50 lines
965 B
C
50 lines
965 B
C
#pragma once
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#ifndef LIDAR_H
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#define LIDAR_H
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#include "stm32g431xx.h"
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#define USART3_START_BYTE 0x59
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#define USART3_BUF_SIZE 64
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#define USART3_FRAME_SIZE 9
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#define LIDAR_MIN_DIST 0.01f
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#define LIDAR_MAX_DIST 40.0f
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#define TF02_I2C_ADDR 0x10
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typedef struct
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{
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uint8_t header1; // 0x59
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uint8_t header2; // 0x59
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uint8_t distance_l; // cm
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uint8_t distance_h; // cm
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uint8_t strength_l;
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uint8_t strength_h;
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uint8_t temp_l;
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uint8_t temp_h;
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uint8_t checksum;
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} lidar_data_buf;
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typedef struct
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{
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uint16_t distance; // cm
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uint16_t strength;
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uint16_t temperature;
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} lidar_data;
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void lidar_init();
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void lidar_tim7_init();
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void TIM7_DAC_IRQHandler();
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void USART3_IRQHandler();
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void lidar_update(lidar_data* lidar);
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uint8_t usart_available();
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uint8_t usart_read();
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void lidar_i2c2_init();
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static void i2c2_wait_txis();
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static void i2c2_wait_stop();
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static int i2c2_write(uint8_t addr, uint8_t *data, uint8_t size);
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void tf02_force_uart();
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#endif |