Добавлена инициализация I2C для лидара

Source/BSP/Inc/lidar.h

@@ -31,6 +31,10 @@ typedef struct
 } lidar_data;
 
 void lidar_init();
+void USART3_IRQHandler();
 void lidar_update(lidar_data* lidar);
 
+void lidar_i2c2_init();
+void lidar_i2c2_update();
+
 #endif

Source/BSP/Src/lidar.c

@@ -37,7 +37,7 @@ void lidar_init()
 	USART3->BRR = 16000000UL / 115200UL;
 	
 	// parity control disable
-	USART3->CR1 &= ~(USART_CR1_PCE);
+	USART3->CR1 &= ~USART_CR1_PCE;
 	
 	// word length 8 bit
 	USART3->CR1 &= ~USART_CR1_M1 & ~USART_CR1_M0;
@@ -50,7 +50,7 @@ void lidar_init()
 	USART3->CR1 |= USART_CR1_RE | USART_CR1_RXNEIE;
 	
 	// overrun disable
-	USART3->CR3 |= USART_CR3_OVRDIS;
+	// USART3->CR3 |= USART_CR3_OVRDIS;
 	
 	// USART3 enable
 	USART3->CR1 |= USART_CR1_UE;
@@ -59,8 +59,10 @@ void lidar_init()
 	NVIC_EnableIRQ(USART3_IRQn);
 }
 
+uint32_t test;
 void USART3_IRQHandler()
 {
+	++test;
 	if (USART3->ISR & USART_ISR_RXNE)
 	{
 		uint8_t b = USART3->RDR;
@@ -97,3 +99,29 @@ void lidar_update(lidar_data* lidar)
 	lidar->strength		= 	buffer.strength_l 	| (buffer.strength_h << 8);
 	lidar->temperature	= 	buffer.temp_l 		| (buffer.temp_h << 8);
 }
+
+void lidar_i2c2_init()
+{
+	RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
+	
+	GPIOA->MODER &= ~(3 << (8 * 2)) & ~(3 << (9 * 2));
+	GPIOA->MODER |= 2 << (8 * 2) | 2 << (9 * 2);		// alt func mode
+	
+	GPIOA->AFR[1] &= ~(0xF << 0) & ~(0xF << 4);
+	GPIOA->AFR[1] |= 4 << 0 | 4 << 4;					// AF4
+	
+	GPIOA->OTYPER |= 1 << 8 | 1 << 9;					// open-drain
+	
+	GPIOA->PUPDR &= ~(3 << (8 * 2)) & ~(3 << (9 * 2));
+	GPIOA->PUPDR |= 1 << (8 * 2) | 1 << (9 * 2);		// pull-up
+	
+	RCC->APB1ENR1 |= RCC_APB1ENR1_I2C2EN;				// enable I2C2
+	I2C2->TIMINGR = 0x00303D5B;							// 400 kHz @ 16 MHz
+	I2C2->CR1 |= I2C_CR1_PE;
+}
+
+
+
+
+
+

Source/main.c

@@ -5,6 +5,7 @@
 #include "radio_receiver.h"
 #include "motors.h"
 #include "pid.h"
+#include "lidar.h"
 
 
 imu_scaled_t imu;
@@ -12,6 +13,7 @@ attitude_t attitude;
 rc_channels rx_chs_raw;
 rc_channels rx_chs_normalized;
 control_channels_t ctrl_chs;
+lidar_data lidar;
 
 void delay_ms(uint32_t ms);
 
@@ -19,7 +21,8 @@ int main(void)
 {
 	__enable_irq();
 	
-	NVIC_SetPriority(TIM6_DAC_IRQn, 1);
+	NVIC_SetPriority(TIM6_DAC_IRQn, 2);
+	NVIC_SetPriority(USART3_IRQn, 1);
 	NVIC_SetPriority(LPUART1_IRQn, 0);
 	
 	imu_pow_init();
@@ -35,6 +38,8 @@ int main(void)
 	
 	motors_init();
 	
+	lidar_init();
+	
 	while (1)
 	{
 		attitude_update(&attitude, &imu);
@@ -44,6 +49,8 @@ int main(void)
 		
 		attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude, &imu);
 		
+		lidar_update(&lidar);
+		
 		if (rx_chs_normalized.rc_armed)
 		{
 			motors_set_throttle_mix(rx_chs_normalized.rc_throttle, &ctrl_chs, rx_chs_normalized.rc_armed);