From 2b3e4129e80a61893e3fa46e9795f7c2a1eb921c Mon Sep 17 00:00:00 2001
From: Radzhab Bisultanov <bisultanov887@gmail.com>
Date: Fri, 20 Feb 2026 15:16:59 +0300
Subject: [PATCH] =?UTF-8?q?=D0=A0=D0=B5=D0=B0=D0=BB=D0=B8=D0=B7=D0=BE?=
 =?UTF-8?q?=D0=B2=D0=B0=D0=BD=D0=B0=20=D1=84=D1=83=D0=BD=D0=BA=D1=86=D0=B8?=
 =?UTF-8?q?=D1=8F=20lidar=5Fupdate(),=20=D0=BE=D0=B1=D0=BD=D0=BE=D0=B2?=
 =?UTF-8?q?=D0=BB=D1=8F=D1=8E=D1=89=D0=B0=D1=8F=20=D0=B4=D0=B0=D0=BD=D0=BD?=
 =?UTF-8?q?=D1=8B=D0=B5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Source/BSP/Inc/lidar.h | 11 ++++++++++-
 Source/BSP/Src/lidar.c | 30 +++++++++++++++++++-----------
 2 files changed, 29 insertions(+), 12 deletions(-)

diff --git a/Source/BSP/Inc/lidar.h b/Source/BSP/Inc/lidar.h
index b7ffb15..40c4e8e 100644
--- a/Source/BSP/Inc/lidar.h
+++ b/Source/BSP/Inc/lidar.h
@@ -7,6 +7,8 @@
 
 #define USART3_START_BYTE	0x59
 #define USART3_FRAME_SIZE	9
+#define LIDAR_MIN_DIST		0.01f
+#define LIDAR_MAX_DIST		40.0f
 
 typedef struct
 {
@@ -21,7 +23,14 @@ typedef struct
  	uint8_t checksum;
 } lidar_data_buf;
 
+typedef struct
+{
+	uint16_t distance;		// meters
+	uint16_t strength;
+	uint16_t temperature;
+} lidar_data;
+
 void lidar_init();
-void lidar_update();
+void lidar_update(lidar_data* lidar);
 
 #endif
\ No newline at end of file
diff --git a/Source/BSP/Src/lidar.c b/Source/BSP/Src/lidar.c
index 4a9242a..231cd7c 100644
--- a/Source/BSP/Src/lidar.c
+++ b/Source/BSP/Src/lidar.c
@@ -75,17 +75,25 @@ void USART3_IRQHandler()
 		
 		if (usart3_index == USART3_FRAME_SIZE)
 		{
-			for (uint8_t i = 0; i < USART3_FRAME_SIZE; ++i) usart3_checksum += buff_data[i];
-			if (buffer.checksum == usart3_checksum)
-			{
-				usart3_index = 0;
-				usart3_frame_ready = 1;
-			}
-			else
-			{
-				usart3_index = 0;
-				usart3_frame_ready = 0;
-			}
+			usart3_index = 0;
+			usart3_frame_ready = 1;
 		}
 	}
+}
+
+void lidar_update(lidar_data* lidar)
+{
+	if (!usart3_frame_ready)
+		return;
+	
+	usart3_frame_ready = 0;
+	
+	for (uint8_t i = 0; i < USART3_FRAME_SIZE; ++i) usart3_checksum += buff_data[i];
+	
+	if (buffer.checksum != usart3_checksum)
+	  return;
+	
+	lidar->distance		= 	buffer.distance_l 	| (buffer.distance_h << 8);
+	lidar->strength		= 	buffer.strength_l 	| (buffer.strength_h << 8);
+	lidar->temperature	= 	buffer.temp_l 		| (buffer.temp_h << 8);
 }
\ No newline at end of file