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/vl53l0x.h

@@ -2,21 +2,25 @@
 #define VL53L0X_H
 
 #include <cstdint>
-#include "vl53l0x_def.h"
+
+extern "C" {
+#include "vl53l0x_platform.h"
+}
 
 class VL53L0X
 {
 public:
-    VL53L0X();
-    ~VL53L0X();
+	VL53L0X();
+	~VL53L0X();
 
-    bool init();
-    bool readRange(VL53L0X_RangingMeasurementData_t &data);
-    bool stop();
-    bool isOpen() const { return fd > 0; }
+	bool init();
+	bool readRange(VL53L0X_RangingMeasurementData_t &data);
+	bool stop();
 
 private:
-    int fd;
+	int fd;
+	bool initialized;
+	vl53l0x_dev_t dev;
 };
 
 #endif