#ifndef NV7_RANGEFINDER_H
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#define NV7_RANGEFINDER_H
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#include <Arduino.h>
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#ifdef NV7_SERIAL0_MODE
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#define NV7RANGEFINDER_USE_SERIAL0
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#define NV7RANGEFINDER_DISABLE_LOGS
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#else
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#include <SoftwareSerial.h>
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#endif
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#define RANGEFINDER_NV7_MAX_DISTANCE (60000)
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class NV7Rangefinder {
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public:
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static void TaskNV7Rangefinder(void* pvParameters);
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struct Measurement {
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int16_t elevation;
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float distance;
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int16_t sineHeight, horizDistance, twoPointHeight, azimuth;
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int16_t horizAngle, span, speed;
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uint8_t unit;
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int16_t secondElevation;
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bool isValid;
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};
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NV7Rangefinder();
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void singleMeasure(Stream& port);
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void startContinuousMeasure(Stream& port);
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void stopContinuousMeasure(Stream& port);
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Measurement getLastMeasurement();
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private:
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unsigned long baudrate;
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TaskHandle_t taskHandle;
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Measurement lastMeasurement;
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};
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#endif // NV7_RANGEFINDER_H
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