导航部分效果最好的版本，主分支

2026-04-13 23:30:22 +08:00
commit 350fd830f4
1679 changed files with 1464081 additions and 0 deletions
--- a/App/VL53L0X_API/platform/vl53_calibration_config.h
+++ b/App/VL53L0X_API/platform/vl53_calibration_config.h
@@ -0,0 +1,53 @@
+#ifndef VL53_CALIBRATION_CONFIG_H
+#define VL53_CALIBRATION_CONFIG_H
+
+#include <stdint.h>
+#include "vl53l0x_def.h"
+
+typedef struct {
+    int32_t offset_micro_meters;
+    uint8_t offset_calibrated;
+    FixPoint1616_t xtalk_compensation_rate_mcps;
+    uint8_t xtalk_calibrated;
+} Vl53RuntimeCalibration_t;
+
+/*
+ * 运行时直接加载的 VL53 校准值。
+ *
+ * 当前已确认：
+ * - 左前 offset = 12000 um
+ * - 左后 offset = 11000 um
+ *
+ * 右侧和 XTalk 目前未写入有效标定值，因此 calibrated 标志保持 0。
+ */
+static const Vl53RuntimeCalibration_t k_vl53_left_calibration[2] = {
+    {
+        .offset_micro_meters = 8000,
+        .xtalk_compensation_rate_mcps = 0,
+        .offset_calibrated = 0,
+        .xtalk_calibrated = 0,
+    },
+    {
+        .offset_micro_meters = 8000,
+        .xtalk_compensation_rate_mcps = 0,
+        .offset_calibrated = 0,
+        .xtalk_calibrated = 0,
+    },
+};
+
+static const Vl53RuntimeCalibration_t k_vl53_right_calibration[2] = {
+    {
+        .offset_micro_meters = 2000,
+        .xtalk_compensation_rate_mcps = 0,
+        .offset_calibrated = 0,
+        .xtalk_calibrated = 0,
+    },
+    {
+        .offset_micro_meters = 9000,
+        .xtalk_compensation_rate_mcps = 0,
+        .offset_calibrated = 0,
+        .xtalk_calibrated = 0,
+    },
+};
+
+#endif /* VL53_CALIBRATION_CONFIG_H */