#ifndef _RADAR_H
#define _RADAR_H
#include "cm_os.h"

#define RADAR_BUFF_MAX  9

typedef struct radar_daraframe{
	volatile uint16_t Front_data;
    volatile uint16_t Back_data;
} radar_daraframe_t;

enum RADAR_MODE{
    RADAR_MODE_Dispose  = 0,  //处理模式
    RADAR_MODE_Real     = 1,  //实时模式
};

enum RADAR_ID{
    RADAR_ID_Front  = 0x01,  //前雷达ID
    RADAR_ID_Back   = 0x02,  //后雷达ID
};

typedef struct radar_data{
    uint8_t radar_id;
    uint16_t distance;
} radar_data_t;

    
extern osMutexId_t radar_mutex; // 互斥锁

extern radar_data_t radar_data;

// 雷达测离初始化
void radar_init(void);

//发送读取实时值数据命令
void radar_Sendcmd(uint8_t radar_id , uint8_t radar_mode);

// 数据接收处理函数
void radar_CheckData(uint8_t *data, uint16_t data_len);

uint16_t crc16_modbus(uint8_t *data, uint16_t length);

#endif /* _RADAR_H */