清理编码器+死代码+可读性整理: 删除ENCODER类(含UB析构), MotorController简化为PWM+GPIO裸控制器, 移除mortor_kp/ki/kd全局变量, 排除vl53l0x/zebra_detect死代码, 修复image_cv行列写反, 清理无关include
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent) Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
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spdis
+7
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@@ -1,37 +1,26 @@
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/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-10-10 14:36:47
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-03-21 10:42:00
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* @FilePath: /smartcar/lib/MotorController.h
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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* MotorController — 直流电机控制器
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*
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* 封装 PWM 调速 + GPIO 方向控制，开环占空比直驱。
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* 不包含编码器反馈和 PID 闭环（开环巡线够用）。
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*/
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#ifndef MOTOR_CONTROLLER_H
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#define MOTOR_CONTROLLER_H
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#include "PwmController.h"
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#include "PIDController.h"
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#include "GPIO.h"
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#include "encoder.h"
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class MotorController
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{
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public:
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MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns,
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double kp, double ki, double kd, double targetSpeed,
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int encoder_pwmNum, int encoder_gpioNum, int encoder_dir_);
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MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns);
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~MotorController(void);
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void updateSpeed(void);
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void updateTarget(int speed);
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void updateduty(double dutyCycle);
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PIDController pidController;
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void updateduty(double dutyCycle); // dutyCycle: -100.0 ~ 100.0
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private:
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PwmController pwmController;
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ENCODER encoder;
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GPIO directionGPIO;
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int encoder_dir;
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};
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#endif // MOTOR_CONTROLLER_H
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#endif
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@@ -17,20 +17,14 @@
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#include <thread>
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#include "image_cv.h"
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#include "PIDController.h"
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#include "PwmController.h"
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#include "global.h"
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#include "frame_buffer.h"
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#include "serial.h"
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#include "control.h"
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int CameraInit(uint8_t camera_id, double dest_fps, int width, int height);
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int CameraHandler(void);
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void cameraDeInit(void);
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extern double kp;
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extern double ki;
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extern double kd;
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extern double g_steer_deviation;
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#endif
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+6
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@@ -1,21 +1,18 @@
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#ifndef CONTROL_H
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#define CONTROL_H
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#include <unistd.h>
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#include "MotorController.h"
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#include "global.h"
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#include "serial.h"
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#include "GPIO.h"
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// ── 电机控制接口 ──
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void ControlInit();
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void ControlUpdate(double speed, bool zebra_block);
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void ControlExit();
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extern double mortor_kp;
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extern double mortor_ki;
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extern double mortor_kd;
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extern GPIO mortorEN;
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// 左右电机对象（control.cpp 分配）
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extern MotorController *motorController[2];
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// 电机使能 GPIO (73)
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extern GPIO mortorEN;
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#endif
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@@ -1,75 +0,0 @@
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/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-10-11 06:20:04
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2024-12-01 03:48:28
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* @FilePath: /smartcar/lib/encoder.h
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* @Description:
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*
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* Copyright (c) 2024 by ilikara 3435193369@qq.com, All Rights Reserved.
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*/
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#ifndef ENCODER_H
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#define ENCODER_H
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <errno.h>
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#include <string.h>
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#include "GPIO.h"
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#define PWM_BASE_ADDR 0x1611B000
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#define PWM_OFFSET 0x10
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#define LOW_BUFFER_OFFSET 0x4
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#define FULL_BUFFER_OFFSET 0x8
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#define CONTROL_REG_OFFSET 0xC
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#define CNTR_ENABLE_BIT (1 << 0) // 计数器使能
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#define PULSE_OUT_ENABLE_BIT (1 << 3) // 脉冲输出使能（低有效）
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#define SINGLE_PULSE_BIT (1 << 4) // 单脉冲控制位
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#define INT_ENABLE_BIT (1 << 5) // 中断使能
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#define INT_STATUS_BIT (1 << 6) // 中断状态
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#define COUNTER_RESET_BIT (1 << 7) // 计数器重置
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#define MEASURE_PULSE_BIT (1 << 8) // 测量脉冲使能
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#define INVERT_OUTPUT_BIT (1 << 9) // 输出翻转使能
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#define DEAD_ZONE_ENABLE_BIT (1 << 10) // 防死区使能
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#define LOW_BUFFER_ADDR (PWM_BASE_ADDR + LOW_BUFFER_OFFSET)
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#define FULL_BUFFER_ADDR (PWM_BASE_ADDR + FULL_BUFFER_OFFSET)
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#define CONTROL_REG_ADDR (PWM_BASE_ADDR + CONTROL_REG_OFFSET)
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#define GPIO_PIN 73
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#define GPIO_PATH "/sys/class/gpio/gpio73/value"
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#define PAGE_SIZE 0x10000
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#define REG_READ(addr) (*(volatile uint32_t *)(addr))
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#define REG_WRITE(addr, val) (*(volatile uint32_t *)(addr) = (val))
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class ENCODER
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{
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public:
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ENCODER(int pwmNum, int gpioNum);
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~ENCODER();
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double pulse_counter_update(void);
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private:
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uint32_t base_addr;
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GPIO directionGPIO;
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void *low_buffer;
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void *full_buffer;
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void *control_buffer;
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void *map_register(uint32_t physical_address, size_t size);
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void PWM_Init(void);
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void reset_counter(void);
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};
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#endif
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+17
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#define GLOBAL_H
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#include <string>
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#include <iostream>
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#include <fstream>
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#include <atomic>
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// ── 参数文件名 ──
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const std::string kp_file = "./kp";
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const std::string ki_file = "./ki";
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const std::string kd_file = "./kd";
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const std::string mortor_kp_file = "./mortor_kp";
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const std::string mortor_ki_file = "./mortor_ki";
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const std::string mortor_kd_file = "./mortor_kd";
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const std::string start_file = "./start";
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const std::string showImg_file = "./showImg";
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const std::string destfps_file = "./destfps";
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@@ -24,14 +18,25 @@ const std::string speed_file = "./speed";
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const std::string deadband_file = "./deadband";
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const std::string steer_gain_file = "./steer_gain";
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const std::string center_bias_file = "./center_bias";
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const std::string debug_file = "./debug";
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// 从文件读取双精度值
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double readDoubleFromFile(const std::string &filename);
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bool readFlag(const std::string &filename);
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void cfg_load_all();
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// 从文件中读取标志
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bool readFlag(const std::string &filename);
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extern std::atomic<double> PID_rotate;
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// ── 启动时缓存的运行参数 ──
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struct CfgCache {
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double speed = 60; // 目标速度(占空比 %)
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double foresee = 80; // 前瞻行
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double zebrasee = 60; // 斑马线触发距离阈值
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double deadband = 5; // 舵机死区
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double steer_gain = 1.0; // 舵机增益
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double center_bias = 0; // 中线偏移修正
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int start = 0; // 1=启动 0=停止
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int showImg = 0; // LCD 预览开关
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int debug = 0; // debug 模式
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};
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extern CfgCache g_cfg;
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extern double target_speed;
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+4
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@@ -1,11 +1,3 @@
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/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2025-01-04 06:51:37
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-03-13 08:05:00
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* @FilePath: /smartcar/lib/image_main.h
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#include <opencv2/opencv.hpp>
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#include <iostream>
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#include <vector>
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@@ -13,16 +5,12 @@
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void image_main();
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extern cv::Mat raw_frame;
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extern cv::Mat grayFrame;
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extern cv::Mat binarizedFrame;
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extern cv::Mat morphologyExFrame;
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extern cv::Mat track;
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extern std::vector<int> left_line; // 左边缘列号数组
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extern std::vector<int> right_line; // 右边缘列号数组
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extern std::vector<int> mid_line; // 中线列号数组
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extern std::vector<double> left_line_filtered; // 中线列号数组
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extern std::vector<double> right_line_filtered; // 中线列号数组
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extern std::vector<double> mid_line_filtered; // 中线列号数组
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extern std::vector<int> left_line;
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extern std::vector<int> right_line;
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extern std::vector<int> mid_line;
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extern int line_tracking_height, line_tracking_width;
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extern int line_tracking_height, line_tracking_width;
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