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

control/imu.hpp

@@ -0,0 +1,24 @@
+#pragma once
+#include "types.hpp"
+#include <cstdint>
+
+class YawTracker {
+public:
+    YawTracker();
+    bool  begin(const char* device = IMU_DEVICE, int baud = IMU_BAUDRATE);
+    void  update(float dt);
+    void  calibrate(int samples = 200);
+
+    float yaw()          const { return _yaw; }
+    float unbounded_yaw() const { return _unbounded_yaw; }
+    float gyro_z()       const { return _gyro_z; }
+    bool  ready()        const { return _ready; }
+
+private:
+    int   _fd;
+    float _yaw, _unbounded_yaw;
+    float _gyro_z;
+    float _gyro_bias;
+    bool  _ready;
+    int   _parseJY62();
+};