Обновление данных лидара поставлено на таймер 7

Source/BSP/Inc/lidar.h

@@ -9,6 +9,7 @@
 #define USART3_FRAME_SIZE	9
 #define LIDAR_MIN_DIST		0.01f
 #define LIDAR_MAX_DIST		40.0f
+#define TF02_I2C_ADDR		0x10
 
 typedef struct
 {
@@ -31,10 +32,15 @@ typedef struct
 } lidar_data;
 
 void lidar_init();
+void lidar_tim7_init();
+void TIM7_DAC_IRQHandler();
 void USART3_IRQHandler();
 void lidar_update(lidar_data* lidar);
 
 void lidar_i2c2_init();
-void lidar_i2c2_update();
+static void i2c2_wait_txis();
+static void i2c2_wait_stop();
+static int i2c2_write(uint8_t addr, uint8_t *data, uint8_t size);
+void tf02_force_uart();
 
 #endif

Source/BSP/Src/lidar.c

@@ -3,6 +3,7 @@
 volatile uint8_t usart3_index = 0;
 volatile uint8_t usart3_checksum = 0;
 volatile uint8_t usart3_frame_ready = 0;
+volatile uint8_t lidar_update_flag = 0;
 static lidar_data_buf buffer;
 static uint8_t* buff_data = (uint8_t*)&buffer;
 
@@ -59,10 +60,30 @@ void lidar_init()
 	NVIC_EnableIRQ(USART3_IRQn);
 }
 
-uint32_t test;
+void lidar_tim7_init()
+{
+	RCC->APB1ENR1 |= RCC_APB1ENR1_TIM7EN;
+	
+	TIM7->PSC = 16000 - 1;        // 16 MHz / 16000 = 1000 Hz (1 ms)
+	TIM7->ARR = 10 - 1;           // 10 ms
+	
+	TIM7->DIER |= TIM_DIER_UIE;   // interrupt enable
+	TIM7->CR1 |= TIM_CR1_CEN;     // counter enable
+	
+	NVIC_EnableIRQ(TIM7_DAC_IRQn);
+}
+	
+void TIM7_DAC_IRQHandler()
+{
+	if (TIM7->SR & TIM_SR_UIF)
+	{
+		TIM7->SR &= ~TIM_SR_UIF;
+		lidar_update_flag = 1;
+	}
+}
+	
 void USART3_IRQHandler()
 {
-	++test;
 	if (USART3->ISR & USART_ISR_RXNE)
 	{
 		uint8_t b = USART3->RDR;
@@ -85,6 +106,9 @@ void USART3_IRQHandler()
 
 void lidar_update(lidar_data* lidar)
 {
+	if (!lidar_update_flag)
+		return;
+	
 	if (!usart3_frame_ready)
 		return;
 	
@@ -120,6 +144,65 @@ 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++);
+}
+
 
 
 

Source/main.c

@@ -19,7 +19,7 @@ void delay_ms(uint32_t ms);
 
 int main(void)
 {
-	__enable_irq();
+	/*__enable_irq();
 	
 	NVIC_SetPriority(TIM6_DAC_IRQn, 2);
 	NVIC_SetPriority(USART3_IRQn, 1);
@@ -36,11 +36,17 @@ int main(void)
 	
 	receiver_init();
 	
-	motors_init();
+	motors_init();*/
 	
 	lidar_init();
+	lidar_tim7_init();
 	
 	while (1)
+	{
+		lidar_update(&lidar);
+	}
+	
+	/*while (1)
 	{
 		attitude_update(&attitude, &imu);
 		
@@ -59,7 +65,7 @@ int main(void)
 		{
 			motors_turn_off();
 		}
-	}
+	}*/
 }
 
 void delay_ms(uint32_t ms)