From 6c9c1ba35b1cca4fc17a07b780f0bd4fb83de755 Mon Sep 17 00:00:00 2001
From: Radzhab Bisultanov <bisultanov887@gmail.com>
Date: Fri, 20 Feb 2026 12:07:24 +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=D0=B8=D0=BD=D1=86=D0=B8=D0=B0=D0=BB?=
 =?UTF-8?q?=D0=B8=D0=B7=D0=B0=D1=86=D0=B8=D1=8F=20GPIOB11=20=D0=B8=20USART?=
 =?UTF-8?q?3?=
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---
 Source/BSP/Inc/lidar.h | 24 +++++++++++++++++++
 Source/BSP/Src/lidar.c | 54 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 78 insertions(+)

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