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
86 lines
3.3 KiB
C
86 lines
3.3 KiB
C
/*******************************************************************************
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* Copyright © 2016, STMicroelectronics International N.V.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of STMicroelectronics nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
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NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
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IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*******************************************************************************/
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#ifndef _VL53L0X_API_CALIBRATION_H_
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#define _VL53L0X_API_CALIBRATION_H_
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#include "vl53l0x_def.h"
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#include "vl53l0x_platform.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV Dev,
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FixPoint1616_t XTalkCalDistance,
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FixPoint1616_t *pXTalkCompensationRateMegaCps);
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VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV Dev,
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FixPoint1616_t CalDistanceMilliMeter,
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int32_t *pOffsetMicroMeter);
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VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
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int32_t OffsetCalibrationDataMicroMeter);
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VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
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int32_t *pOffsetCalibrationDataMicroMeter);
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VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
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VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
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uint32_t *refSpadCount, uint8_t *isApertureSpads);
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VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
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uint32_t count, uint8_t isApertureSpads);
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VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV Dev,
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uint32_t *pSpadCount, uint8_t *pIsApertureSpads);
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VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
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uint8_t *pPhaseCal, const uint8_t get_data_enable,
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const uint8_t restore_config);
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VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
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uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
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VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV Dev,
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uint8_t VhvSettings, uint8_t PhaseCal);
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VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV Dev,
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uint8_t *pVhvSettings, uint8_t *pPhaseCal);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _VL53L0X_API_CALIBRATION_H_ */
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