text: #ifndef SERIALPORT_H
  #define SERIALPORT_H
  
  #include "configure.h"
  #include "control.h"
  /** ------------------------------------------------------**
    @brief: 串口部分参数
  */
  /** Serious **/
  #define WRITE_BUFF_LENGTH 13
  /**
    @brief: 写入串口的Buff长度
    */
  
  #define CRC_BUFF_LENGTH 11
  /**
    @brief: 进入CRC校验的Buff长度
    */
  
  #define REC_BUFF_LENGTH 5
  /**
   * @brief: 接收的Buff长度
   */
  
  #define PARMODE_CRC_1
  /**
    @brief: 有无CRC校验
    @param: PARMODE_CRC_0  无CRC校验位
    @param: PARMODE_CRC_1  有CRC校验位
  */
  /** ------------------------------------------------------**/
  
  class SerialPort
  {
  public:
    //串口标志量
    static int fd;
    static unsigned char g_write_buf[WRITE_BUFF_LENGTH];
    static unsigned char g_CRC_buf[CRC_BUFF_LENGTH];
    static unsigned char g_rec_buf[REC_BUFF_LENGTH];
  
    static int16_t _yaw_reduction;
    static int16_t _pitch_reduction;
    static int16_t _depth_reduction;
  
  public:
    /**              函数声明            **/
    SerialPort();
    ~SerialPort();
  
    static uint8_t Checksum_CRC8(unsigned char *buf, uint16_t len);
    //自定义串口发送
    static void RMserialWrite(int _yaw, int16_t yaw, int _pitch, int16_t pitch, int16_t depth, int data_type, int is_shooting);
  
    //接收并处理串口数据
    static void RMreceiveData(int arr[REC_BUFF_LENGTH]);
  
    static void getDataForCRC(int data_type, int is_shooting, int _yaw, int16_t yaw, int _pitch, int16_t pitch, int16_t depth);
    static void getDataForSend(int data_type, int is_shooting, int _yaw, int16_t yaw, int _pitch, int16_t pitch, int16_t depth, uint8_t CRC);
  };
  
  const unsigned char CRC8Tab[300] =
      {
          0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
          157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
          35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
          190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
          70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
          219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
          101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
          248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
          140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
          17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
          175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
          50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
          202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
          87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
          233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
          116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53};
  
  #endif // SERIALPORT_H
  