mirror of https://github.com/ArduPilot/ardupilot
32 lines
885 B
C
32 lines
885 B
C
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#pragma once
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#include "AP_RangeFinder_Backend_CAN.h"
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#ifndef AP_RANGEFINDER_NRA24_CAN_ENABLED
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#define AP_RANGEFINDER_NRA24_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
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#endif
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#if AP_RANGEFINDER_NRA24_CAN_ENABLED
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class AP_RangeFinder_NRA24_CAN : public AP_RangeFinder_Backend_CAN {
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public:
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AP_RangeFinder_NRA24_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
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void update(void) override;
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// handler for incoming frames
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bool handle_frame(AP_HAL::CANFrame &frame) override;
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static const struct AP_Param::GroupInfo var_info[];
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private:
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uint32_t get_radar_id(uint32_t id) const { return ((id & 0xF0U)/0x10U); }
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static RangeFinder_MultiCAN *multican_NRA24;
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uint32_t last_heartbeat_ms; // last status message received from the sensor
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};
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#endif // AP_RANGEFINDER_USD1_CAN_ENABLED
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