Revert: 移除CLAHE预处理(模型反光加剧)

speed20: raw_frame CLAHE预处理(搜线+模型共享,clipLimit=1.5)
speed20: Otsu全局阈值改为自适应局部阈值(11x11 Gaussian)
2026-07-07 18:20:46 +08:00 · 2026-07-07 18:06:17 +08:00 · 2026-07-07 17:52:01 +08:00 · 2026-07-07 15:04:10 +08:00 · 2026-07-06 19:00:10 +08:00 · 2026-07-06 18:49:03 +08:00
21 changed files with 1586 additions and 1751 deletions
@@ -1,14 +1,18 @@
-.vscode/*
+.vscode/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 *.code-workspace
 build/*
 build2/*
 build3/*
 build4/*
 build_lsx/*
 build_new/*
 test/
 ZebraCrossing_Detection-master/
 ZebraCrossing_Detection-master.zip
 smartcar2_code.txt
 smartcar_test
 # Local History for Visual Studio Code
 .history/
@@ -1,4 +0,0 @@
 {
    "python-envs.defaultEnvManager": "ms-python.python:conda",
    "python-envs.defaultPackageManager": "ms-python.python:conda"
 }
@@ -14,7 +14,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -Wall")
 project(smartcar_demo2 VERSION 0.1.0 LANGUAGES C CXX)
 # OpenCV 设备端路径
-set(OpenCV_DIR /home/spdis/loongson/opencv-4.13.0/loongson/lib/cmake/opencv4)
+set(OpenCV_DIR /mnt/D/PPPProgram/smartcar/opencv-4.13.0/loongson/lib/cmake/opencv4)
 find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})
 message(STATUS "OpenCV Include Directories: ${OpenCV_INCLUDE_DIRS}")
@@ -5,7 +5,7 @@ SET(CROSS_COMPILE 1)
 IF(CROSS_COMPILE)
 SET(CMAKE_SYSTEM_NAME Linux)
 set(CMAKE_SYSTEM_PROCESSOR loongson)
-SET(TOOLCHAIN_DIR "/opt/loongson-gnu-toolchain-8.3-x86_64-loongarch64-linux-gnu-rc1.6")
+SET(TOOLCHAIN_DIR "/home/spdis/loongson-gnu-toolchain-8.3-x86_64-loongarch64-linux-gnu-rc1.6")
 set(CMAKE_CXX_COMPILER ${TOOLCHAIN_DIR}/bin/loongarch64-linux-gnu-g++)
 set(CMAKE_C_COMPILER ${TOOLCHAIN_DIR}/bin/loongarch64-linux-gnu-gcc)
@@ -247,9 +247,20 @@ ZNORMAL 期间:
                         └──────────┘
 NORMAL:   允许通行，检测斑马线
-STOP:     刹停 4 秒，g_zstate==Z_STOP 传给 motor_update → 编码器刹车
+STOP:     刹停 3 秒，g_zstate==Z_STOP 传给 motor_update → 编码器刹车
          LCD 显示 pedestrian_stop.png（不受 showImg 控制），进入/退出时清屏
 COOLDOWN: 恢复行驶但斑马线状态机停止检测 5 秒（防止重复触发）
          仅跳过检测，不影响其他功能（舵机/巡线正常）
 ### 斑马线冷却期控制策略 (Z_COOLDOWN)
 | 时间窗口 | 控制 | 说明 |
 |----------|------|------|
 | 0~2s | 全速起步 | boost 1.5x 速度持续 0.7s |
 | 2~5s | foresee=24 | 缩短前瞻走稳 |
 | 3.3~5s | 降速上限 13 + bang-bang 打满 | 一次机会：偏差出现→方向锁定打满→方向翻转/回正即退出 |
 **bang-bang 逻辑**（`steering_update()`）：Z_COOLDOWN 3.3~5s 内，偏差超出死区后锁定方向一次性打满（左满 1.2ms / 右满 1.8ms），直到偏差方向翻转或回到死区退出，后续走正常线性转向。
 ```
 **关键变量：**
@@ -356,12 +367,14 @@ lcd_render():
 | `./start` | int(0/1) | 0 | 0 | 使能开关，1=电机运行 |
 | `./debug` | int(0/1) | 0 | (不写入) | 每30帧重载配置+允许存图 |
 | `./showImg` | int(0/1) | 0 | (不写入) | LCD 显示（每10帧轮询→g_lcd_on） |
-| `./foresee` | double | 80 | 40 | 舵机前瞻行 (显示空间像素) |
+| `./foresee` | double | 80 | 40 | 舵机前瞻行 (显示空间像素, Z_COOLDOWN 2~5s 内缩短为 24) |
 | `./foresee_lost_scale` | double | 0.7 | 0.7 | 丢线时前瞻缩放 (<1=看更远) |
 | `./sharp_turn_scale` | double | 0.5 | 0.5 | 急弯时前瞻缩放 (<1=看更远) |
 | `./deadband` | double | 5 | 8 | 舵机死区 (显示空间像素) |
 | `./steer_gain` | double | 1.0 | 1.5 | 舵机增益 |
 | `./center_bias` | double | 0 | (不写入) | 中线偏置修正 |
 | `./zebrasee` | double | 60 | (不写入) | 斑马线近界阈值 (模型空间cy) |
-| `./destfps` | double | 30* | (不写入) | 目标帧率 (*代码兜底值) |
+| `./destfps` | double | - | (不写入) | 目标帧率 |
 | `./saveImg` | int(0/1) | - | (不写入) | 保存帧图像 (需 debug=1) |
 | `./cone_avoid_gain` | double | 0.3 | 0.3 | 锥桶中线变形推离量 (归一化) |
 | `./cone_avoid_range` | int | 30 | 30 | 变形斜坡陡峭度 |
@@ -402,7 +415,6 @@ lcd_render():
 | 文件 | 功能 | 排除原因 |
 |---|---|---|
 | `zebra_detect.cpp` | 经典斑马线检测 | 已被 Mild 模型替代 |
 | `PIDController.cpp` | 位置式/增量式 PID | 电机开环直驱，无调用点 |
 | `serial.cpp` | VOFA 串口可视化 | 未使用 |
@@ -412,15 +424,16 @@ lcd_render():
 ---
-## 模型：Mild v12
+## 模型：Mild v13
- **推理引擎**：`src/model_v10.{hpp,cpp}`（名称为兼容保留，内部为 Mild v3）
+- **推理引擎**：`src/model_v10.{hpp,cpp}`（名称为兼容保留，内部为 Mild Mega r2 v3）
 - **输入**：160×120 BGR
 - **输出**：4 类 + 背景 → 9 通道：0=锥桶, 1=红灯, 2=绿灯, 3=斑马线
 - **架构**：3→9→9→13→13→19→19→19→44→44→64→64 → head(64→64,dw) → out(64→9)
- **阈值**：`{0.65, 0.75, 0.80, 0.82}`（锥桶/红灯/绿灯/斑马线）
+- **阈值**：`{0.80, 0.70, 0.80, 0.85}`（锥桶/红灯/绿灯/斑马线）
- **权重文件**：`mild_v12.bin`（105KB 自定义二进制格式）
+- **权重文件**：`mild_v12.bin`（103KB 自定义二进制格式，实际模型为 Mild v13，沿用旧名）
 - **推理频率**：每 2 帧一次（跳帧节省 CPU）
 - **转换工具**：`tools/export_mild_v13.py`（PyTorch .pth → .bin）
 ---
@@ -0,0 +1,72 @@
 # 比赛参数固化
 > 截至 2026-07-04，16速，45秒两圈
 ## 设备实际配置文件 (`/home/root/smartcar2/`)
 ```bash
 speed=16              # 目标速度 (% 占空比)
 deadband=8            # 舵机死区 (显示空间像素)
 steer_gain=1.5        # 舵机增益
 foresee=40            # 舵机前瞻行 (显示空间像素)
 foresee_lost_scale=0.6# 丢线时前瞻缩放
 sharp_turn_scale=0.5  # 急弯前瞻缩放
 zebrasee=18           # 斑马线近界阈值 (模型空间 cy)
 curve_slope=0.2       # 弯道减速斜率
 curve_min=0.8         # 弯道最低速度倍率
 cone_avoid_gain=0.3   # 锥桶推离力度
 cone_avoid_range=30   # 锥桶斜坡陡峭度
 cone_speed=0.5        # 锥桶速度倍率 (当前未生效)
 cone_min_frames=3     # 锥桶确认帧数
 cone_margin=0         # 0=中心点, 1=框边缘
 cone_thresh=0.80      # 锥桶置信度阈值
 cone_hold_frames=30   # 锥桶消失后保持帧数
 brake_scale=10        # 刹车速度→占空比系数
 brake_max=10000       # 最大刹车占空比 (ns)
 lidar_enable=1        # 激光避障 (代码中已禁用)
 start=1               # 电机使能运行中
 debug=1               # 热调参模式 (每30帧重载配置)
 showImg=0             # LCD 预览关闭
 ```
 ## 代码硬编码行为
 ### 斑马线状态机
 - **进入 Z_STOP**: 播报语音 + LCD 显示 `pedestrian_stop.png`
 - **停车**: 3 秒编码器刹车
 - **冷却 Z_COOLDOWN**: 5 秒内不检测斑马线
 ### 斑马线冷却期控制 (Z_COOLDOWN)
 | 时间 | 控制 |
 |------|------|
 | 0~0.7s | boost 1.5x 起步 |
 | 2~5s | foresee 缩短为 24 |
 | 3.3~5s | 降速上限 13 + 方向锁定一次性打满 |
 ### 斑马线冷却期 bang-bang 转向
 - 3.3~5 秒内部署
 - 偏差超出死区后锁定方向一次性打满
 - 方向翻转或回到死区即退出，机会用完
 - 退出后走正常线性转向
 ### 模型
 - **Mild v13** (文件名为 `mild_v12.bin`)
 - 输入 160×120 BGR，输出 4 类：锥桶/红灯/绿灯/斑马线
 - 阈值：`{0.80, 0.70, 0.80, 0.85}`
 - 推理频率：每 2 帧一次
 ### 硬件
 - **LCD**: 160×128 RGB565
 - **摄像头**: 640×480 MJPEG → 1/4 解码 160×120
 - **舵机**: pwmchip1/pwm0, 3ms 周期, 1.2~1.8ms 量程
 - **电机**: pwmchip8/pwm1+2, 20kHz, 开环占空比
 - **编码器**: GPIO67 脉冲, GPIO72 方向, 100ms 窗口测速
 - **语音**: I2C-2 地址 0x34
 ### 编译
 ```bash
 cd smartcar2 && mkdir -p build && cd build
 cmake .. && make -j$(nproc)
 ```
 - 工具链: `/opt/loongson-gnu-toolchain-8.3-x86_64-loongarch64-linux-gnu-rc1.6`
 - OpenCV: 4.13.0 (交叉编译, 仅 core/imgproc/imgcodecs/videoio)
@@ -1,107 +1,107 @@
-#ifndef GLOBAL_H
+#ifndef GLOBAL_H
-#define GLOBAL_H
+#define GLOBAL_H
-
+
-#include <string>
+#include <string>
-
+
-// ── 参数文件名 ──
+// ── 参数文件名 ──
-const std::string kp_file = "./kp";
+const std::string kp_file = "./kp";
-const std::string ki_file = "./ki";
+const std::string ki_file = "./ki";
-const std::string kd_file = "./kd";
+const std::string kd_file = "./kd";
-
+
-const std::string start_file = "./start";
+const std::string start_file = "./start";
-const std::string showImg_file = "./showImg";
+const std::string showImg_file = "./showImg";
-const std::string destfps_file = "./destfps";
+const std::string destfps_file = "./destfps";
-const std::string foresee_file = "./foresee";
+const std::string foresee_file = "./foresee";
-const std::string foresee_lost_scale_file = "./foresee_lost_scale";
+const std::string foresee_lost_scale_file = "./foresee_lost_scale";
-const std::string sharp_turn_scale_file = "./sharp_turn_scale";
+const std::string sharp_turn_scale_file = "./sharp_turn_scale";
-const std::string zebrasee_file = "./zebrasee";
+const std::string zebrasee_file = "./zebrasee";
-const std::string saveImg_file = "./saveImg";
+const std::string saveImg_file = "./saveImg";
-const std::string speed_file = "./speed";
+const std::string speed_file = "./speed";
-const std::string deadband_file = "./deadband";
+const std::string deadband_file = "./deadband";
-const std::string steer_gain_file = "./steer_gain";
+const std::string steer_gain_file = "./steer_gain";
-const std::string center_bias_file = "./center_bias";
+const std::string center_bias_file = "./center_bias";
-const std::string debug_file = "./debug";
+const std::string debug_file = "./debug";
-
+
-const std::string cone_avoid_gain_file  = "./cone_avoid_gain";
+const std::string cone_avoid_gain_file  = "./cone_avoid_gain";
-const std::string cone_avoid_range_file = "./cone_avoid_range";
+const std::string cone_avoid_range_file = "./cone_avoid_range";
-const std::string cone_speed_file       = "./cone_speed";
+const std::string cone_speed_file       = "./cone_speed";
-const std::string cone_min_frames_file  = "./cone_min_frames";
+const std::string cone_min_frames_file  = "./cone_min_frames";
-const std::string cone_margin_file      = "./cone_margin";
+const std::string cone_margin_file      = "./cone_margin";
-const std::string cone_thresh_file      = "./cone_thresh";
+const std::string cone_thresh_file      = "./cone_thresh";
-const std::string cone_hold_frames_file  = "./cone_hold_frames";
+const std::string cone_hold_frames_file  = "./cone_hold_frames";
-const std::string cone_return_gain_file  = "./cone_return_gain";
+const std::string cone_return_gain_file  = "./cone_return_gain";
-const std::string cone_return_frames_file = "./cone_return_frames";
+const std::string cone_return_frames_file = "./cone_return_frames";
-
+
-const std::string brake_scale_file = "./brake_scale";
+const std::string brake_scale_file = "./brake_scale";
-const std::string brake_max_file   = "./brake_max";
+const std::string brake_max_file   = "./brake_max";
-
+
-const std::string curve_slope_file = "./curve_slope";
+const std::string curve_slope_file = "./curve_slope";
-const std::string curve_min_file   = "./curve_min";
+const std::string curve_min_file   = "./curve_min";
-
+
-const std::string lidar_thresh_file      = "./lidar_thresh";
+const std::string lidar_thresh_file      = "./lidar_thresh";
-const std::string lidar_pre_file         = "./lidar_pre";
+const std::string lidar_pre_file         = "./lidar_pre";
-const std::string lidar_near_file        = "./lidar_near";
+const std::string lidar_near_file        = "./lidar_near";
-const std::string lidar_far_file         = "./lidar_far";
+const std::string lidar_far_file         = "./lidar_far";
-const std::string lidar_near_start_file  = "./lidar_near_start";
+const std::string lidar_near_start_file  = "./lidar_near_start";
-const std::string lidar_near_end_file    = "./lidar_near_end";
+const std::string lidar_near_end_file    = "./lidar_near_end";
-const std::string lidar_far_span_file    = "./lidar_far_span";
+const std::string lidar_far_span_file    = "./lidar_far_span";
-const std::string lidar_min_frames_file  = "./lidar_min_frames";
+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_gain_file  = "./lidar_avoid_gain";
-const std::string lidar_avoid_range_file = "./lidar_avoid_range";
+const std::string lidar_avoid_range_file = "./lidar_avoid_range";
-const std::string lidar_speed_file       = "./lidar_speed";
+const std::string lidar_speed_file       = "./lidar_speed";
-const std::string lidar_hold_frames_file = "./lidar_hold_frames";
+const std::string lidar_hold_frames_file = "./lidar_hold_frames";
-const std::string lidar_enable_file      = "./lidar_enable";
+const std::string lidar_enable_file      = "./lidar_enable";
-
+
-double readDoubleFromFile(const std::string &filename);
+double readDoubleFromFile(const std::string &filename);
-bool   readFlag(const std::string &filename);
+bool   readFlag(const std::string &filename);
-void   cfg_load_all();
+void   cfg_load_all();
-
+
-// ── 启动时缓存的运行参数 ──
+// ── 启动时缓存的运行参数 ──
-struct CfgCache {
+struct CfgCache {
-    double speed       = 60;     // 目标速度(占空比 %)
+    double speed       = 60;     // 目标速度(占空比 %)
-    double foresee     = 80;     // 前瞻行
+    double foresee     = 80;     // 前瞻行
-    double foresee_lost_scale = 0.7;  // 丢线时前瞻缩放 (<1=看更远)
+    double foresee_lost_scale = 0.7;  // 丢线时前瞻缩放 (<1=看更远)
-    double sharp_turn_scale   = 0.5;  // 急弯时前瞻缩放 (<1=看更远)
+    double sharp_turn_scale   = 0.5;  // 急弯时前瞻缩放 (<1=看更远)
-    double zebrasee    = 60;     // 斑马线触发距离阈值
+    double zebrasee    = 60;     // 斑马线触发距离阈值
-    double deadband    = 5;      // 舵机死区
+    double deadband    = 5;      // 舵机死区
-    double steer_gain  = 1.0;    // 舵机增益
+    double steer_gain  = 1.0;    // 舵机增益
-    double center_bias = 0;      // 中线偏移修正
+    double center_bias = 0;      // 中线偏移修正
-    int    start       = 0;      // 1=启动 0=停止
+    int    start       = 0;      // 1=启动 0=停止
-    int    showImg     = 0;      // LCD 预览开关
+    int    showImg     = 0;      // LCD 预览开关
-    int    debug       = 0;      // debug 模式
+    int    debug       = 0;      // debug 模式
-
+
-    double cone_avoid_gain  = 0.3;   // 锥桶中线变形推离量 (归一化)
+    double cone_avoid_gain  = 0.3;   // 锥桶中线变形推离量 (归一化)
-    int    cone_avoid_range = 30;    // 变形斜坡陡峭度
+    int    cone_avoid_range = 30;    // 变形斜坡陡峭度
-    double cone_speed       = 0.5;   // 锥桶触发时速度倍率
+    double cone_speed       = 0.5;   // 锥桶触发时速度倍率
-    int    cone_min_frames  = 1;     // 确认帧数 (1=单帧即确认, 视觉巡线响应快导致检测窗口极短)
+    int    cone_min_frames  = 1;     // 确认帧数 (1=单帧即确认, 视觉巡线响应快导致检测窗口极短)
-    int    cone_margin      = 0;     // 0=中心点 1=框边缘
+    int    cone_margin      = 0;     // 0=中心点 1=框边缘
-    double cone_thresh      = 0.80;  // 锥桶置信度阈值
+    double cone_thresh      = 0.80;  // 锥桶置信度阈值
-    int    cone_hold_frames  = 15;    // 锥桶消失后保持变形的帧数
+    int    cone_hold_frames  = 15;    // 锥桶消失后保持变形的帧数
-    double cone_return_gain  = 1.0;   // 回弹力度 (倍乘, 1.0=等同于避让力度)
+    double cone_return_gain  = 1.0;   // 回弹力度 (倍乘, 1.0=等同于避让力度)
-    int    cone_return_frames = 30;    // 回弹持续帧数
+    int    cone_return_frames = 30;    // 回弹持续帧数
-
+
-    double brake_scale     = 10;    // 速度(pps) → 刹车占空比(ns) 缩放系数
+    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    brake_max       = 10000; // 最大刹车占空比 (ns)
-
+
-    double curve_slope     = 0.4;   // 弯道减速斜率 (越大越猛)
+    double curve_slope     = 0.4;   // 弯道减速斜率 (越大越猛)
-    double curve_min       = 0.8;   // 弯道最低速度倍率
+    double curve_min       = 0.8;   // 弯道最低速度倍率
-
+
-    int    lidar_thresh      = 300;   // 激光障碍判定距离阈值 (mm), 必须<此值才触发
+    int    lidar_thresh      = 300;   // 激光障碍判定距离阈值 (mm), 必须<此值才触发
-    int    lidar_pre         = 800;   // 预触发去抖窗口, <此值开始攒帧
+    int    lidar_pre         = 800;   // 预触发去抖窗口, <此值开始攒帧
-    int    lidar_near        = 50;    // row=lt_h-1 对应的物理距离 (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_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_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_near_end    = 4;     // near_valid 检测终止偏移
-    int    lidar_far_span    = 6;     // far_lost 检测跨度
+    int    lidar_far_span    = 6;     // far_lost 检测跨度
-    int    lidar_min_frames  = 3;     // 连续确认帧数
+    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)
+    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)
+    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
+    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_hold_frames = 30;    // 消失后变形保持帧数
-    int    lidar_enable      = 1;     // 激光避障总开关
+    int    lidar_enable      = 1;     // 激光避障总开关
-};
+};
-extern CfgCache g_cfg;
+extern CfgCache g_cfg;
-
+
-extern double target_speed;
+extern double target_speed;
-
+
-#endif
+#endif
@@ -1,28 +1,28 @@
-#ifndef VL53L0X_H
+#ifndef VL53L0X_H
-#define VL53L0X_H
+#define VL53L0X_H
-
+
-#include <cstdint>
+#include <cstdint>
-
+
-extern "C" {
+extern "C" {
-#include "vl53l0x_platform.h"
+#include "vl53l0x_platform.h"
-}
+}
-
+
-class VL53L0X
+class VL53L0X
-{
+{
-public:
+public:
-	VL53L0X();
+	VL53L0X();
-	~VL53L0X();
+	~VL53L0X();
-
+
-	bool init();
+	bool init();
-	bool startMeasure();
+	bool startMeasure();
-	bool readResult(VL53L0X_RangingMeasurementData_t &data);
+	bool readResult(VL53L0X_RangingMeasurementData_t &data);
-	bool readRange(VL53L0X_RangingMeasurementData_t &data);
+	bool readRange(VL53L0X_RangingMeasurementData_t &data);
-	bool stop();
+	bool stop();
-
+
-private:
+private:
-	int fd;
+	int fd;
-	bool initialized;
+	bool initialized;
-	vl53l0x_dev_t dev;
+	vl53l0x_dev_t dev;
-};
+};
-
+
-#endif
+#endif
@@ -1,257 +1,257 @@
-/*******************************************************************************
+/*******************************************************************************
-Copyright © 2016, STMicroelectronics International N.V.
+Copyright © 2016, STMicroelectronics International N.V.
-All rights reserved.
+All rights reserved.
-
+
-Redistribution and use in source and binary forms, with or without
+Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
+modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
+    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
+      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
+    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
+      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
+      documentation and/or other materials provided with the distribution.
-    * Neither the name of STMicroelectronics nor the
+    * Neither the name of STMicroelectronics nor the
-      names of its contributors may be used to endorse or promote products
+      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
+      derived from this software without specific prior written permission.
-
+
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
-IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+*******************************************************************************/
-
+
-/**
+/**
- * Device specific defines. To be adapted by implementer for the targeted
+ * Device specific defines. To be adapted by implementer for the targeted
- * device.
+ * device.
- */
+ */
-
+
-#ifndef _VL53L0X_DEVICE_H_
+#ifndef _VL53L0X_DEVICE_H_
-#define _VL53L0X_DEVICE_H_
+#define _VL53L0X_DEVICE_H_
-
+
-#include "vl53l0x_types.h"
+#include "vl53l0x_types.h"
-
+
-
+
-/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines
+/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines
- *  @brief VL53L0X cut1.1 Device Specific Defines
+ *  @brief VL53L0X cut1.1 Device Specific Defines
- *  @{
+ *  @{
- */
+ */
-
+
-
+
-/** @defgroup VL53L0X_DeviceError_group Device Error
+/** @defgroup VL53L0X_DeviceError_group Device Error
- *  @brief Device Error code
+ *  @brief Device Error code
- *
+ *
- *  This enum is Device specific it should be updated in the implementation
+ *  This enum is Device specific it should be updated in the implementation
- *  Use @a VL53L0X_GetStatusErrorString() to get the string.
+ *  Use @a VL53L0X_GetStatusErrorString() to get the string.
- *  It is related to Status Register of the Device.
+ *  It is related to Status Register of the Device.
- *  @{
+ *  @{
- */
+ */
-typedef uint8_t VL53L0X_DeviceError;
+typedef uint8_t VL53L0X_DeviceError;
-
+
-#define VL53L0X_DEVICEERROR_NONE                        ((VL53L0X_DeviceError) 0)
+#define VL53L0X_DEVICEERROR_NONE                        ((VL53L0X_DeviceError) 0)
-	/*!< 0  NoError  */
+	/*!< 0  NoError  */
-#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE  ((VL53L0X_DeviceError) 1)
+#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE  ((VL53L0X_DeviceError) 1)
-#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE    ((VL53L0X_DeviceError) 2)
+#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE    ((VL53L0X_DeviceError) 2)
-#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND             ((VL53L0X_DeviceError) 3)
+#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND             ((VL53L0X_DeviceError) 3)
-#define VL53L0X_DEVICEERROR_MSRCNOTARGET                ((VL53L0X_DeviceError) 4)
+#define VL53L0X_DEVICEERROR_MSRCNOTARGET                ((VL53L0X_DeviceError) 4)
-#define VL53L0X_DEVICEERROR_SNRCHECK                    ((VL53L0X_DeviceError) 5)
+#define VL53L0X_DEVICEERROR_SNRCHECK                    ((VL53L0X_DeviceError) 5)
-#define VL53L0X_DEVICEERROR_RANGEPHASECHECK             ((VL53L0X_DeviceError) 6)
+#define VL53L0X_DEVICEERROR_RANGEPHASECHECK             ((VL53L0X_DeviceError) 6)
-#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK         ((VL53L0X_DeviceError) 7)
+#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK         ((VL53L0X_DeviceError) 7)
-#define VL53L0X_DEVICEERROR_TCC                         ((VL53L0X_DeviceError) 8)
+#define VL53L0X_DEVICEERROR_TCC                         ((VL53L0X_DeviceError) 8)
-#define VL53L0X_DEVICEERROR_PHASECONSISTENCY            ((VL53L0X_DeviceError) 9)
+#define VL53L0X_DEVICEERROR_PHASECONSISTENCY            ((VL53L0X_DeviceError) 9)
-#define VL53L0X_DEVICEERROR_MINCLIP                     ((VL53L0X_DeviceError) 10)
+#define VL53L0X_DEVICEERROR_MINCLIP                     ((VL53L0X_DeviceError) 10)
-#define VL53L0X_DEVICEERROR_RANGECOMPLETE               ((VL53L0X_DeviceError) 11)
+#define VL53L0X_DEVICEERROR_RANGECOMPLETE               ((VL53L0X_DeviceError) 11)
-#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW               ((VL53L0X_DeviceError) 12)
+#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW               ((VL53L0X_DeviceError) 12)
-#define VL53L0X_DEVICEERROR_ALGOOVERFLOW                ((VL53L0X_DeviceError) 13)
+#define VL53L0X_DEVICEERROR_ALGOOVERFLOW                ((VL53L0X_DeviceError) 13)
-#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD        ((VL53L0X_DeviceError) 14)
+#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD        ((VL53L0X_DeviceError) 14)
-
+
-/** @} end of VL53L0X_DeviceError_group */
+/** @} end of VL53L0X_DeviceError_group */
-
+
-
+
-/** @defgroup VL53L0X_CheckEnable_group Check Enable list
+/** @defgroup VL53L0X_CheckEnable_group Check Enable list
- *  @brief Check Enable code
+ *  @brief Check Enable code
- *
+ *
- *  Define used to specify the LimitCheckId.
+ *  Define used to specify the LimitCheckId.
- *  Use @a VL53L0X_GetLimitCheckInfo() to get the string.
+ *  Use @a VL53L0X_GetLimitCheckInfo() to get the string.
- *  @{
+ *  @{
- */
+ */
-
+
-#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE           0
+#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE           0
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE     1
+#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE     1
-#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP             2
+#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP             2
-#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD      3
+#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD      3
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC            4
+#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC            4
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE       5
+#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE       5
-
+
-#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS            6
+#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS            6
-
+
-/** @}  end of VL53L0X_CheckEnable_group */
+/** @}  end of VL53L0X_CheckEnable_group */
-
+
-
+
-/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
+/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
- *  @brief Defines the different functionalities for the device GPIO(s)
+ *  @brief Defines the different functionalities for the device GPIO(s)
- *  @{
+ *  @{
- */
+ */
-typedef uint8_t VL53L0X_GpioFunctionality;
+typedef uint8_t VL53L0X_GpioFunctionality;
-
+
-#define VL53L0X_GPIOFUNCTIONALITY_OFF                     \
+#define VL53L0X_GPIOFUNCTIONALITY_OFF                     \
-	((VL53L0X_GpioFunctionality)  0) /*!< NO Interrupt  */
+	((VL53L0X_GpioFunctionality)  0) /*!< NO Interrupt  */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW   \
+#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW   \
-	((VL53L0X_GpioFunctionality)  1) /*!< Level Low (value < thresh_low)  */
+	((VL53L0X_GpioFunctionality)  1) /*!< Level Low (value < thresh_low)  */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH   \
+#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH   \
-	((VL53L0X_GpioFunctionality)  2) /*!< Level High (value > thresh_high) */
+	((VL53L0X_GpioFunctionality)  2) /*!< Level High (value > thresh_high) */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT    \
+#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT    \
-	((VL53L0X_GpioFunctionality)  3)
+	((VL53L0X_GpioFunctionality)  3)
-	/*!< Out Of Window (value < thresh_low OR value > thresh_high)  */
+	/*!< Out Of Window (value < thresh_low OR value > thresh_high)  */
-#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY        \
+#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY        \
-	((VL53L0X_GpioFunctionality)  4) /*!< New Sample Ready  */
+	((VL53L0X_GpioFunctionality)  4) /*!< New Sample Ready  */
-
+
-/** @} end of VL53L0X_GpioFunctionality_group */
+/** @} end of VL53L0X_GpioFunctionality_group */
-
+
-
+
-/* Device register map */
+/* Device register map */
-
+
-/** @defgroup VL53L0X_DefineRegisters_group Define Registers
+/** @defgroup VL53L0X_DefineRegisters_group Define Registers
- *  @brief List of all the defined registers
+ *  @brief List of all the defined registers
- *  @{
+ *  @{
- */
+ */
-#define VL53L0X_REG_SYSRANGE_START                        0x000
+#define VL53L0X_REG_SYSRANGE_START                        0x000
-	/** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
+	/** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
-	#define VL53L0X_REG_SYSRANGE_MODE_MASK          0x0F
+	#define VL53L0X_REG_SYSRANGE_MODE_MASK          0x0F
-	/** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
+	/** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
-	 * continuous mode and arm next shot in single shot mode */
+	 * continuous mode and arm next shot in single shot mode */
-	#define VL53L0X_REG_SYSRANGE_MODE_START_STOP    0x01
+	#define VL53L0X_REG_SYSRANGE_MODE_START_STOP    0x01
-	/** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
+	/** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
-	#define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT    0x00
+	#define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT    0x00
-	/** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
+	/** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
-	 *  operation mode */
+	 *  operation mode */
-	#define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK    0x02
+	#define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK    0x02
-	/** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
+	/** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
-	 *  mode */
+	 *  mode */
-	#define VL53L0X_REG_SYSRANGE_MODE_TIMED         0x04
+	#define VL53L0X_REG_SYSRANGE_MODE_TIMED         0x04
-	/** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
+	/** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
-	 *  mode */
+	 *  mode */
-	#define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM     0x08
+	#define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM     0x08
-
+
-
+
-#define VL53L0X_REG_SYSTEM_THRESH_HIGH               0x000C
+#define VL53L0X_REG_SYSTEM_THRESH_HIGH               0x000C
-#define VL53L0X_REG_SYSTEM_THRESH_LOW                0x000E
+#define VL53L0X_REG_SYSTEM_THRESH_LOW                0x000E
-
+
-
+
-#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG		0x0001
+#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG		0x0001
-#define VL53L0X_REG_SYSTEM_RANGE_CONFIG			0x0009
+#define VL53L0X_REG_SYSTEM_RANGE_CONFIG			0x0009
-#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD	0x0004
+#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD	0x0004
-
+
-
+
-#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO               0x000A
+#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO               0x000A
-	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED	0x00
+	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED	0x00
-	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW	0x01
+	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW	0x01
-	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH	0x02
+	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH	0x02
-	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW	0x03
+	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW	0x03
-	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY	0x04
+	#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY	0x04
-
+
-#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH          0x0084
+#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH          0x0084
-
+
-
+
-#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR           0x000B
+#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR           0x000B
-
+
-/* Result registers */
+/* Result registers */
-#define VL53L0X_REG_RESULT_INTERRUPT_STATUS          0x0013
+#define VL53L0X_REG_RESULT_INTERRUPT_STATUS          0x0013
-#define VL53L0X_REG_RESULT_RANGE_STATUS              0x0014
+#define VL53L0X_REG_RESULT_RANGE_STATUS              0x0014
-
+
-#define VL53L0X_REG_RESULT_CORE_PAGE  1
+#define VL53L0X_REG_RESULT_CORE_PAGE  1
-#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN   0x00BC
+#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN   0x00BC
-#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN    0x00C0
+#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN    0x00C0
-#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF   0x00D0
+#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF   0x00D0
-#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF    0x00D4
+#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF    0x00D4
-#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF             0x00B6
+#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF             0x00B6
-
+
-/* Algo register */
+/* Algo register */
-
+
-#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM       0x0028
+#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM       0x0028
-
+
-#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS                0x008a
+#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS                0x008a
-
+
-/* Check Limit registers */
+/* Check Limit registers */
-#define VL53L0X_REG_MSRC_CONFIG_CONTROL                     0x0060
+#define VL53L0X_REG_MSRC_CONFIG_CONTROL                     0x0060
-
+
-#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR                      0X0027
+#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR                      0X0027
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW              0x0056
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW              0x0056
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH             0x0057
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH             0x0057
-#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT            0x0064
+#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT            0x0064
-
+
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR                    0X0067
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR                    0X0067
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW            0x0047
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW            0x0047
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH           0x0048
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH           0x0048
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT   0x0044
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT   0x0044
-
+
-
+
-#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI              0X0061
+#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI              0X0061
-#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO              0X0062
+#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO              0X0062
-
+
-/* PRE RANGE registers */
+/* PRE RANGE registers */
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD                 0x0050
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD                 0x0050
-#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI            0x0051
+#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI            0x0051
-#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO            0x0052
+#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO            0x0052
-
+
-#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN                          0x0081
+#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN                          0x0081
-#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT         0x0033
+#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT         0x0033
-#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL                 0x0055
+#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL                 0x0055
-
+
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD               0x0070
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD               0x0070
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI          0x0071
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI          0x0071
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO          0x0072
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO          0x0072
-#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS         0x0020
+#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS         0x0020
-
+
-#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP                    0x0046
+#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP                    0x0046
-
+
-
+
-#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N	                 0x00bf
+#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N	                 0x00bf
-#define VL53L0X_REG_IDENTIFICATION_MODEL_ID                       0x00c0
+#define VL53L0X_REG_IDENTIFICATION_MODEL_ID                       0x00c0
-#define VL53L0X_REG_IDENTIFICATION_REVISION_ID                    0x00c2
+#define VL53L0X_REG_IDENTIFICATION_REVISION_ID                    0x00c2
-
+
-#define VL53L0X_REG_OSC_CALIBRATE_VAL                             0x00f8
+#define VL53L0X_REG_OSC_CALIBRATE_VAL                             0x00f8
-
+
-
+
-#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE                          65535
+#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE                          65535
-/* equivalent to a range sigma of 655.35mm */
+/* equivalent to a range sigma of 655.35mm */
-
+
-#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH          0x032
+#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH          0x032
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0   0x0B0
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0   0x0B0
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1   0x0B1
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1   0x0B1
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2   0x0B2
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2   0x0B2
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3   0x0B3
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3   0x0B3
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4   0x0B4
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4   0x0B4
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5   0x0B5
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5   0x0B5
-
+
-#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT   0xB6
+#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT   0xB6
-#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
+#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
-#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET    0x4F /* 0x14F */
+#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET    0x4F /* 0x14F */
-#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE    0x80
+#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE    0x80
-
+
-/*
+/*
- * Speed of light in um per 1E-10 Seconds
+ * Speed of light in um per 1E-10 Seconds
- */
+ */
-
+
-#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
+#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
-
+
-#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV     0x0089
+#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV     0x0089
-
+
-#define VL53L0X_REG_ALGO_PHASECAL_LIM                         0x0030 /* 0x130 */
+#define VL53L0X_REG_ALGO_PHASECAL_LIM                         0x0030 /* 0x130 */
-#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT              0x0030
+#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT              0x0030
-
+
-/** @} VL53L0X_DefineRegisters_group */
+/** @} VL53L0X_DefineRegisters_group */
-
+
-/** @} VL53L0X_DevSpecDefines_group */
+/** @} VL53L0X_DevSpecDefines_group */
-
+
-
+
-#endif
+#endif
-
+
-/* _VL53L0X_DEVICE_H_ */
+/* _VL53L0X_DEVICE_H_ */
-
+
-
+
@@ -1,16 +0,0 @@
 /*
 * zebra_detect.h — 斑马线检测函数
 * ================================
 * 输入图片 → 返回是否有人行横道 + 距离
 */
 #pragma once
 #include <opencv2/opencv.hpp>
 struct ZebraResult
 {
    bool detected;       // true = 检测到斑马线
    int  distance_px;    // 斑马线下沿距图像下边框的像素距离, -1 = 未检测到
 };
 ZebraResult detect_zebra_crossing(const cv::Mat &bgr_frame);
@@ -7,6 +7,3 @@ target_link_libraries(lidar_test common_lib)
 add_executable(remote_control remote_control.cpp)
 target_link_libraries(remote_control common_lib)
 add_executable(lcd_test lcd_test.cpp)
 target_link_libraries(lcd_test common_lib ${OpenCV_LIBS})
@@ -1,44 +1,44 @@
-#include <iostream>
+#include <iostream>
-#include <opencv2/opencv.hpp>
+#include <opencv2/opencv.hpp>
-#include <csignal>
+#include <csignal>
-#include <atomic>
+#include <atomic>
-#include <thread>
+#include <thread>
-#include <chrono>
+#include <chrono>
-#include <sched.h>
+#include <sched.h>
-#include <sys/resource.h>
+#include <sys/resource.h>
-
+
-#include "global.h"
+#include "global.h"
-#include "camera.h"
+#include "camera.h"
-#include "control.h"
+#include "control.h"
-
+
-std::atomic<bool> running(true);
+std::atomic<bool> running(true);
-void signalHandler(int) { running.store(false); }
+void signalHandler(int) { running.store(false); }
-
+
-int main(void)
+int main(void)
-{
+{
-    std::signal(SIGINT, signalHandler);
+    std::signal(SIGINT, signalHandler);
-
+
-    cfg_load_all();
+    cfg_load_all();
-
+
-    if (CameraInit(0) < 0) {
+    if (CameraInit(0) < 0) {
-        std::cerr << "CameraInit failed" << std::endl;
+        std::cerr << "CameraInit failed" << std::endl;
-        return -1;
+        return -1;
-    }
+    }
-    ControlInit();
+    ControlInit();
-    std::cout << "All services started" << std::endl;
+    std::cout << "All services started" << std::endl;
-
+
-    setpriority(PRIO_PROCESS, 0, -10);
+    setpriority(PRIO_PROCESS, 0, -10);
-
+
-    while (running.load()) {
+    while (running.load()) {
-        CameraHandler();
+        CameraHandler();
-        target_speed = g_cfg.speed;
+        target_speed = g_cfg.speed;
-        sched_yield();
+        sched_yield();
-    }
+    }
-
+
-    std::cout << "Stopping..." << std::endl;
+    std::cout << "Stopping..." << std::endl;
-    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
-    ControlExit();
+    ControlExit();
-    cameraDeInit();
+    cameraDeInit();
-    std::cout << "Stopped." << std::endl;
+    std::cout << "Stopped." << std::endl;
-    return 0;
+    return 0;
-}
+}
@@ -25,7 +25,6 @@
 #include "camera.h"
 #include "model_v10.hpp"
 #include "vl53l0x.h"
 #include "font_bitmap.h"
 #include <fcntl.h>
 #include <unistd.h>
@@ -218,76 +217,6 @@ static void play_zebra_audio()
 }
 // ═══════════════════════════════════════════════════════════
 //  LCD 中文文字渲染
 //
 //  使用 src/font_bitmap.h 中嵌入的 16x16 字模
 // ═══════════════════════════════════════════════════════════
 static const uint8_t* find_glyph(uint32_t codepoint)
 {
    for (int i = 0; i < FONT_GLYPH_COUNT; ++i)
        if (FONT_GLYPHS[i].unicode == codepoint) return FONT_GLYPHS[i].bitmap;
    return nullptr;
 }
 static uint32_t utf8_decode(const char*& p)
 {
    unsigned char c = static_cast<unsigned char>(*p);
    if (c == 0) return 0;
    if ((c & 0x80) == 0) { ++p; return c; }
    if ((c & 0xE0) == 0xC0) {
        uint32_t v = c & 0x1F; ++p;
        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
        return v;
    }
    if ((c & 0xF0) == 0xE0) {
        uint32_t v = c & 0x0F; ++p;
        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
        return v;
    }
    if ((c & 0xF8) == 0xF0) {
        uint32_t v = c & 0x07; ++p;
        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
        v = (v << 6) | (static_cast<unsigned char>(*p++) & 0x3F);
        return v;
    }
    ++p;
    return '?';
 }
 static void lcd_draw_glyph(cv::Mat& img, int x0, int y0, const uint8_t* glyph, const cv::Scalar& color)
 {
    for (int row = 0; row < FONT_SIZE; ++row) {
        for (int col = 0; col < FONT_SIZE; ++col) {
            if (glyph[row * FONT_SIZE + col] > 128) {
                int px = x0 + col;
                int py = y0 + row;
                if (px >= 0 && px < img.cols && py >= 0 && py < img.rows)
                    img.at<cv::Vec3b>(py, px) = cv::Vec3b(static_cast<uchar>(color[0]),
                                                           static_cast<uchar>(color[1]),
                                                           static_cast<uchar>(color[2]));
            }
        }
    }
 }
 static void lcd_draw_chinese_text(cv::Mat& img, const char* text, int x, int y, const cv::Scalar& color)
 {
    const char* p = text;
    int cx = x;
    while (*p) {
        uint32_t cp = utf8_decode(p);
        const uint8_t* glyph = find_glyph(cp);
        if (glyph) {
            lcd_draw_glyph(img, cx, y, glyph, color);
            cx += FONT_SIZE;
        }
    }
 }
 // ═══════════════════════════════════════════════════════════
 //  CameraInit — 系统初始化
 //
@@ -1033,12 +962,15 @@ static void steering_update()
        }
    }
-    if (std::abs(deviation) < g_cfg.deadband) {
+    // 平滑线性转向: 偏差从死区边界开始缩放，消除死区断崖
-        // 死区内 → 直行
+    double effective = std::abs(deviation) - g_cfg.deadband;
    if (effective <= 0) {
        servo.setDutyCycle(1500000);
    } else {
-        // 比例控制: 偏差 → 归一化 → × 增益 × 满偏占空比差
+        double half_w = newWidth / 2.0;
-        double offset  = deviation / (newWidth / 2.0) * g_cfg.steer_gain * 300000;
+        double norm   = effective / (half_w - g_cfg.deadband);
        double sign   = (deviation > 0) ? 1.0 : -1.0;
        double offset = norm * g_cfg.steer_gain * 300000.0 * sign;
        double duty_ns = std::clamp(1500000.0 + offset, 1200000.0, 1800000.0);
        servo.setDutyCycle((unsigned int)duty_ns);
    }
@@ -1102,13 +1034,16 @@ static void motor_update(bool zebra_block, bool tl_block)
    prev_zstate = g_zstate;
    prev_tlstate = g_tl_state;
-    double spd = target_speed * boost_factor();
+    double spd;
-
+    if (boost_factor() > 1.0) {
-    // 斑马线起步后 3.3~5s 降速走稳
+        spd = 26.0;                           // 起步弹射
-    if (g_zstate == Z_COOLDOWN) {
+    } else if (g_zstate == Z_COOLDOWN) {
        spd = 16.0;                           // 冷却期基础速度
        time_t elapsed = time(nullptr) - g_ztime;
        if (elapsed >= 3.3 && elapsed < 5)
-            spd = std::min(spd, 13.0);
+            spd = std::min(spd, 13.0);        // 3.3~5s 降速
    } else {
        spd = target_speed;                   // 正常行驶
    }
    // 弯道减速: 舵机偏差越大 → 速度越低
@@ -1,66 +1,66 @@
-#include "global.h"
+#include "global.h"
-#include <fstream>
+#include <fstream>
-
+
-CfgCache g_cfg;
+CfgCache g_cfg;
-double target_speed;
+double target_speed;
-
+
-double readDoubleFromFile(const std::string &filename)
+double readDoubleFromFile(const std::string &filename)
-{
+{
-    std::ifstream file(filename);
+    std::ifstream file(filename);
-    double value = 0.0;
+    double value = 0.0;
-    if (file.is_open()) { file >> value; file.close(); }
+    if (file.is_open()) { file >> value; file.close(); }
-    return value;
+    return value;
-}
+}
-
+
-bool readFlag(const std::string &filename)
+bool readFlag(const std::string &filename)
-{
+{
-    std::ifstream file(filename);
+    std::ifstream file(filename);
-    int flag = 0;
+    int flag = 0;
-    if (file.is_open()) { file >> flag; file.close(); }
+    if (file.is_open()) { file >> flag; file.close(); }
-    return flag;
+    return flag;
-}
+}
-
+
-void cfg_load_all()
+void cfg_load_all()
-{
+{
-    g_cfg.speed       = readDoubleFromFile(speed_file);
+    g_cfg.speed       = readDoubleFromFile(speed_file);
-    g_cfg.foresee     = readDoubleFromFile(foresee_file);
+    g_cfg.foresee     = readDoubleFromFile(foresee_file);
-    g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file);
+    g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file);
-    g_cfg.sharp_turn_scale   = readDoubleFromFile(sharp_turn_scale_file);
+    g_cfg.sharp_turn_scale   = readDoubleFromFile(sharp_turn_scale_file);
-    g_cfg.zebrasee    = readDoubleFromFile(zebrasee_file);
+    g_cfg.zebrasee    = readDoubleFromFile(zebrasee_file);
-    g_cfg.deadband    = readDoubleFromFile(deadband_file);
+    g_cfg.deadband    = readDoubleFromFile(deadband_file);
-    g_cfg.steer_gain  = readDoubleFromFile(steer_gain_file);
+    g_cfg.steer_gain  = readDoubleFromFile(steer_gain_file);
-    g_cfg.center_bias = readDoubleFromFile(center_bias_file);
+    g_cfg.center_bias = readDoubleFromFile(center_bias_file);
-    g_cfg.start       = readFlag(start_file);
+    g_cfg.start       = readFlag(start_file);
-    g_cfg.showImg     = readFlag(showImg_file);
+    g_cfg.showImg     = readFlag(showImg_file);
-    g_cfg.debug       = readFlag(debug_file);
+    g_cfg.debug       = readFlag(debug_file);
-
+
-    g_cfg.cone_speed      = readDoubleFromFile(cone_speed_file);
+    g_cfg.cone_speed      = readDoubleFromFile(cone_speed_file);
-    g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file);
+    g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file);
-    g_cfg.cone_margin     = (int)readDoubleFromFile(cone_margin_file);
+    g_cfg.cone_margin     = (int)readDoubleFromFile(cone_margin_file);
-    g_cfg.cone_thresh     = readDoubleFromFile(cone_thresh_file);
+    g_cfg.cone_thresh     = readDoubleFromFile(cone_thresh_file);
-    g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file);
+    g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file);
-    g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file);
+    g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file);
-    g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file);
+    g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file);
-    g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file);
+    g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file);
-    g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file);
+    g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file);
-
+
-    g_cfg.brake_scale = readDoubleFromFile(brake_scale_file);
+    g_cfg.brake_scale = readDoubleFromFile(brake_scale_file);
-    g_cfg.brake_max   = readDoubleFromFile(brake_max_file);
+    g_cfg.brake_max   = readDoubleFromFile(brake_max_file);
-
+
-    g_cfg.curve_slope = readDoubleFromFile(curve_slope_file);
+    g_cfg.curve_slope = readDoubleFromFile(curve_slope_file);
-    g_cfg.curve_min   = readDoubleFromFile(curve_min_file);
+    g_cfg.curve_min   = readDoubleFromFile(curve_min_file);
-
+
-    g_cfg.lidar_thresh      = (int)readDoubleFromFile(lidar_thresh_file);
+    g_cfg.lidar_thresh      = (int)readDoubleFromFile(lidar_thresh_file);
-    g_cfg.lidar_pre         = (int)readDoubleFromFile(lidar_pre_file);
+    g_cfg.lidar_pre         = (int)readDoubleFromFile(lidar_pre_file);
-    g_cfg.lidar_near        = (int)readDoubleFromFile(lidar_near_file);
+    g_cfg.lidar_near        = (int)readDoubleFromFile(lidar_near_file);
-    g_cfg.lidar_far         = (int)readDoubleFromFile(lidar_far_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_start  = (int)readDoubleFromFile(lidar_near_start_file);
-    g_cfg.lidar_near_end    = (int)readDoubleFromFile(lidar_near_end_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_far_span    = (int)readDoubleFromFile(lidar_far_span_file);
-    g_cfg.lidar_min_frames  = (int)readDoubleFromFile(lidar_min_frames_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_gain  = readDoubleFromFile(lidar_avoid_gain_file);
-    g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file);
+    g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file);
-    g_cfg.lidar_speed       = readDoubleFromFile(lidar_speed_file);
+    g_cfg.lidar_speed       = readDoubleFromFile(lidar_speed_file);
-    g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file);
+    g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file);
-    g_cfg.lidar_enable      = (int)readDoubleFromFile(lidar_enable_file);
+    g_cfg.lidar_enable      = (int)readDoubleFromFile(lidar_enable_file);
-}
+}
@@ -69,10 +69,12 @@ cv::Mat image_binerize(cv::Mat &frame)
    cv::cvtColor(frame, hsvImage, cv::COLOR_BGR2HSV);
    cv::split(hsvImage, hsvChannels);
-    cv::threshold(hsvChannels[0], binarizedFrame,
+    cv::adaptiveThreshold(hsvChannels[0], binarizedFrame, 255,
-                  0, 255, cv::THRESH_BINARY_INV | cv::THRESH_OTSU);
+                           cv::ADAPTIVE_THRESH_GAUSSIAN_C,
-    cv::threshold(hsvChannels[1], output,
+                           cv::THRESH_BINARY_INV, 11, 2);
-                  0, 255, cv::THRESH_BINARY_INV | cv::THRESH_OTSU);
+    cv::adaptiveThreshold(hsvChannels[1], output, 255,
                           cv::ADAPTIVE_THRESH_GAUSSIAN_C,
                           cv::THRESH_BINARY_INV, 11, 2);
    cv::bitwise_or(output, binarizedFrame, output);
@@ -104,7 +106,7 @@ cv::Mat image_binerize(cv::Mat &frame)
 // ============================================================
 cv::Mat find_road(cv::Mat &frame)
 {
-    static cv::Mat kernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
+    static cv::Mat kernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(7, 7));
    cv::morphologyEx(binarizedFrame, morphologyExFrame, cv::MORPH_OPEN, kernel);
    static cv::Mat mask;
@@ -173,6 +175,9 @@ void image_main()
    cv::merge(labCh, labFrame);
    cv::cvtColor(labFrame, resizedFrame, cv::COLOR_Lab2BGR);
    // ── 1.6 高斯模糊 → 融合反光噪点 ────────────────────
    cv::GaussianBlur(resizedFrame, resizedFrame, cv::Size(5, 5), 0);
    // ── 2. HSV 双通道 Otsu 二值化 ─────────────────────
    // 赛道区域 = 白色(255)，背景/边界 = 黑色(0)
    binarizedFrame = image_binerize(resizedFrame);
@@ -1,174 +1,174 @@
-#include "vl53l0x.h"
+#include "vl53l0x.h"
-#include <fcntl.h>
+#include <fcntl.h>
-#include <unistd.h>
+#include <unistd.h>
-#include <sys/ioctl.h>
+#include <sys/ioctl.h>
-#include <linux/i2c-dev.h>
+#include <linux/i2c-dev.h>
-#include <cstring>
+#include <cstring>
-#include <cstdio>
+#include <cstdio>
-#include <cerrno>
+#include <cerrno>
-
+
-extern "C" {
+extern "C" {
-#include "vl53l0x_api.h"
+#include "vl53l0x_api.h"
-}
+}
-
+
-static void unbind_kernel_driver()
+static void unbind_kernel_driver()
-{
+{
-	FILE *f = fopen("/sys/bus/i2c/drivers/stmvl53l0/unbind", "w");
+	FILE *f = fopen("/sys/bus/i2c/drivers/stmvl53l0/unbind", "w");
-	if (f) {
+	if (f) {
-		fprintf(f, "1-0029");
+		fprintf(f, "1-0029");
-		fclose(f);
+		fclose(f);
-	}
+	}
-}
+}
-
+
-VL53L0X::VL53L0X()
+VL53L0X::VL53L0X()
-	: fd(-1), initialized(false)
+	: fd(-1), initialized(false)
-{
+{
-	memset(&dev, 0, sizeof(dev));
+	memset(&dev, 0, sizeof(dev));
-}
+}
-
+
-VL53L0X::~VL53L0X()
+VL53L0X::~VL53L0X()
-{
+{
-	stop();
+	stop();
-}
+}
-
+
-bool VL53L0X::init()
+bool VL53L0X::init()
-{
+{
-	unbind_kernel_driver();
+	unbind_kernel_driver();
-	usleep(100000);
+	usleep(100000);
-
+
-	fd = open("/dev/i2c-1", O_RDWR);
+	fd = open("/dev/i2c-1", O_RDWR);
-	if (fd < 0) {
+	if (fd < 0) {
-		fprintf(stderr, "[VL53L0X] open /dev/i2c-1 failed: %s\n", strerror(errno));
+		fprintf(stderr, "[VL53L0X] open /dev/i2c-1 failed: %s\n", strerror(errno));
-		return false;
+		return false;
-	}
+	}
-
+
-	if (ioctl(fd, I2C_SLAVE, 0x29) < 0) {
+	if (ioctl(fd, I2C_SLAVE, 0x29) < 0) {
-		fprintf(stderr, "[VL53L0X] I2C_SLAVE failed: %s\n", strerror(errno));
+		fprintf(stderr, "[VL53L0X] I2C_SLAVE failed: %s\n", strerror(errno));
-		close(fd);
+		close(fd);
-		fd = -1;
+		fd = -1;
-		return false;
+		return false;
-	}
+	}
-
+
-	dev.I2cDevAddr = 0x29;
+	dev.I2cDevAddr = 0x29;
-	dev.i2c_fd = fd;
+	dev.i2c_fd = fd;
-
+
-	VL53L0X_Error Status = VL53L0X_DataInit(&dev);
+	VL53L0X_Error Status = VL53L0X_DataInit(&dev);
-	if (Status != VL53L0X_ERROR_NONE) {
+	if (Status != VL53L0X_ERROR_NONE) {
-		fprintf(stderr, "[VL53L0X] DataInit failed: %d\n", Status);
+		fprintf(stderr, "[VL53L0X] DataInit failed: %d\n", Status);
-		close(fd);
+		close(fd);
-		fd = -1;
+		fd = -1;
-		return false;
+		return false;
-	}
+	}
-
+
-	Status = VL53L0X_StaticInit(&dev);
+	Status = VL53L0X_StaticInit(&dev);
-	if (Status != VL53L0X_ERROR_NONE) {
+	if (Status != VL53L0X_ERROR_NONE) {
-		fprintf(stderr, "[VL53L0X] StaticInit failed: %d\n", Status);
+		fprintf(stderr, "[VL53L0X] StaticInit failed: %d\n", Status);
-		close(fd);
+		close(fd);
-		fd = -1;
+		fd = -1;
-		return false;
+		return false;
-	}
+	}
-
+
-	uint32_t refSpadCount;
+	uint32_t refSpadCount;
-	uint8_t isApertureSpads;
+	uint8_t isApertureSpads;
-	uint8_t VhvSettings;
+	uint8_t VhvSettings;
-	uint8_t PhaseCal;
+	uint8_t PhaseCal;
-
+
-	VL53L0X_PerformRefCalibration(&dev, &VhvSettings, &PhaseCal);
+	VL53L0X_PerformRefCalibration(&dev, &VhvSettings, &PhaseCal);
-	VL53L0X_PerformRefSpadManagement(&dev, &refSpadCount, &isApertureSpads);
+	VL53L0X_PerformRefSpadManagement(&dev, &refSpadCount, &isApertureSpads);
-
+
-	Status = VL53L0X_SetDeviceMode(&dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
+	Status = VL53L0X_SetDeviceMode(&dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
-	if (Status != VL53L0X_ERROR_NONE) {
+	if (Status != VL53L0X_ERROR_NONE) {
-		fprintf(stderr, "[VL53L0X] SetDeviceMode failed: %d\n", Status);
+		fprintf(stderr, "[VL53L0X] SetDeviceMode failed: %d\n", Status);
-		close(fd);
+		close(fd);
-		fd = -1;
+		fd = -1;
-		return false;
+		return false;
-	}
+	}
-
+
-	VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&dev, 20000);
+	VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&dev, 20000);
-
+
-	uint32_t actualBudget = 0;
+	uint32_t actualBudget = 0;
-	VL53L0X_GetMeasurementTimingBudgetMicroSeconds(&dev, &actualBudget);
+	VL53L0X_GetMeasurementTimingBudgetMicroSeconds(&dev, &actualBudget);
-	fprintf(stderr, "[VL53L0X] timing budget = %u us\n", actualBudget);
+	fprintf(stderr, "[VL53L0X] timing budget = %u us\n", actualBudget);
-
+
-	initialized = true;
+	initialized = true;
-	fprintf(stderr, "[VL53L0X] init OK\n");
+	fprintf(stderr, "[VL53L0X] init OK\n");
-	return true;
+	return true;
-}
+}
-
+
-bool VL53L0X::readRange(VL53L0X_RangingMeasurementData_t &data)
+bool VL53L0X::readRange(VL53L0X_RangingMeasurementData_t &data)
-{
+{
-	if (!initialized) return false;
+	if (!initialized) return false;
-
+
-	VL53L0X_Error Status;
+	VL53L0X_Error Status;
-
+
-	VL53L0X_ClearInterruptMask(&dev, 0);
+	VL53L0X_ClearInterruptMask(&dev, 0);
-	Status = VL53L0X_StartMeasurement(&dev);
+	Status = VL53L0X_StartMeasurement(&dev);
-	if (Status != VL53L0X_ERROR_NONE) {
+	if (Status != VL53L0X_ERROR_NONE) {
-		fprintf(stderr, "[VL53L0X] StartMeasurement failed: %d\n", Status);
+		fprintf(stderr, "[VL53L0X] StartMeasurement failed: %d\n", Status);
-		return false;
+		return false;
-	}
+	}
-
+
-	uint8_t ready = 0;
+	uint8_t ready = 0;
-	int timeout = 500;
+	int timeout = 500;
-	while (!ready && --timeout > 0) {
+	while (!ready && --timeout > 0) {
-		Status = VL53L0X_GetMeasurementDataReady(&dev, &ready);
+		Status = VL53L0X_GetMeasurementDataReady(&dev, &ready);
-		if (Status != VL53L0X_ERROR_NONE)
+		if (Status != VL53L0X_ERROR_NONE)
-			break;
+			break;
-		if (!ready)
+		if (!ready)
-			usleep(1000);
+			usleep(1000);
-	}
+	}
-
+
-	if (!ready) {
+	if (!ready) {
-		fprintf(stderr, "[VL53L0X] measurement timeout\n");
+		fprintf(stderr, "[VL53L0X] measurement timeout\n");
-		return false;
+		return false;
-	}
+	}
-
+
-	Status = VL53L0X_GetRangingMeasurementData(&dev, &data);
+	Status = VL53L0X_GetRangingMeasurementData(&dev, &data);
-	if (Status != VL53L0X_ERROR_NONE) {
+	if (Status != VL53L0X_ERROR_NONE) {
-		fprintf(stderr, "[VL53L0X] GetRangingMeasurementData failed: %d\n", Status);
+		fprintf(stderr, "[VL53L0X] GetRangingMeasurementData failed: %d\n", Status);
-		return false;
+		return false;
-	}
+	}
-
+
-	VL53L0X_ClearInterruptMask(&dev, 0);
+	VL53L0X_ClearInterruptMask(&dev, 0);
-	return true;
+	return true;
-}
+}
-
+
-bool VL53L0X::startMeasure()
+bool VL53L0X::startMeasure()
-{
+{
-	if (!initialized) return false;
+	if (!initialized) return false;
-	VL53L0X_ClearInterruptMask(&dev, 0);
+	VL53L0X_ClearInterruptMask(&dev, 0);
-	VL53L0X_Error Status = VL53L0X_StartMeasurement(&dev);
+	VL53L0X_Error Status = VL53L0X_StartMeasurement(&dev);
-	return (Status == VL53L0X_ERROR_NONE);
+	return (Status == VL53L0X_ERROR_NONE);
-}
+}
-
+
-bool VL53L0X::readResult(VL53L0X_RangingMeasurementData_t &data)
+bool VL53L0X::readResult(VL53L0X_RangingMeasurementData_t &data)
-{
+{
-	if (!initialized) return false;
+	if (!initialized) return false;
-
+
-	uint8_t ready = 0;
+	uint8_t ready = 0;
-	VL53L0X_Error Status;
+	VL53L0X_Error Status;
-	int timeout = 25;  // 25ms max, 读不到就跳过
+	int timeout = 25;  // 25ms max, 读不到就跳过
-	while (!ready && --timeout > 0) {
+	while (!ready && --timeout > 0) {
-		Status = VL53L0X_GetMeasurementDataReady(&dev, &ready);
+		Status = VL53L0X_GetMeasurementDataReady(&dev, &ready);
-		if (Status != VL53L0X_ERROR_NONE)
+		if (Status != VL53L0X_ERROR_NONE)
-			return false;
+			return false;
-		if (!ready)
+		if (!ready)
-			usleep(1000);
+			usleep(1000);
-	}
+	}
-
+
-	if (!ready) return false;
+	if (!ready) return false;
-
+
-	Status = VL53L0X_GetRangingMeasurementData(&dev, &data);
+	Status = VL53L0X_GetRangingMeasurementData(&dev, &data);
-	VL53L0X_ClearInterruptMask(&dev, 0);
+	VL53L0X_ClearInterruptMask(&dev, 0);
-	return (Status == VL53L0X_ERROR_NONE);
+	return (Status == VL53L0X_ERROR_NONE);
-}
+}
-
+
-bool VL53L0X::stop()
+bool VL53L0X::stop()
-{
+{
-	if (fd >= 0) {
+	if (fd >= 0) {
-		close(fd);
+		close(fd);
-		fd = -1;
+		fd = -1;
-	}
+	}
-	initialized = false;
+	initialized = false;
-	return true;
+	return true;
-}
+}
@@ -1,312 +0,0 @@
 /*
 * zebra_detect.cpp — 斑马线检测实现
 * 算法对齐 gd13.py: 透视变换 → 白色掩码 → Sobel 梯度 → 滑窗判定
 */
 #define ZEBRA_DEBUG 1
 #include "zebra_detect.h"
 #include <cmath>
 #include <cstdio>
 using namespace cv;
 using namespace std;
 #if ZEBRA_DEBUG
 #define ZLOG(fmt, ...) fprintf(stderr, "[zebra] " fmt "\n", ##__VA_ARGS__)
 #else
 #define ZLOG(fmt, ...) ((void)0)
 #endif
 // ============================================================
 // 参数 (对齐 gd13.py)
 // ============================================================
 static const int   PROC_SIZE       = 400;
 static const int   WIN_H           = 120;
 static const int   WIN_W           = 300;
 static const int   WIN_STEP        = 20;
 static const float AMP_THRESH      = 12.0f;
 static const int   COUNT_THRESH    = 150;
 static const float MIN_VRATIO      = 0.45f;
 static const int   MIN_VPIXELS     = 300;
 // ============================================================
 // 透视变换矩阵
 // ============================================================
 static Mat get_birdview_transform()
 {
    vector<Point2f> src = {
        {30.f,  380.f},
        {370.f, 380.f},
        {320.f, 180.f},
        {80.f,  180.f}
    };
    vector<Point2f> dst = {
        {50.f,  350.f},
        {350.f, 350.f},
        {350.f, 50.f},
        {50.f,  50.f}
    };
    return getPerspectiveTransform(src, dst);
 }
 // ============================================================
 // 白色掩码 (HSV)
 // ============================================================
 static Mat get_white_zebra_mask(const Mat &bgr)
 {
    Mat hsv;
    cvtColor(bgr, hsv, COLOR_BGR2HSV);
    Mat white_mask;
    inRange(hsv, Scalar(0, 0, 180), Scalar(180, 30, 255), white_mask);
    ZLOG("  白掩码 H:[0,180] S:[0,30] V:[180,255] 白色像素=%d", countNonZero(white_mask));
    Mat brown_mask;
    inRange(hsv, Scalar(10, 20, 80), Scalar(30, 100, 200), brown_mask);
    ZLOG("  棕掩码 H:[10,30] S:[20,100] V:[80,200] 棕色像素=%d", countNonZero(brown_mask));
    Mat not_brown;
    bitwise_not(brown_mask, not_brown);
    bitwise_and(white_mask, not_brown, white_mask);
    ZLOG("  排除棕色后白色像素=%d", countNonZero(white_mask));
    Mat kernel = getStructuringElement(MORPH_RECT, Size(2, 2));
    morphologyEx(white_mask, white_mask, MORPH_OPEN,  kernel, Point(-1,-1), 1);
    morphologyEx(white_mask, white_mask, MORPH_CLOSE, kernel, Point(-1,-1), 1);
    ZLOG("  开闭运算后白色像素=%d", countNonZero(white_mask));
    return white_mask;
 }
 // ============================================================
 // 预处理
 // ============================================================
 static Mat preprocess(const Mat &bgr)
 {
    Mat white_mask = get_white_zebra_mask(bgr);
    Mat gray;
    cvtColor(bgr, gray, COLOR_BGR2GRAY);
    bitwise_and(gray, gray, gray, white_mask);
    medianBlur(gray, gray, 3);
    Mat kernel1 = getStructuringElement(MORPH_RECT, Size(3, 3));
    Mat kernel2 = getStructuringElement(MORPH_RECT, Size(5, 5));
    morphologyEx(gray, gray, MORPH_OPEN,  kernel1, Point(-1,-1), 1);
    morphologyEx(gray, gray, MORPH_CLOSE, kernel2, Point(-1,-1), 1);
    return gray;
 }
 // ============================================================
 // 梯度计算
 // ============================================================
 static void compute_gradient(const Mat &gray, Mat &amplitude, Mat &theta)
 {
    Mat sobelx, sobely;
    Sobel(gray, sobelx, CV_32F, 1, 0, 3);
    Sobel(gray, sobely, CV_32F, 0, 1, 3);
    phase(sobelx, sobely, theta, true);
    for (int r = 0; r < theta.rows; ++r)
        for (int c = 0; c < theta.cols; ++c)
            theta.at<float>(r, c) = fmod(theta.at<float>(r, c), 180.f);
    magnitude(sobelx, sobely, amplitude);
    // 统计过滤前
    int before = countNonZero(amplitude);
    for (int r = 0; r < amplitude.rows; ++r)
        for (int c = 0; c < amplitude.cols; ++c)
            if (amplitude.at<float>(r, c) < 10.f)
                amplitude.at<float>(r, c) = 0.f;
    int after = countNonZero(amplitude);
    double amp_min, amp_max;
    minMaxLoc(amplitude, &amp_min, &amp_max);
    ZLOG("  梯度: 过滤前=%d, 过滤后(amp>10)=%d, 幅值范围=[%.1f, %.1f]",
         before, after, amp_min, amp_max);
 }
 // ============================================================
 // 单窗口判定 (无 vector 分配, 避免 OOM)
 // ============================================================
 static bool is_zebra_window(const Mat &amp_win, const Mat &ang_win, int win_top)
 {
    ZLOG("--- 窗口 top=%d [%dx%d] ---", win_top, amp_win.cols, amp_win.rows);
    int total     = 0;      // amplitude > AMP_THRESH 的像素总数
    int hist[4]   = {0};    // 水平边缘直方图 [80-85,85-90,90-95,95-100)
    int v_count   = 0;      // 垂直边缘计数 [0-10]∪[170-180]
    // 单次遍历: 同时统计 total, hist, v_count
    for (int r = 0; r < amp_win.rows; ++r)
    {
        for (int c = 0; c < amp_win.cols; ++c)
        {
            float amp = amp_win.at<float>(r, c);
            if (amp <= AMP_THRESH)
                continue;
            ++total;
            float a = ang_win.at<float>(r, c);
            if (a >= 80.f && a < 100.f)
            {
                int bin = (int)(a - 80.f) / 5;
                if (bin >= 0 && bin < 4)
                    hist[bin]++;
            }
            if (a <= 10.f || a >= 170.f)
                ++v_count;
        }
    }
    ZLOG("  梯度像素(amplitude>%.0f)=%d", AMP_THRESH, total);
    if (total == 0)
    {
        ZLOG("  -> 丢弃: 无有效梯度像素");
        return false;
    }
    // 找峰值 bin
    int peak = 0, peak_bin = 0;
    for (int i = 0; i < 4; ++i)
        if (hist[i] > peak) { peak = hist[i]; peak_bin = i; }
    // 二次遍历: 统计峰值方向的像素数 (需要知道具体区间)
    int h_count = 0;
    float low_a  = 80.f + peak_bin * 5.f;
    float high_a = low_a + 5.f;
    for (int r = 0; r < amp_win.rows; ++r)
    {
        for (int c = 0; c < amp_win.cols; ++c)
        {
            if (amp_win.at<float>(r, c) <= AMP_THRESH)
                continue;
            float a = ang_win.at<float>(r, c);
            if (a >= low_a && a <= high_a)
                ++h_count;
        }
    }
    ZLOG("  水平边缘[80-100): hist=[%d,%d,%d,%d], 峰值bin=%d(%.0f-%.0f度), "
         "峰值像素=%d, 阈值=%d",
         hist[0], hist[1], hist[2], hist[3],
         peak_bin, low_a, high_a, h_count, COUNT_THRESH);
    if (h_count < COUNT_THRESH)
    {
        ZLOG("  -> 丢弃: 水平边缘像素不足 (%d < %d)", h_count, COUNT_THRESH);
        return false;
    }
    float v_ratio = (float)v_count / (float)(total + 1e-6);
    ZLOG("  垂直边缘[0-10|170-180]: 像素=%d, 占比=%.3f, 要求: >=%d && 占比>=%.2f",
         v_count, v_ratio, MIN_VPIXELS, MIN_VRATIO);
    if (v_count < MIN_VPIXELS)
    {
        ZLOG("  -> 丢弃: 垂直像素不足 (%d < %d)", v_count, MIN_VPIXELS);
        return false;
    }
    if (v_ratio < MIN_VRATIO)
    {
        ZLOG("  -> 丢弃: 垂直占比不足 (%.3f < %.2f)", v_ratio, MIN_VRATIO);
        return false;
    }
    ZLOG("  -> 判定: 斑马线窗口!");
    return true;
 }
 // ============================================================
 // detect_zebra_crossing — 主检测函数
 // ============================================================
 ZebraResult detect_zebra_crossing(const Mat &bgr_frame)
 {
    ZebraResult result;
    result.detected    = false;
    result.distance_px = -1;
    ZLOG("========================================");
    ZLOG("新帧开始: 输入尺寸=%dx%d", bgr_frame.cols, bgr_frame.rows);
    if (bgr_frame.empty())
    {
        ZLOG("错误: 输入帧为空");
        return result;
    }
    static Mat M = get_birdview_transform();
    static Mat proc, birdview, roi, gray, amplitude, theta;
    // 1. 缩放 → 透视变换 → 裁剪 ROI(顶部30px) → 恢复 400×400
    resize(bgr_frame, proc, Size(PROC_SIZE, PROC_SIZE));
    ZLOG("步骤1-缩放: %dx%d -> %dx%d", bgr_frame.cols, bgr_frame.rows,
         PROC_SIZE, PROC_SIZE);
    warpPerspective(proc, birdview, M, Size(PROC_SIZE, PROC_SIZE));
    roi = birdview(Rect(0, 30, PROC_SIZE, PROC_SIZE - 30));
    resize(roi, proc, Size(PROC_SIZE, PROC_SIZE));
    ZLOG("步骤1-透视+ROI: 裁剪顶部30px, 鸟瞰输出=%dx%d", proc.cols, proc.rows);
    // 2. 预处理 + 梯度
    ZLOG("步骤2-预处理开始");
    gray = preprocess(proc);
    ZLOG("步骤2-预处理完成, 灰度非零像素=%d", countNonZero(gray));
    ZLOG("步骤3-梯度计算开始");
    compute_gradient(gray, amplitude, theta);
    int amp_nz = countNonZero(amplitude);
    ZLOG("步骤3-梯度完成, 总非零梯度像素=%d", amp_nz);
    if (amp_nz == 0)
    {
        ZLOG("结果: 无梯度 → 未检测到斑马线");
        return result;
    }
    // 3. 滑动窗口
    ZLOG("步骤4-滑动窗口: 窗口=%dx%d, 步长=%d, 遍历范围=[0,%d]",
         WIN_W, WIN_H, WIN_STEP, proc.rows - WIN_H);
    int z_ymin = proc.rows;
    int z_ymax = 0;
    int valid = 0;
    int total_wins = 0;
    for (int top = 0; top <= proc.rows - WIN_H; top += WIN_STEP)
    {
        ++total_wins;
        Rect win(0, top, WIN_W, WIN_H);
        if (is_zebra_window(amplitude(win), theta(win), top))
        {
            ++valid;
            if (top < z_ymin)          z_ymin = top;
            if (top + WIN_H > z_ymax)  z_ymax = top + WIN_H;
        }
    }
    // 4. 判定
    int span = z_ymax - z_ymin;
    ZLOG("步骤5-汇总: 总窗口=%d, 有效=%d, "
         "斑马线区域: top=%d~%d, 跨度=%d, 判定阈值=%d",
         total_wins, valid, z_ymin, z_ymax, span, WIN_H);
    if (span > WIN_H)
    {
        result.detected    = true;
        result.distance_px = PROC_SIZE - z_ymax;
        ZLOG("结果: 检测到斑马线! 下沿距底部=%dpx (ymax=%d)",
             result.distance_px, z_ymax);
    }
    else
    {
        ZLOG("结果: 未检测到斑马线 (跨度%d <= 阈值%d)", span, WIN_H);
    }
    return result;
 }
@@ -0,0 +1,123 @@
 """
 Mild Mega r2 → mild_v13.bin 导出
 架构: 3→9→9→13→13→19→19→19→44→44→64→64 → head(dw,64→64) → out(64→9)
 无残差连接, 纯顺序 conv_bn_relu + SE
 """
 import sys, struct, os
 import torch
 import torch.nn as nn
 import numpy as np
 class MildMegaR2(nn.Module):
    def __init__(self, num_classes=4):
        super().__init__()
        channels = [3, 9, 9, 13, 13, 19, 19, 19, 44, 44, 64, 64]
        strides  = [2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1]
        for i in range(11):
            in_c, out_c, s = channels[i], channels[i + 1], strides[i]
            if s == 2:
                conv = nn.Conv2d(in_c, out_c, 3, s, 1, bias=False)
            elif in_c == out_c:
                conv = nn.Conv2d(in_c, out_c, 3, 1, 1, groups=in_c, bias=False)
            else:
                conv = nn.Conv2d(in_c, out_c, 1, 1, 0, bias=False)
            setattr(self, f'b{i + 1}', nn.Sequential(
                conv,
                nn.BatchNorm2d(out_c),
                nn.ReLU(inplace=True),
            ))
            mid = out_c // 2
            setattr(self, f'se_{i}', nn.Sequential(
                nn.AdaptiveAvgPool2d(1),
                nn.Conv2d(out_c, mid, 1, bias=True),
                nn.ReLU(inplace=True),
                nn.Conv2d(mid, out_c, 1, bias=True),
                nn.Sigmoid(),
            ))
        # head: depthwise 3x3, 64→64
        self.head = nn.Sequential(
            nn.Conv2d(64, 64, 3, 1, 1, groups=64, bias=False),
            nn.BatchNorm2d(64),
            nn.ReLU(inplace=True),
        )
        # output: 1x1 conv, 64→(4 class + 1 bg + 4 bbox) = 9
        self.out = nn.Conv2d(64, 9, 1, bias=True)
    def forward(self, x):
        for i in range(11):
            x = getattr(self, f'b{i + 1}')(x)
            se_out = getattr(self, f'se_{i}')(x)
            x = x * se_out
        x = self.head(x)
        x = self.out(x)
        return x
 def export(pth_path, bin_path):
    model = MildMegaR2(num_classes=4)
    ckpt = torch.load(pth_path, map_location='cpu', weights_only=False)
    # Handle wrapped checkpoint
    if isinstance(ckpt, dict) and 'model' in ckpt:
        ckpt = ckpt['model']
    if isinstance(ckpt, dict) and 'state_dict' in ckpt:
        ckpt = ckpt['state_dict']
    # Remove 'module.' prefix (from DataParallel/DDP)
    cleaned = {}
    for k, v in ckpt.items():
        nk = k.replace('module.', '')
        cleaned[nk] = v
    model.load_state_dict(cleaned, strict=False)
    model.eval()
    params = {}
    for name, param in model.named_parameters():
        params[name] = param.detach().cpu().numpy().astype(np.float32)
    for name, buf in model.named_buffers():
        params[name] = buf.detach().cpu().numpy().astype(np.float32)
    total = sum(v.size for v in params.values())
    print(f"Layers: {len(params)}, params: {total:,} ≈ {total / 1000:.1f}K")
    for k, v in sorted(params.items()):
        sh = str(list(v.shape))
        print(f"  {k:50s} {sh:25s} {v.size:,}")
    with open(bin_path, 'wb') as f:
        f.write(struct.pack('i', len(params)))
        for name in sorted(params.keys()):
            arr = params[name]
            nb = name.encode('utf-8')
            f.write(struct.pack('i', len(nb)))
            f.write(nb)
            f.write(struct.pack('i', arr.ndim))
            for d in arr.shape:
                f.write(struct.pack('i', d))
            f.write(arr.tobytes())
    size_kb = os.path.getsize(bin_path) / 1024
    print(f"\nExported: {bin_path} ({size_kb:.0f} KB)")
    # Quick inference test
    x = torch.randn(1, 3, 120, 160)
    with torch.no_grad():
        y = model(x)
    print(f"Input: {list(x.shape)} → Output: {list(y.shape)} (OK)")
    return True
 if __name__ == '__main__':
    import os
    os.chdir(os.path.dirname(os.path.abspath(__file__)))
    pth = 'best_v13_mild_r2.pth'
    if not os.path.exists(pth):
        print(f"ERROR: {pth} not found")
        sys.exit(1)
    export(pth, 'mild_v13.bin')
@@ -0,0 +1,18 @@
 import torch, sys, os
 os.chdir(os.path.dirname(os.path.abspath(__file__)))
 pth = 'best_v13_mild_r2.pth'
 ckpt = torch.load(pth, map_location='cpu', weights_only=False)
 print(f"Type: {type(ckpt).__name__}")
 if isinstance(ckpt, dict):
    if 'model' in ckpt:
        print("Has 'model' key")
        ckpt = ckpt['model']
    if 'state_dict' in ckpt:
        print("Has 'state_dict' key")
        ckpt = ckpt['state_dict']
    print(f"\nTotal keys: {len(ckpt)}")
    for k, v in sorted(ckpt.items()):
        shape = tuple(v.shape) if hasattr(v, 'shape') else 'scalar'
        print(f"  {k:50s} {str(shape)}")
 else:
    print("Not a dict, top-level keys unknown")
Author	SHA1	Message	Date
spdis	3f96df39d4	Revert: 移除CLAHE预处理(模型反光加剧)	2026-07-07 18:20:46 +08:00
spdis	0502948bcd	speed20: raw_frame CLAHE预处理(搜线+模型共享,clipLimit=1.5)	2026-07-07 18:06:17 +08:00
spdis	cbb54b4882	speed20: Otsu全局阈值改为自适应局部阈值(11x11 Gaussian)	2026-07-07 17:52:01 +08:00
spdis	66fb213861	chore: 工具链搬至~/loongson-*, OpenCV搬至D盘	2026-07-07 15:04:10 +08:00
spdis	97e06314cc	speed20: 搜线强化(GaussianBlur5x5+形态学7x7)	2026-07-06 19:00:10 +08:00
spdis	ad48c955d9	speed20: 搜线反光优化(高斯模糊+形态学核5x5)	2026-07-06 18:49:03 +08:00
spdis	b69a5ff5bc	speed20: V通道反光剔除(高亮+低饱和像素标记为非赛道)	2026-07-06 18:35:46 +08:00
spdis	a43ff769d4	speed20: 平滑线性转向消除死区断崖	2026-07-06 17:25:24 +08:00
spdis	afc839e8cb	speed20: Z_COOLDOWN基础速度16+保留原有降速13	2026-07-06 17:21:33 +08:00
spdis	08b00d6c97	speed20: boost固定26 + Z_COOLDOWN定速16	2026-07-06 17:19:17 +08:00
spdis	b9141eaf8a	fix1: boost恢复为1.6x乘法	2026-07-06 17:13:02 +08:00
spdis	e720009794	fix: boost改为固定26 + 删除死代码 - motor_update: boost从乘法改为固定值26 - 删除废弃的font_bitmap.h中文渲染代码(已改用PNG) - 移除无源码的lcd_test编译目标 - 设备speed=20	2026-07-06 17:11:15 +08:00
spdis	8ee66fe444	{固化}16速45秒两圈	2026-07-06 17:02:10 +08:00
spdis	7b220f5c3b	docs: 更新ARCHITECTURE.md参数表与行为文档 - 模型: Mild v12->v13, 阈值更新为{0.80,0.70,0.80,0.85} - 新增 foresee_lost_scale / sharp_turn_scale 参数 - 移除已删除的 zebra_detect.cpp 引用 - 新增 zebra 冷却期控制策略表(foresee/bang-bang/降速) - 新增 pedestrian_stop.png LCD 图片显示说明 - 新增模型转换工具 tools/ 引用	2026-07-06 16:56:16 +08:00
spdis	7284a8d037	chore: 删除废弃的zebra_detect(斑马线检测已由Mild模型替代)	2026-07-04 21:17:34 +08:00
spdis	54f13984a9	chore: 从git跟踪中移除.vscode目录(.gitignore)	2026-07-04 21:15:46 +08:00
spdis	670f84131b	feat: 添加模型转换工具(Mild v13 PyTorch->bin导出) - tools/export_mild_v13.py: PyTorch .pth -> 自定义 .bin 导出脚本 - tools/inspect_pth.py: 检查 .pth 权重文件结构 - tools/best_v13_mild_r2.pth: 训练好的 PyTorch 权重 - .gitignore: 追加 build 变体目录和生成文件	2026-07-04 21:15:10 +08:00