v10模型集成+去抖+架构重构: 单线程+背景采集, ControlUpdate单出口电机控制, I2C音频持久fd, 斑马线接近去抖

src/model_v10.hpp

@@ -0,0 +1,13 @@
+#pragma once
+#include "types_model.hpp"
+
+struct DetectBoxV10 {
+    int   cls;     // 0=锥 1=红灯 2=绿灯 3=行人
+    float conf;
+    float cx, cy, w, h;
+};
+
+bool  model_v10_init(const char* path);
+int   model_v10_detect(const uint8* bgr, int w, int h, DetectBoxV10* boxes, int max, const float* thresh);
+void  model_v10_deinit();
+bool  model_v10_ready();