1.0

App/VL53L0X_API/platform/vl53_board.h

@@ -0,0 +1,59 @@
+#ifndef VL53_BOARD_H
+#define VL53_BOARD_H
+
+#include <stdint.h>
+#include <string.h>
+#include "vl53l0x_api.h"
+#include "vl53l0x_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define VL53_MAX_DEVS_PER_BOARD 4
+
+    typedef struct {
+        I2C_HandleTypeDef *hi2c;
+        GPIO_TypeDef *xshut_port;
+        uint16_t xshut_pin;
+        uint8_t runtime_addr_8bit;
+        const char *name;
+        uint8_t id;
+    } Vl53BoardHwCfg_t;
+
+    /* ================= 内部卡尔曼滤波器结构 ================= */
+    typedef struct {
+        float x;  // 最优估计值 (滤波后的距离)
+        float p;  // 估计误差协方差
+        float q;  // 过程噪声
+        float r;  // 测量噪声
+        uint8_t initialized; // 防止第一次开机从0缓慢爬升
+    } Vl53Kalman_t;
+
+    /* ================= 快照数据结构 (对外接口) ================= */
+    typedef struct {
+        uint32_t tick_ms;
+        uint16_t range_mm[VL53_MAX_DEVS_PER_BOARD];          /* 接口1：原始硬件数据 */
+        float    range_mm_filtered[VL53_MAX_DEVS_PER_BOARD]; /* 接口2：卡尔曼平滑数据 */
+        uint8_t  range_status[VL53_MAX_DEVS_PER_BOARD];
+        uint8_t  valid_mask;
+    } Vl53BoardSnapshot_t;
+
+    typedef struct {
+        VL53L0X_Dev_t dev[VL53_MAX_DEVS_PER_BOARD];
+        Vl53Kalman_t  kf[VL53_MAX_DEVS_PER_BOARD];  /* 每个传感器配备一个专属卡尔曼滤波器 */
+        uint8_t init_mask;
+        uint8_t dev_count;
+        uint32_t timing_budget_us;
+    } Vl53Board_t;
+
+    VL53L0X_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us);
+    VL53L0X_Error Vl53Board_StartContinuous(Vl53Board_t *board);
+    VL53L0X_Error Vl53Board_StopContinuous(Vl53Board_t *board);
+    VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* VL53_BOARD_H */