From 63df753fa807a4de2bb234f5d073a5955fdf7c28 Mon Sep 17 00:00:00 2001
From: Radzhab Bisultanov <bisultanov@sfedu.ru>
Date: Fri, 27 Feb 2026 13:14:07 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=BB=D0=B5?=
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---
 Source/BSP/Inc/lidar.h |  2 ++
 Source/BSP/Src/lidar.c | 26 ++++++++++++++++++++++++++
 Source/main.c          |  1 +
 3 files changed, 29 insertions(+)

diff --git a/Source/BSP/Inc/lidar.h b/Source/BSP/Inc/lidar.h
index 081d9d8..32d0848 100644
--- a/Source/BSP/Inc/lidar.h
+++ b/Source/BSP/Inc/lidar.h
@@ -32,6 +32,8 @@ typedef struct
 } lidar_data;
 
 void lidar_init();
+void lidar_tim7_init();
+void TIM7_DAC_IRQHandler();
 void USART3_IRQHandler();
 void lidar_update(lidar_data* lidar);
 
diff --git a/Source/BSP/Src/lidar.c b/Source/BSP/Src/lidar.c
index 6dd5023..9cdcb41 100644
--- a/Source/BSP/Src/lidar.c
+++ b/Source/BSP/Src/lidar.c
@@ -3,6 +3,7 @@
 volatile uint8_t usart3_index = 0;
 volatile uint8_t usart3_checksum = 0;
 volatile uint8_t usart3_frame_ready = 0;
+volatile uint8_t lidar_update_flag = 0;
 static lidar_data_buf buffer;
 static uint8_t* buff_data = (uint8_t*)&buffer;
 
@@ -59,6 +60,28 @@ void lidar_init()
 	NVIC_EnableIRQ(USART3_IRQn);
 }
 
+void lidar_tim7_init()
+{
+	RCC->APB1ENR1 |= RCC_APB1ENR1_TIM7EN;
+	
+	TIM7->PSC = 16000 - 1;        // 16 MHz / 16000 = 1000 Hz (1 ms)
+	TIM7->ARR = 10 - 1;           // 10 ms
+	
+	TIM7->DIER |= TIM_DIER_UIE;   // interrupt enable
+	TIM7->CR1 |= TIM_CR1_CEN;     // counter enable
+	
+	NVIC_EnableIRQ(TIM7_DAC_IRQn);
+}
+	
+void TIM7_DAC_IRQHandler()
+{
+	if (TIM7->SR & TIM_SR_UIF)
+	{
+		TIM7->SR &= ~TIM_SR_UIF;
+		lidar_update_flag = 1;
+	}
+}
+	
 void USART3_IRQHandler()
 {
 	if (USART3->ISR & USART_ISR_RXNE)
@@ -83,6 +106,9 @@ void USART3_IRQHandler()
 
 void lidar_update(lidar_data* lidar)
 {
+	if (!lidar_update_flag)
+		return;
+	
 	if (!usart3_frame_ready)
 		return;
 	
diff --git a/Source/main.c b/Source/main.c
index 042bea3..edbf6be 100644
--- a/Source/main.c
+++ b/Source/main.c
@@ -39,6 +39,7 @@ int main(void)
 	motors_init();*/
 	
 	lidar_init();
+	lidar_tim7_init();
 	
 	while (1)
 	{