diff --git a/Source/BSP/Inc/lidar.h b/Source/BSP/Inc/lidar.h
index e69de29..9777017 100644
--- a/Source/BSP/Inc/lidar.h
+++ b/Source/BSP/Inc/lidar.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#ifndef LIDAR_H
+#define LIDAR_H
+
+#include "stm32g431xx.h"
+
+typedef struct
+{
+	uint8_t header1;		// 0x59
+	uint8_t header2;		// 0x59
+	uint8_t distance_l;		// cm
+ 	uint8_t distance_h;		// cm
+ 	uint8_t strength_l;
+ 	uint8_t strength_h;
+ 	uint8_t temp_l;
+ 	uint8_t temp_h;
+ 	uint8_t checksum;
+} lidar_data;
+
+void lidar_init();
+void lidar_update();
+
+#endif
\ No newline at end of file
diff --git a/Source/BSP/Src/lidar.c b/Source/BSP/Src/lidar.c
index e69de29..d50b85b 100644
--- a/Source/BSP/Src/lidar.c
+++ b/Source/BSP/Src/lidar.c
@@ -0,0 +1,54 @@
+#include "lidar.h"
+
+void lidar_init()
+{
+	RCC->AHB2ENR |= RCC_AHB2ENR_GPIOBEN;
+	
+	// port 11 alt func mode
+	GPIOB->MODER &= ~(3 << (11 * 2));
+	GPIOB->MODER |= 2 << (11 * 2);
+	
+	// set AF7 on AFRegister for GPIOB11
+	GPIOB->AFR[1] &= ~(0xF << 12);
+	GPIOB->AFR[1] |= 7 << 12;
+	
+	// very high speed
+	GPIOB->OSPEEDR |= 3 << (11 * 2);
+	
+	// pull-up
+	GPIOB->PUPDR &= ~(3 << (11 * 2));
+	GPIOB->PUPDR |= 1 << (11 * 2);
+	
+	// SYSCLK selected as USART3 clock
+	RCC->CCIPR &= ~(RCC_CCIPR_USART3SEL);
+	RCC->CCIPR |= 1 << RCC_CCIPR_USART3SEL_Pos;
+	RCC->APB1ENR1 |= RCC_APB1ENR1_USART3EN;
+	
+	USART3->CR1 = 0;
+	USART3->CR2 = 0;
+	USART3->CR3 = 0;
+	
+	USART3->BRR = 16000000UL / 115200UL;
+	
+	// parity control disable
+	USART3->CR1 &= ~(USART_CR1_PCE);
+	
+	// word length 8 bit
+	USART3->CR1 &= ~USART_CR1_M1 & ~USART_CR1_M0;
+	
+	// 1 stop bit
+	USART3->CR2 &= ~USART_CR2_STOP;
+	
+	// receiver enable
+	// interrupt generated whenever ORE = 1 or RXNE = 1
+	USART3->CR1 |= USART_CR1_RE | USART_CR1_RXNEIE;
+	
+	// overrun disable
+	USART3->CR3 |= USART_CR3_OVRDIS;
+	
+	// USART3 enable
+	USART3->CR1 |= USART_CR1_UE;
+	
+	// Interrupt enable
+	NVIC_EnableIRQ(USART3_IRQn);
+}
\ No newline at end of file