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
24 lines
350 B
C++
24 lines
350 B
C++
#pragma once
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extern "C" {
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#include "vl53l0x_platform.h"
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}
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class VL53L0X_Direct
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{
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public:
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VL53L0X_Direct();
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~VL53L0X_Direct();
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bool init();
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bool readRange(VL53L0X_RangingMeasurementData_t &data);
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void stop();
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bool isInitialized() const { return initialized; }
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private:
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bool initialized;
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vl53l0x_dev_t dev;
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static void unbindKernel();
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};
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