spdis
95a46c130d
- 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
47 lines
1.5 KiB
CMake
47 lines
1.5 KiB
CMake
# 包含交叉编译工具链
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include(cross.cmake)
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# 设置CMake的最低版本要求
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cmake_minimum_required(VERSION 3.5.0)
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# 设置 C++ 标准
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -pthread -Wall -march=loongarch64 -mtune=loongarch64 -ffast-math -funroll-loops -fomit-frame-pointer")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -Wall")
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# 定义项目名称和版本
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project(smartcar_demo2 VERSION 0.1.0 LANGUAGES C CXX)
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# OpenCV 设备端路径
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set(OpenCV_DIR /mnt/d/PPPProgram/smartcar/opencv_device/lib/cmake/opencv4)
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find_package(OpenCV REQUIRED)
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include_directories(${OpenCV_INCLUDE_DIRS})
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message(STATUS "OpenCV Include Directories: ${OpenCV_INCLUDE_DIRS}")
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# 项目头文件路径
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include_directories(src)
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include_directories(lib)
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include_directories(lib/vl53l0x)
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# 收集 src 下所有 .cpp (自动发现)
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aux_source_directory(src DIR_SRCS)
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# 排除暂不使用的模块（源文件保留）
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# vl53l0x.cpp — 激光测距, 硬件未接
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# zebra_detect.cpp — 经典斑马线检测, 已被 Mild 模型替代
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# PIDController.cpp — PID 类未使用 (电机开环直驱)
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# serial.cpp — Vofa/串口图传未使用
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list(FILTER DIR_SRCS EXCLUDE REGEX "(zebra_detect\\.cpp|PIDController\\.cpp|serial\\.cpp)")
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# VL53L0X ST API 源码 (纯 C)
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set(VL53L0X_API_SRCS
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lib/vl53l0x/vl53l0x_api.c
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lib/vl53l0x/vl53l0x_api_core.c
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lib/vl53l0x/vl53l0x_api_calibration.c
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lib/vl53l0x/vl53l0x_api_ranging.c
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)
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# 静态库 + 主程序
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add_library(common_lib STATIC ${DIR_SRCS} ${VL53L0X_API_SRCS})
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add_subdirectory(main)
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