C路: VL53L0X 用户态I2C直驱 + 高速模式 29.6fps

- 搬运 ST API C 源码到 lib/vl53l0x/, 替换 I2C 层为用户态 i2c-dev
- 新增 vl53l0x_platform_user.cpp: WriteMulti/ReadMulti 等全平台接口
- 重写 vl53l0x.cpp: start时unbind内核驱动, 单次测距, 无后台轮询
- 高速模式 20000μs timing budget, 模型缓存零污染(41-43ms)
- LiDAR 每5帧一读(~20ms), 隔帧模型推理, fps 25.1→29.6 (+18%)
- 同事的LiDAR避障集成: 12个配置参数, 中线变形绕行, 刹车注释
- nice -10 + sched_yield 优先级优化

ctl.sh

@@ -49,6 +49,19 @@ init_pins() {
     echo 10   > "$DIR/brake_scale"        2>/dev/null
     echo 10000 > "$DIR/brake_max"         2>/dev/null
 
+    echo 300  > "$DIR/lidar_thresh"       2>/dev/null
+    echo 50   > "$DIR/lidar_near"         2>/dev/null
+    echo 1200 > "$DIR/lidar_far"          2>/dev/null
+    echo 1    > "$DIR/lidar_near_start"   2>/dev/null
+    echo 4    > "$DIR/lidar_near_end"     2>/dev/null
+    echo 6    > "$DIR/lidar_far_span"     2>/dev/null
+    echo 3    > "$DIR/lidar_min_frames"   2>/dev/null
+    echo 0.4  > "$DIR/lidar_avoid_gain"   2>/dev/null
+    echo 30   > "$DIR/lidar_avoid_range"  2>/dev/null
+    echo 0.4  > "$DIR/lidar_speed"        2>/dev/null
+    echo 30   > "$DIR/lidar_hold_frames"  2>/dev/null
+    echo 1    > "$DIR/lidar_enable"       2>/dev/null
+
     echo "[demo] 引脚初始化完成"
 }