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40 lines
1.0 KiB
40 lines
1.0 KiB
5 years ago
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#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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class AP_RangeFinder_NanoRadar_MR72 : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_NanoRadar_MR72(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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uint8_t serial_instance);
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// static detection function
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static bool detect(uint8_t serial_instance);
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// update state
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void update(void) override;
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protected:
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_ULTRASOUND;
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}
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private:
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// get a reading
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bool get_reading(uint16_t &reading_cm);
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uint8_t crc_crc8(const uint8_t *p, uint8_t len);
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AP_HAL::UARTDriver *uart = nullptr;
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char linebuf[10];
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uint8_t linebuf_len = 0;
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const int Head1=0x54; //数据包帧头
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const int Head2=0X48;
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uint8_t string[19],CheckSum;//校验数值存放
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};
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