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Изменена логика работы с UART и обработки данных. Добавлен кольцевой буфер

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Раджаб Бисултанов
2026-03-03 17:51:24 +03:00
parent 63df753fa8
commit eaad822677
3 changed files with 47 additions and 39 deletions
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6
Source/BSP/Inc/lidar.h
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@@ -6,6 +6,7 @@
#include "stm32g431xx.h" #include "stm32g431xx.h"
#define USART3_START_BYTE 0x59 #define USART3_START_BYTE 0x59
#define USART3_BUF_SIZE 64
#define USART3_FRAME_SIZE 9 #define USART3_FRAME_SIZE 9
#define LIDAR_MIN_DIST 0.01f #define LIDAR_MIN_DIST 0.01f
#define LIDAR_MAX_DIST 40.0f #define LIDAR_MAX_DIST 40.0f
@@ -26,7 +27,7 @@ typedef struct
typedef struct typedef struct
{ {
uint16_t distance; // meters uint16_t distance; // cm
uint16_t strength; uint16_t strength;
uint16_t temperature; uint16_t temperature;
} lidar_data; } lidar_data;
@@ -37,6 +38,9 @@ void TIM7_DAC_IRQHandler();
void USART3_IRQHandler(); void USART3_IRQHandler();
void lidar_update(lidar_data* lidar); void lidar_update(lidar_data* lidar);
uint8_t usart_available();
uint8_t usart_read();
void lidar_i2c2_init(); void lidar_i2c2_init();
static void i2c2_wait_txis(); static void i2c2_wait_txis();
static void i2c2_wait_stop(); static void i2c2_wait_stop();

70
Source/BSP/Src/lidar.c
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@@ -1,11 +1,8 @@
#include "lidar.h" #include "lidar.h"
volatile uint8_t usart3_index = 0; volatile uint8_t usart3_rx_buf[USART3_BUF_SIZE];
volatile uint8_t usart3_checksum = 0; static uint8_t usart3_rx_head = 0;
volatile uint8_t usart3_frame_ready = 0; static uint8_t usart3_rx_tail = 0;
volatile uint8_t lidar_update_flag = 0;
static lidar_data_buf buffer;
static uint8_t* buff_data = (uint8_t*)&buffer;
void lidar_init() void lidar_init()
{ {
@@ -78,7 +75,7 @@ void TIM7_DAC_IRQHandler()
if (TIM7->SR & TIM_SR_UIF) if (TIM7->SR & TIM_SR_UIF)
{ {
TIM7->SR &= ~TIM_SR_UIF; TIM7->SR &= ~TIM_SR_UIF;
lidar_update_flag = 1; //lidar_update_flag = 1;
} }
} }
@@ -86,42 +83,49 @@ void USART3_IRQHandler()
{ {
if (USART3->ISR & USART_ISR_RXNE) if (USART3->ISR & USART_ISR_RXNE)
{ {
uint8_t b = USART3->RDR; usart3_rx_buf[usart3_rx_head] = USART3->RDR;
usart3_rx_head = (usart3_rx_head + 1) % USART3_BUF_SIZE;
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)
{
usart3_index = 0;
usart3_frame_ready = 1;
}
} }
} }
uint8_t usart_available()
{
return usart3_rx_head != usart3_rx_tail;
}
uint8_t usart_read()
{
uint8_t data = usart3_rx_buf[usart3_rx_tail];
usart3_rx_tail = (usart3_rx_tail + 1) % USART3_BUF_SIZE;
return data;
}
void lidar_update(lidar_data* lidar) void lidar_update(lidar_data* lidar)
{ {
if (!lidar_update_flag) static uint8_t frame[USART3_FRAME_SIZE];
return; static uint8_t index = 0;
if (!usart3_frame_ready) while(usart_available())
return; {
uint8_t c = usart_read();
usart3_frame_ready = 0; frame[index++] = c;
for (uint8_t i = 0; i < USART3_FRAME_SIZE; ++i) usart3_checksum += buff_data[i]; if (index == USART3_FRAME_SIZE)
{
uint8_t checksum = 0;
for (uint8_t i = 0; i < USART3_FRAME_SIZE - 1; ++i) checksum += frame[i];
if (buffer.checksum != usart3_checksum) if (checksum == frame[USART3_FRAME_SIZE - 1])
return; {
lidar->distance = frame[2] | (frame[3] << 8);
lidar->strength = frame[4] | (frame[5] << 8);
lidar->temperature = frame[6] | (frame[7] << 8);
}
lidar->distance = buffer.distance_l | (buffer.distance_h << 8); index = 0;
lidar->strength = buffer.strength_l | (buffer.strength_h << 8); }
lidar->temperature = buffer.temp_l | (buffer.temp_h << 8); }
} }
void lidar_i2c2_init() void lidar_i2c2_init()

2
Source/main.c
View File

@@ -39,7 +39,7 @@ int main(void)
motors_init();*/ motors_init();*/
lidar_init(); lidar_init();
lidar_tim7_init(); // lidar_tim7_init();
while (1) while (1)
{ {