初始提交：龙芯2K0300智能车卖家Demo完整代码

src/PwmController.cpp

@@ -0,0 +1,85 @@
+/*
+ * @Author: ilikara 3435193369@qq.com
+ * @Date: 2024-09-17 08:21:50
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-03-20 12:03:51
+ * @FilePath: /smartcar/src/PwmController.cpp
+ * @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
+ */
+#include "PwmController.h"
+#include <fcntl.h>
+#include <unistd.h>
+
+PwmController::PwmController(int pwmchip, int pwmnum, bool polarity)
+    : pwmchip(pwmchip), pwmnum(pwmnum)
+{
+    initialize();
+    pwmPath = "/sys/class/pwm/pwmchip" + std::to_string(pwmchip) + "/pwm" + std::to_string(pwmnum) + "/";
+    setPolarity(polarity);
+}
+
+PwmController::~PwmController()
+{
+    disable(); // 析构时自动禁用PWM
+}
+
+int PwmController::readPeriod()
+{
+    return period;
+}
+
+int PwmController::readDutyCycle()
+{
+    return duty_cycle;
+}
+
+// 初始化PWM设备
+bool PwmController::initialize()
+{
+    std::string exportPath = "/sys/class/pwm/pwmchip" + std::to_string(pwmchip) + "/export";
+    return writeToFile(exportPath, std::to_string(pwmnum));
+}
+
+// 启用PWM
+bool PwmController::enable()
+{
+    return writeToFile(pwmPath + "enable", std::to_string(1));
+}
+
+// 禁用PWM
+bool PwmController::disable()
+{
+    return writeToFile(pwmPath + "enable", std::to_string(0));
+}
+
+// 设置周期（以纳秒为单位）
+bool PwmController::setPeriod(unsigned int period_ns)
+{
+    period = period_ns;
+    return writeToFile(pwmPath + "period", std::to_string(period_ns));
+}
+
+// 设置低电平时间（以纳秒为单位）
+bool PwmController::setDutyCycle(unsigned int duty_cycle_ns)
+{
+    duty_cycle = duty_cycle_ns;
+    return writeToFile(pwmPath + "duty_cycle", std::to_string(duty_cycle_ns));
+}
+
+// 设置极性
+bool PwmController::setPolarity(bool polarity)
+{
+    return writeToFile(pwmPath + "polarity", polarity ? "normal" : "inversed");
+}
+
+bool PwmController::writeToFile(const std::string &path, const std::string &value)
+{
+    int fd = open(path.c_str(), O_WRONLY);
+    if (fd == -1)
+    {
+        return false;
+    }
+    ssize_t n = write(fd, value.c_str(), value.size());
+    close(fd);
+    return (n == static_cast<ssize_t>(value.size()));
+}