From fba6bad1e668ba44138d7c46e6899a77504f85aa Mon Sep 17 00:00:00 2001 From: nitiantuhao <2062405236@qq.com> Date: Fri, 10 Apr 2026 17:04:09 +0800 Subject: [PATCH] 1.0 --- .../platform/vl53_calibration_config.h | 200 +++++++++++++++++- 1 file changed, 196 insertions(+), 4 deletions(-) diff --git a/App/VL53L1X_API/platform/vl53_calibration_config.h b/App/VL53L1X_API/platform/vl53_calibration_config.h index 7ba4947..d28f3e1 100644 --- a/App/VL53L1X_API/platform/vl53_calibration_config.h +++ b/App/VL53L1X_API/platform/vl53_calibration_config.h @@ -17,13 +17,205 @@ typedef struct { * 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 = {0} }, - { .calibrated = 0u, .data = {0} }, + { + .calibrated = 1u, + .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 = 1u, + .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 = {0} }, - { .calibrated = 0u, .data = {0} }, + { + .calibrated = 1u, + .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 = 1u, + .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 */