1.0

App/VL53L0X_API/platform/vl53_board.c

@@ -87,6 +87,11 @@ static VL53L0X_Error vl53_do_static_init(VL53L0X_DEV dev, uint32_t timing_budget
     status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev, timing_budget_us);
     if (status != VL53L0X_ERROR_NONE) return status;
 
+    /* 连续测量采用 back-to-back 模式，让下一次测量在上一帧完成后立即开始。
+     * 这样任务轮询周期变快时，能尽可能拿到最新帧，而不是被固定间隔再次拖慢。 */
+    status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(dev, 0u);
+    if (status != VL53L0X_ERROR_NONE) return status;
+
     status = VL53L0X_SetLimitCheckEnable(dev, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1u);
     if (status != VL53L0X_ERROR_NONE) return status;
 

App/VL53L0X_API/platform/vl53_calibration_config.h

@@ -37,13 +37,13 @@ static const Vl53RuntimeCalibration_t k_vl53_left_calibration[2] = {
 
 static const Vl53RuntimeCalibration_t k_vl53_right_calibration[2] = {
     {
-        .offset_micro_meters = 5000,
+        .offset_micro_meters = 9000,
         .xtalk_compensation_rate_mcps = 0,
         .offset_calibrated = 1,
         .xtalk_calibrated = 0,
     },
     {
-        .offset_micro_meters = 10000,
+        .offset_micro_meters = 13000,
         .xtalk_compensation_rate_mcps = 0,
         .offset_calibrated = 1,
         .xtalk_calibrated = 0,