#pragma once

#ifndef LIDAR_H
#define LIDAR_H

#include "stm32g431xx.h"

#define USART3_START_BYTE	0x59
#define USART3_BUF_SIZE		64
#define USART3_FRAME_SIZE	9
#define LIDAR_MIN_DIST		0.01f
#define LIDAR_MAX_DIST		40.0f
#define TF02_I2C_ADDR		0x10

typedef struct
{
	uint8_t header1;		// 0x59
	uint8_t header2;		// 0x59
	uint8_t distance_l;		// cm
 	uint8_t distance_h;		// cm
 	uint8_t strength_l;
 	uint8_t strength_h;
 	uint8_t temp_l;
 	uint8_t temp_h;
 	uint8_t checksum;
} lidar_data_buf;

typedef struct
{
	uint16_t distance;		// cm
	uint16_t strength;
	uint16_t temperature;
} lidar_data;

void lidar_init();
void lidar_tim7_init();
void TIM7_DAC_IRQHandler();
void USART3_IRQHandler();
void lidar_update(lidar_data* lidar);

uint8_t usart_available();
uint8_t usart_read();

void lidar_i2c2_init();
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