#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 */