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
92 lines
4.1 KiB
C++
92 lines
4.1 KiB
C++
#ifndef GLOBAL_H
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#define GLOBAL_H
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#include <string>
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// ── 参数文件名 ──
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const std::string kp_file = "./kp";
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const std::string ki_file = "./ki";
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const std::string kd_file = "./kd";
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const std::string start_file = "./start";
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const std::string showImg_file = "./showImg";
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const std::string destfps_file = "./destfps";
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const std::string foresee_file = "./foresee";
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const std::string zebrasee_file = "./zebrasee";
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const std::string saveImg_file = "./saveImg";
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const std::string speed_file = "./speed";
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const std::string deadband_file = "./deadband";
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const std::string steer_gain_file = "./steer_gain";
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const std::string center_bias_file = "./center_bias";
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const std::string debug_file = "./debug";
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const std::string cone_avoid_gain_file = "./cone_avoid_gain";
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const std::string cone_avoid_range_file = "./cone_avoid_range";
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const std::string cone_speed_file = "./cone_speed";
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const std::string cone_min_frames_file = "./cone_min_frames";
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const std::string cone_margin_file = "./cone_margin";
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const std::string cone_thresh_file = "./cone_thresh";
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const std::string cone_hold_frames_file = "./cone_hold_frames";
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const std::string brake_scale_file = "./brake_scale";
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const std::string brake_max_file = "./brake_max";
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const std::string lidar_thresh_file = "./lidar_thresh";
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const std::string lidar_near_file = "./lidar_near";
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const std::string lidar_far_file = "./lidar_far";
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const std::string lidar_near_start_file = "./lidar_near_start";
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const std::string lidar_near_end_file = "./lidar_near_end";
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const std::string lidar_far_span_file = "./lidar_far_span";
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const std::string lidar_min_frames_file = "./lidar_min_frames";
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const std::string lidar_avoid_gain_file = "./lidar_avoid_gain";
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const std::string lidar_avoid_range_file = "./lidar_avoid_range";
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const std::string lidar_speed_file = "./lidar_speed";
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const std::string lidar_hold_frames_file = "./lidar_hold_frames";
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const std::string lidar_enable_file = "./lidar_enable";
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double readDoubleFromFile(const std::string &filename);
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bool readFlag(const std::string &filename);
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void cfg_load_all();
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// ── 启动时缓存的运行参数 ──
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struct CfgCache {
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double speed = 60; // 目标速度(占空比 %)
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double foresee = 80; // 前瞻行
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double zebrasee = 60; // 斑马线触发距离阈值
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double deadband = 5; // 舵机死区
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double steer_gain = 1.0; // 舵机增益
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double center_bias = 0; // 中线偏移修正
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int start = 0; // 1=启动 0=停止
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int showImg = 0; // LCD 预览开关
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int debug = 0; // debug 模式
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double cone_avoid_gain = 0.3; // 锥桶中线变形推离量 (归一化)
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int cone_avoid_range = 30; // 变形斜坡陡峭度
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double cone_speed = 0.5; // 锥桶触发时速度倍率
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int cone_min_frames = 3; // 连续确认帧数
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int cone_margin = 0; // 0=中心点 1=框边缘
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double cone_thresh = 0.80; // 锥桶置信度阈值
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int cone_hold_frames = 30; // 锥桶消失后保持变形的帧数
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double brake_scale = 10; // 速度(pps) → 刹车占空比(ns) 缩放系数
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int brake_max = 10000; // 最大刹车占空比 (ns)
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int lidar_thresh = 300; // 激光障碍判定距离阈值 (mm)
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int lidar_near = 50; // row=lt_h-1 对应的物理距离 (mm)
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int lidar_far = 1200; // row=10 对应的物理距离 (mm)
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int lidar_near_start = 1; // near_valid 检测起始偏移
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int lidar_near_end = 4; // near_valid 检测终止偏移
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int lidar_far_span = 6; // far_lost 检测跨度
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int lidar_min_frames = 3; // 连续确认帧数
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double lidar_avoid_gain = 0.4; // 绕行中线推离力度 (归一化)
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int lidar_avoid_range = 30; // 绕行斜坡陡峭度 (行数)
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double lidar_speed = 0.4; // 绕行时速度倍率
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int lidar_hold_frames = 30; // 消失后变形保持帧数
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int lidar_enable = 1; // 激光避障总开关
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};
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extern CfgCache g_cfg;
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extern double target_speed;
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#endif
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