57 lines
1.8 KiB
C
57 lines
1.8 KiB
C
#ifndef VL53_BOARD_H
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#define VL53_BOARD_H
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#include <stdint.h>
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#include <string.h>
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#include "vl53l0x_api.h"
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#include "vl53l0x_platform.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define VL53_MAX_DEVS_PER_BOARD 4
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typedef struct {
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I2C_HandleTypeDef *hi2c;
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GPIO_TypeDef *xshut_port;
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uint16_t xshut_pin;
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uint8_t runtime_addr_8bit;
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const char *name;
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uint8_t id;
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} Vl53BoardHwCfg_t;
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/* ================= 内部EMA滤波器结构 ================= */
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typedef struct {
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float x; // 当前滤波值 (滤波后的距离)
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float alpha; // 平滑系数 (0.0~1.0, 越大响应越快)
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uint8_t initialized; // 防止第一次开机从0缓慢爬升
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} Vl53EMA_t;
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/* ================= 快照数据结构 (对外接口) ================= */
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typedef struct {
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uint32_t tick_ms;
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uint16_t range_mm[VL53_MAX_DEVS_PER_BOARD]; /* 接口1：原始硬件数据 */
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float range_mm_filtered[VL53_MAX_DEVS_PER_BOARD]; /* 接口2：EMA平滑数据 */
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uint8_t range_status[VL53_MAX_DEVS_PER_BOARD];
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uint8_t valid_mask;
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} Vl53BoardSnapshot_t;
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typedef struct {
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VL53L0X_Dev_t dev[VL53_MAX_DEVS_PER_BOARD];
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Vl53EMA_t ema[VL53_MAX_DEVS_PER_BOARD]; /* 每个传感器配备一个专属EMA滤波器 */
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uint8_t init_mask;
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uint8_t dev_count;
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uint32_t timing_budget_us;
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} Vl53Board_t;
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VL53L0X_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us);
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VL53L0X_Error Vl53Board_StartContinuous(Vl53Board_t *board);
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VL53L0X_Error Vl53Board_StopContinuous(Vl53Board_t *board);
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VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot);
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#ifdef __cplusplus
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}
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#endif
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#endif /* VL53_BOARD_H */ |