#ifndef NRA15_H
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#define NRA15_H
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#include <Arduino.h>
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// Pin number for UART
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#define NRA15_RX_PIN 16 // ESP32 RX <- NRA15 TX (yellow)
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#define NRA15_TX_PIN 17 // ESP32 TX -> NRA15 RX (white)
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// Max distance for NRA-15 in cm
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#define RANGEFINDER_NRA15_MAX_DISTANCE 10000 // 100m = 10000cm
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// Uncomment to use HardwareSerial instead of SoftwareSerial
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// #define NRA15_USE_HARDWARE_SERIAL
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#ifndef NRA15_USE_HARDWARE_SERIAL
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#include <SoftwareSerial.h>
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#endif
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/**
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* @brief The NRA15 class represents an NRA-15 radar device.
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*
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* This class provides methods to communicate with NRA-15 radar
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* and send data via MAVLink protocol.
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*/
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class NRA15 {
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public:
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/**
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* @brief Default constructor
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*/
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NRA15() {}
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/**
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* @brief Destructor
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*/
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~NRA15();
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/**
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* @brief Task function for handling NRA-15 data reception.
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*
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* @param pvParameters Pointer to task parameters (TaskCreator)
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*/
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static void NRA15RxTask(void *pvParameters);
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/**
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* @brief Variable to store the distance measured (in meters)
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*/
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static double distance;
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private:
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/**
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* @brief Universal pointer to Serial (works for both Hardware and Software)
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*/
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static Stream *serial;
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#ifndef NRA15_USE_HARDWARE_SERIAL
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/**
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* @brief Pointer to SoftwareSerial object (only when using SoftwareSerial)
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*/
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static SoftwareSerial *softSerial;
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#endif
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};
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#endif // NRA15_H
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