zr-v4/libraries/AP_RangeFinder/AP_RangeFinder_NanoRadar_MR72.h

#pragma once

#include "RangeFinder.h"
#include "RangeFinder_Backend.h"

class AP_RangeFinder_NanoRadar_MR72 : public AP_RangeFinder_Backend
{

public:
    // constructor
    AP_RangeFinder_NanoRadar_MR72(RangeFinder::RangeFinder_State &_state,
                                   AP_RangeFinder_Params &_params,
                                   uint8_t serial_instance);

    // static detection function
    static bool detect(uint8_t serial_instance);

    // update state
    void update(void) override;

protected:

    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
        return MAV_DISTANCE_SENSOR_ULTRASOUND;
    }

private:
    // get a reading
    bool get_reading(uint16_t &reading_cm);
    uint8_t crc_crc8(const uint8_t *p, uint8_t len);

    AP_HAL::UARTDriver *uart = nullptr;
    char linebuf[10];
    uint8_t linebuf_len = 0;

    const int Head1=0x54;  //数据包帧头
    const int Head2=0X48; 
    uint8_t string[19],CheckSum;//校验数值存放  
};