Доблена запись по I2C, лидар переведён на UART

Source/BSP/Src/lidar.c

@@ -120,6 +120,65 @@ void lidar_i2c2_init()
 	I2C2->CR1 |= I2C_CR1_PE;
 }
 
+static void i2c2_wait_txis()
+{
+    while (!(I2C2->ISR & I2C_ISR_TXIS));
+}
+
+static void i2c2_wait_stop()
+{
+    while (!(I2C2->ISR & I2C_ISR_STOPF));
+    I2C2->ICR |= I2C_ICR_STOPCF;
+}
+
+static int i2c2_write(uint8_t addr, uint8_t *data, uint8_t size)
+{
+    while (I2C2->ISR & I2C_ISR_BUSY);
+
+    I2C2->CR2 = 0;
+    I2C2->CR2 |= (addr << 1);                 // 7-bit addr
+    I2C2->CR2 |= (size << 16);                // bite count
+    I2C2->CR2 |= I2C_CR2_AUTOEND;             // auto stop
+    I2C2->CR2 |= I2C_CR2_START;               // start
+
+    for (uint8_t i = 0; i < size; i++)
+    {
+        i2c2_wait_txis();
+        I2C2->TXDR = data[i];
+    }
+
+    i2c2_wait_stop();
+
+    // check NACK
+    if (I2C2->ISR & I2C_ISR_NACKF)
+    {
+        I2C2->ICR |= I2C_ICR_NACKCF;
+        return 0;
+    }
+
+    return 1;
+}
+
+void tf02_force_uart()
+{
+    uint8_t cmd_uart[] = {0x5A, 0x05, 0x0A, 0x00, 0x69};
+    uint8_t cmd_save[] = {0x5A, 0x04, 0x11, 0x6F};
+
+    // force UART command
+    if (!i2c2_write(TF02_I2C_ADDR, cmd_uart, sizeof(cmd_uart)))
+    {
+        // no ACK — lidar is not on i2c
+        return;
+    }
+
+    for (volatile int i = 0; i < 100000; i++);
+
+	// save command
+    i2c2_write(TF02_I2C_ADDR, cmd_save, sizeof(cmd_save));
+
+    for (volatile int i = 0; i < 200000; i++);
+}
+