bisultanov/RaDrone
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Реализован обработчик прерывания USART3

Browse Source
This commit is contained in:
Radzhab Bisultanov
2026-02-20 14:51:25 +03:00
parent 6c9c1ba35b
commit a6f47a2e73
2 changed files with 41 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
Source/BSP/Src/lidar.c
View File

@@ -1,5 +1,11 @@
#include "lidar.h"
volatile uint8_t usart3_index = 0;
volatile uint8_t usart3_checksum = 0;
volatile uint8_t usart3_frame_ready = 0;
static lidar_data_buf buffer;
static uint8_t* buff_data = (uint8_t*)&buffer;
void lidar_init()
{
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOBEN;
@@ -51,4 +57,35 @@ void lidar_init()
// Interrupt enable
NVIC_EnableIRQ(USART3_IRQn);
}
void USART3_IRQHandler()
{
if (USART3->ISR & USART_ISR_RXNE)
{
uint8_t b = USART3->RDR;
if (usart3_index < 2)
{
if (b == USART3_START_BYTE)
buff_data[usart3_index++] = b;
}
else if (usart3_index < USART3_FRAME_SIZE)
buff_data[usart3_index++] = b;
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;
}
}
}
}