v10模型集成+去抖+架构重构: 单线程+背景采集, ControlUpdate单出口电机控制, I2C音频持久fd, 斑马线接近去抖

build_lsx.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+export PATH=/opt/loongson-gnu-toolchain-8.3-x86_64-loongarch64-linux-gnu-rc1.6/bin:/usr/bin:/bin
+CC=loongarch64-linux-gnu-g++
+SRC_FW=/mnt/d/PPPProgram/smartcar/smartcar_framework
+SRC_CAR=/mnt/d/PPPProgram/smartcar/smartcar2
+INC="-I$SRC_FW/model/v10/release -I$SRC_CAR/src -I/mnt/d/PPPProgram/smartcar/opencv_device/include/opencv4"
+LIB="-L/mnt/d/PPPProgram/smartcar/opencv_device/lib -lopencv_core -lopencv_imgproc -lopencv_imgcodecs -lpthread -lrt"
+FLAGS="-O3 -std=c++17 -march=loongarch64 -mtune=loongarch64 -ffast-math -funroll-loops -fomit-frame-pointer"
+
+echo "=== NOSIMD ==="
+$CC $FLAGS $INC $SRC_FW/tools/v10_demo.cpp $SRC_FW/model/v10/release/model_v10.cpp -o /tmp/vd_nosimd $LIB
+echo "rc=$?"
+
+echo "=== LSX ==="
+$CC $FLAGS -mlsx $INC $SRC_FW/tools/v10_demo.cpp $SRC_FW/model/v10/release/model_v10.cpp -o /tmp/vd_simd $LIB
+echo "rc=$?"
+
+ls -la /tmp/vd_nosimd /tmp/vd_simd 2>/dev/null || echo "some binaries missing"