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

src/global.cpp

@@ -39,4 +39,17 @@ void cfg_load_all()
 
     g_cfg.brake_scale = readDoubleFromFile(brake_scale_file);
     g_cfg.brake_max   = readDoubleFromFile(brake_max_file);
+
+    g_cfg.lidar_thresh      = (int)readDoubleFromFile(lidar_thresh_file);
+    g_cfg.lidar_near        = (int)readDoubleFromFile(lidar_near_file);
+    g_cfg.lidar_far         = (int)readDoubleFromFile(lidar_far_file);
+    g_cfg.lidar_near_start  = (int)readDoubleFromFile(lidar_near_start_file);
+    g_cfg.lidar_near_end    = (int)readDoubleFromFile(lidar_near_end_file);
+    g_cfg.lidar_far_span    = (int)readDoubleFromFile(lidar_far_span_file);
+    g_cfg.lidar_min_frames  = (int)readDoubleFromFile(lidar_min_frames_file);
+    g_cfg.lidar_avoid_gain  = readDoubleFromFile(lidar_avoid_gain_file);
+    g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file);
+    g_cfg.lidar_speed       = readDoubleFromFile(lidar_speed_file);
+    g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file);
+    g_cfg.lidar_enable      = (int)readDoubleFromFile(lidar_enable_file);
 }