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