Реализована функция lidar_update(), обновляющая данные

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

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];
+			usart3_index = 0;
-			if (buffer.checksum == usart3_checksum)
+			usart3_frame_ready = 1;
-			{
-				usart3_index = 0;
-				usart3_frame_ready = 1;
-			}
-			else
-			{
-				usart3_index = 0;
-				usart3_frame_ready = 0;
-			}
 		}
 	}
+}
+
+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);
 }