#ifndef VL53L1_CALIBRATION_CONFIG_H #define VL53L1_CALIBRATION_CONFIG_H #include #include "vl53l1_def.h" typedef struct { uint8_t calibrated; VL53L1_CalibrationData_t data; } Vl53L1RuntimeCalibration_t; /* * VL53L1X 按 UM2356 建议应在产线完成 RefSPAD / Offset / Xtalk 校准， * 上电后在 DataInit() + StaticInit() 之后用 SetCalibrationData() 回灌。 * * 当前先提供空白占位，未标定时保持 calibrated = 0，驱动将跳过加载。 */ static const Vl53L1RuntimeCalibration_t k_vl53l1_left_calibration[2] = { { .calibrated = 0u, .data = { .struct_version = 3970629922u, .customer = { .global_config__spad_enables_ref_0 = 223u, .global_config__spad_enables_ref_1 = 247u, .global_config__spad_enables_ref_2 = 251u, .global_config__spad_enables_ref_3 = 254u, .global_config__spad_enables_ref_4 = 255u, .global_config__spad_enables_ref_5 = 7u, .global_config__ref_en_start_select = 0u, .ref_spad_man__num_requested_ref_spads = 11u, .ref_spad_man__ref_location = 1u, .algo__crosstalk_compensation_plane_offset_kcps = 0u, .algo__crosstalk_compensation_x_plane_gradient_kcps = 0, .algo__crosstalk_compensation_y_plane_gradient_kcps = 0, .ref_spad_char__total_rate_target_mcps = 2560u, .algo__part_to_part_range_offset_mm = 0, .mm_config__inner_offset_mm = 35, .mm_config__outer_offset_mm = 9, }, .add_off_cal_data = { .result__mm_inner_actual_effective_spads = 280u, .result__mm_outer_actual_effective_spads = 1344u, .result__mm_inner_peak_signal_count_rtn_mcps = 397u, .result__mm_outer_peak_signal_count_rtn_mcps = 1305u, }, .optical_centre = { .x_centre = 144u, .y_centre = 112u, }, .gain_cal = { .standard_ranging_gain_factor = 2011u, }, .cal_peak_rate_map = { .cal_distance_mm = 0, .max_samples = 0u, .width = 0u, .height = 0u, .peak_rate_mcps = { 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u } } } }, { .calibrated = 0u, .data = { .struct_version = 3970629922u, .customer = { .global_config__spad_enables_ref_0 = 255u, .global_config__spad_enables_ref_1 = 189u, .global_config__spad_enables_ref_2 = 255u, .global_config__spad_enables_ref_3 = 255u, .global_config__spad_enables_ref_4 = 255u, .global_config__spad_enables_ref_5 = 15u, .global_config__ref_en_start_select = 0u, .ref_spad_man__num_requested_ref_spads = 14u, .ref_spad_man__ref_location = 1u, .algo__crosstalk_compensation_plane_offset_kcps = 0u, .algo__crosstalk_compensation_x_plane_gradient_kcps = 0, .algo__crosstalk_compensation_y_plane_gradient_kcps = 0, .ref_spad_char__total_rate_target_mcps = 2560u, .algo__part_to_part_range_offset_mm = 0, .mm_config__inner_offset_mm = 37, .mm_config__outer_offset_mm = 9, }, .add_off_cal_data = { .result__mm_inner_actual_effective_spads = 280u, .result__mm_outer_actual_effective_spads = 1288u, .result__mm_inner_peak_signal_count_rtn_mcps = 470u, .result__mm_outer_peak_signal_count_rtn_mcps = 1456u, }, .optical_centre = { .x_centre = 112u, .y_centre = 128u, }, .gain_cal = { .standard_ranging_gain_factor = 2011u, }, .cal_peak_rate_map = { .cal_distance_mm = 0, .max_samples = 0u, .width = 0u, .height = 0u, .peak_rate_mcps = { 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u } } } }, }; static const Vl53L1RuntimeCalibration_t k_vl53l1_right_calibration[2] = { { .calibrated = 0u, .data = { .struct_version = 3970629922u, .customer = { .global_config__spad_enables_ref_0 = 159u, .global_config__spad_enables_ref_1 = 254u, .global_config__spad_enables_ref_2 = 255u, .global_config__spad_enables_ref_3 = 255u, .global_config__spad_enables_ref_4 = 239u, .global_config__spad_enables_ref_5 = 15u, .global_config__ref_en_start_select = 0u, .ref_spad_man__num_requested_ref_spads = 6u, .ref_spad_man__ref_location = 1u, .algo__crosstalk_compensation_plane_offset_kcps = 0u, .algo__crosstalk_compensation_x_plane_gradient_kcps = 0, .algo__crosstalk_compensation_y_plane_gradient_kcps = 0, .ref_spad_char__total_rate_target_mcps = 2560u, .algo__part_to_part_range_offset_mm = 0, .mm_config__inner_offset_mm = 54, .mm_config__outer_offset_mm = 31, }, .add_off_cal_data = { .result__mm_inner_actual_effective_spads = 224u, .result__mm_outer_actual_effective_spads = 1456u, .result__mm_inner_peak_signal_count_rtn_mcps = 336u, .result__mm_outer_peak_signal_count_rtn_mcps = 1382u, }, .optical_centre = { .x_centre = 112u, .y_centre = 112u, }, .gain_cal = { .standard_ranging_gain_factor = 2011u, }, .cal_peak_rate_map = { .cal_distance_mm = 0, .max_samples = 0u, .width = 0u, .height = 0u, .peak_rate_mcps = { 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u } } } }, { .calibrated = 0u, .data = { .struct_version = 3970629922u, .customer = { .global_config__spad_enables_ref_0 = 255u, .global_config__spad_enables_ref_1 = 255u, .global_config__spad_enables_ref_2 = 255u, .global_config__spad_enables_ref_3 = 191u, .global_config__spad_enables_ref_4 = 191u, .global_config__spad_enables_ref_5 = 11u, .global_config__ref_en_start_select = 0u, .ref_spad_man__num_requested_ref_spads = 11u, .ref_spad_man__ref_location = 2u, .algo__crosstalk_compensation_plane_offset_kcps = 0u, .algo__crosstalk_compensation_x_plane_gradient_kcps = 0, .algo__crosstalk_compensation_y_plane_gradient_kcps = 0, .ref_spad_char__total_rate_target_mcps = 2560u, .algo__part_to_part_range_offset_mm = 0, .mm_config__inner_offset_mm = 30, .mm_config__outer_offset_mm = 5, }, .add_off_cal_data = { .result__mm_inner_actual_effective_spads = 224u, .result__mm_outer_actual_effective_spads = 1456u, .result__mm_inner_peak_signal_count_rtn_mcps = 334u, .result__mm_outer_peak_signal_count_rtn_mcps = 1524u, }, .optical_centre = { .x_centre = 112u, .y_centre = 96u, }, .gain_cal = { .standard_ranging_gain_factor = 2011u, }, .cal_peak_rate_map = { .cal_distance_mm = 0, .max_samples = 0u, .width = 0u, .height = 0u, .peak_rate_mcps = { 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u } } } }, }; #endif /* VL53L1_CALIBRATION_CONFIG_H */