？
+* 芯片主频大于30MHz.
+* 如果芯片主频太低，　数据不能实时解析，数据将会丢失，一些角度范围会丢失，比如:Arduino UNO(16 MHz).
+* 推荐最小主频大于30MHz才能实时解析雷达数据，如果是TG30这种采样率20K，　需更高的主频．
+* S2-Pro 不支持控制器芯片，如STM32, Arduino.
+
+## YDLIDAR雷达可以在什么样的开发板上使用？
+* 雷达采样率小于6K的，开发板主频大于30MHz就可以．
+* 更改采样率雷达，开发板主频大于100MHz.
+
+## S2-Pro支持哪些雷达型号？
+S2-Pro 支持S2-Pro雷达，定制版本请联系EAI

doc/FAQs/README.md

@@ -0,0 +1,8 @@
+# FAQs
+
+- [General FAQs](General_FAQs.md)
+- [General FAQs cn](General_FAQs_cn.md)
+- [Hardware FAQs](Hardware_FAQs.md)
+- [Hardware FAQs cn](Hardware_FAQs_cn.md)
+- [Software FAQs](Software_FAQs.md)
+- [Software FAQs cn](Software_FAQs_cn.md)

doc/FAQs/Software_FAQs.md

@@ -0,0 +1,8 @@
+# Software FAQs
+
+## Can other operating systems besides Ubuntu and windows be used?
+
+We have only tested on Ubuntu　and windows which means it's the only operating system we currently officially support. Users are always welcome to try different operating systems and can share their patches with the community if they are successfully able to use them.
+
+---
+**More Software FAQs to follow.**

doc/FAQs/Software_FAQs_cn.md

@@ -0,0 +1,7 @@
+# 软件FAQ
+
+## 除了Ubuntu和Windows之外，其他操作系统还能使用吗？
+
+我们只对Ubuntu和Windows进行了测试，这意味着它是我们目前正式支持的操作系统。欢迎开发者尝试不同的操作系统，如果能够成功地使用它们，可以分享补丁与社区。
+
+**更多的软件常见问题。**

doc/README.md

@@ -0,0 +1,18 @@
+# YDLIDAR S2-Pro SDK Documents
+
+## Quick Start Guide
+
+[README](quickstart/README.md) - A hardware and software guide to setting up S2-Pro, segregated by versions
+
+## API
+
+[YDLIDAR S2-Pro SDK API for Developers](S2_Pro_SDK_API_for_Developers.md) - All you need to know about YDLiDAR S2-Pro SDK API
+
+## Howto Guides
+
+[README](howto/README.md) - Brief technical solutions to common problems that developers face during the installation and use of the S2-Pro
+
+## FAQs
+
+[README](FAQs/README.md) - Commonly asked questions about S2-Pro's setup 
+