Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

CMakeLists.txt

@@ -0,0 +1,32 @@
+include(cross.cmake)
+cmake_minimum_required(VERSION 3.5.0)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -pthread -Wall")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -Wall")
+
+project(smartcar_framework VERSION 0.1.0 LANGUAGES C CXX)
+
+set(OpenCV_DIR /home/ilikara/loongson/opencv-4.11.0/loongson)
+find_package(OpenCV REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+include_directories(
+    .
+    hal
+    vision
+    control
+    strategy
+    debug
+    model
+)
+
+aux_source_directory(hal DIR_SRCS)
+aux_source_directory(vision DIR_SRCS)
+aux_source_directory(control DIR_SRCS)
+aux_source_directory(strategy DIR_SRCS)
+aux_source_directory(debug DIR_SRCS)
+aux_source_directory(model DIR_SRCS)
+
+add_executable(smartcar_framework main.cpp scheduler.cpp ${DIR_SRCS})
+target_link_libraries(smartcar_framework ${OpenCV_LIBS} pthread)