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

lib/global.h

@@ -31,6 +31,19 @@ const std::string cone_hold_frames_file  = "./cone_hold_frames";
 const std::string brake_scale_file = "./brake_scale";
 const std::string brake_max_file   = "./brake_max";
 
+const std::string lidar_thresh_file      = "./lidar_thresh";
+const std::string lidar_near_file        = "./lidar_near";
+const std::string lidar_far_file         = "./lidar_far";
+const std::string lidar_near_start_file  = "./lidar_near_start";
+const std::string lidar_near_end_file    = "./lidar_near_end";
+const std::string lidar_far_span_file    = "./lidar_far_span";
+const std::string lidar_min_frames_file  = "./lidar_min_frames";
+const std::string lidar_avoid_gain_file  = "./lidar_avoid_gain";
+const std::string lidar_avoid_range_file = "./lidar_avoid_range";
+const std::string lidar_speed_file       = "./lidar_speed";
+const std::string lidar_hold_frames_file = "./lidar_hold_frames";
+const std::string lidar_enable_file      = "./lidar_enable";
+
 double readDoubleFromFile(const std::string &filename);
 bool   readFlag(const std::string &filename);
 void   cfg_load_all();
@@ -57,6 +70,19 @@ struct CfgCache {
 
     double brake_scale     = 10;    // 速度(pps) → 刹车占空比(ns) 缩放系数
     int    brake_max       = 10000; // 最大刹车占空比 (ns)
+
+    int    lidar_thresh      = 300;   // 激光障碍判定距离阈值 (mm)
+    int    lidar_near        = 50;    // row=lt_h-1 对应的物理距离 (mm)
+    int    lidar_far         = 1200;  // row=10 对应的物理距离 (mm)
+    int    lidar_near_start  = 1;     // near_valid 检测起始偏移
+    int    lidar_near_end    = 4;     // near_valid 检测终止偏移
+    int    lidar_far_span    = 6;     // far_lost 检测跨度
+    int    lidar_min_frames  = 3;     // 连续确认帧数
+    double lidar_avoid_gain  = 0.4;   // 绕行中线推离力度 (归一化)
+    int    lidar_avoid_range = 30;    // 绕行斜坡陡峭度 (行数)
+    double lidar_speed       = 0.4;   // 绕行时速度倍率
+    int    lidar_hold_frames = 30;    // 消失后变形保持帧数
+    int    lidar_enable      = 1;     // 激光避障总开关
 };
 extern CfgCache g_cfg;