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Реализована функция lidar_update(), обновляющая данные

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Radzhab Bisultanov
2026-02-20 15:16:59 +03:00
parent a6f47a2e73
commit 2b3e4129e8
2 changed files with 29 additions and 12 deletions
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30
Source/BSP/Src/lidar.c
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@@ -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);
}