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
103 lines
3.5 KiB
Bash
103 lines
3.5 KiB
Bash
#!/bin/sh
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# SmartCar Demo 控制脚本
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# 用法: sh ctl.sh start | stop | init
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DIR="$(dirname "$0")"
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PWMCHIP=8
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PWMPERIOD=50000
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init_pins() {
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echo "[demo] 初始化引脚..."
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for pin in 73 12 13 67 72; do
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echo $pin > /sys/class/gpio/export 2>/dev/null
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done
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echo out > /sys/class/gpio/gpio73/direction 2>/dev/null
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echo out > /sys/class/gpio/gpio12/direction 2>/dev/null
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echo out > /sys/class/gpio/gpio13/direction 2>/dev/null
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echo in > /sys/class/gpio/gpio67/direction 2>/dev/null
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echo in > /sys/class/gpio/gpio72/direction 2>/dev/null
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echo 1 > /sys/class/gpio/gpio73/value 2>/dev/null
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echo 0 > /sys/class/gpio/gpio12/value 2>/dev/null
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echo 0 > /sys/class/gpio/gpio13/value 2>/dev/null
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for ch in 1 2; do
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echo $ch > /sys/class/pwm/pwmchip${PWMCHIP}/export 2>/dev/null
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echo ${PWMPERIOD} > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/period 2>/dev/null
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echo 1 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/enable 2>/dev/null
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echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/duty_cycle 2>/dev/null
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done
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echo 0 > /sys/class/pwm/pwmchip1/export 2>/dev/null
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echo 3000000 > /sys/class/pwm/pwmchip1/pwm0/period 2>/dev/null
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echo 1 > /sys/class/pwm/pwmchip1/pwm0/enable 2>/dev/null
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echo 1520000 > /sys/class/pwm/pwmchip1/pwm0/duty_cycle 2>/dev/null
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echo 11 > "$DIR/speed" 2>/dev/null
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echo 8 > "$DIR/deadband" 2>/dev/null
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echo 1.5 > "$DIR/steer_gain" 2>/dev/null
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echo 40 > "$DIR/foresee" 2>/dev/null
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echo 0 > "$DIR/start" 2>/dev/null
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echo 0.3 > "$DIR/cone_avoid_gain" 2>/dev/null
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echo 30 > "$DIR/cone_avoid_range" 2>/dev/null
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echo 0.5 > "$DIR/cone_speed" 2>/dev/null
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echo 3 > "$DIR/cone_min_frames" 2>/dev/null
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echo 0 > "$DIR/cone_margin" 2>/dev/null
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echo 0.80 > "$DIR/cone_thresh" 2>/dev/null
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echo 30 > "$DIR/cone_hold_frames" 2>/dev/null
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echo 10 > "$DIR/brake_scale" 2>/dev/null
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echo 10000 > "$DIR/brake_max" 2>/dev/null
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echo 300 > "$DIR/lidar_thresh" 2>/dev/null
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echo 50 > "$DIR/lidar_near" 2>/dev/null
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echo 1200 > "$DIR/lidar_far" 2>/dev/null
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echo 1 > "$DIR/lidar_near_start" 2>/dev/null
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echo 4 > "$DIR/lidar_near_end" 2>/dev/null
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echo 6 > "$DIR/lidar_far_span" 2>/dev/null
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echo 3 > "$DIR/lidar_min_frames" 2>/dev/null
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echo 0.4 > "$DIR/lidar_avoid_gain" 2>/dev/null
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echo 30 > "$DIR/lidar_avoid_range" 2>/dev/null
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echo 0.4 > "$DIR/lidar_speed" 2>/dev/null
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echo 30 > "$DIR/lidar_hold_frames" 2>/dev/null
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echo 1 > "$DIR/lidar_enable" 2>/dev/null
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echo "[demo] 引脚初始化完成"
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}
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do_start() {
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echo "[demo] 启动..."
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echo 1 > "$DIR/start"
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cd "$DIR"
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LD_LIBRARY_PATH=/home/root/opencv/lib nohup ./smartcar_demo1 > "$DIR/out.log" 2>&1 &
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echo "[demo] PID=$!"
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}
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do_stop() {
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echo "[demo] 停止..."
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echo 0 > "$DIR/start" 2>/dev/null
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killall -9 smartcar_demo1 2>/dev/null
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sleep 0.3
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echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm1/duty_cycle 2>/dev/null
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echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm2/duty_cycle 2>/dev/null
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echo 0 > /sys/class/gpio/gpio73/value 2>/dev/null
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echo "[demo] 已停止, PWM已归零"
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}
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case "${1}" in
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start)
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init_pins
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do_start
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;;
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stop)
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do_stop
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;;
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init)
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init_pins
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;;
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*)
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echo "用法: sh ctl.sh start | stop | init"
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exit 1
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;;
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esac
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