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

2026-05-25 10:31:55 +08:00
commit 28d9c6da58
52 changed files with 2599 additions and 0 deletions
--- a/control/motor.cpp
+++ b/control/motor.cpp
@@ -0,0 +1,72 @@
+#include "motor.hpp"
+#include "hal/gpio.hpp"
+#include "hal/pwm.hpp"
+#include "types.hpp"
+#include <cstdio>
+#include <algorithm>
+
+static PWM*  pwm_left  = nullptr;
+static PWM*  pwm_right = nullptr;
+static GPIO* dir_left  = nullptr;
+static GPIO* dir_right = nullptr;
+static GPIO* left_in2  = nullptr;
+static GPIO* mortor_en = nullptr;
+static bool  initialized = false;
+
+void motor_init()
+{
+    if (initialized) return;
+
+    mortor_en = new GPIO(MOTOR_ENABLE_GPIO);
+    mortor_en->setDirection("out");
+    mortor_en->setValue(1);
+
+    left_in2 = new GPIO(MOTOR_LEFT_IN2_GPIO);
+    left_in2->setDirection("out");
+    left_in2->setValue(0);
+
+    pwm_left  = new PWM(MOTOR_PWMCHIP, MOTOR_LEFT_PWMID,  MOTOR_PWM_PERIOD_NS);
+    pwm_right = new PWM(MOTOR_PWMCHIP, MOTOR_RIGHT_PWMID, MOTOR_PWM_PERIOD_NS);
+    pwm_left->enable();
+    pwm_right->enable();
+
+    dir_left  = new GPIO(MOTOR_LEFT_DIR_GPIO);
+    dir_right = new GPIO(MOTOR_RIGHT_DIR_GPIO);
+    dir_left->setDirection("out");
+    dir_right->setDirection("out");
+
+    initialized = true;
+}
+
+void motor_set_pwm(int idx, float duty)
+{
+    if (!initialized) return;
+    duty = std::clamp(duty, -100.0f, 100.0f);
+
+    PWM*  pwm  = (idx == MOTOR_LEFT) ? pwm_left  : pwm_right;
+    GPIO* dir  = (idx == MOTOR_LEFT) ? dir_left  : dir_right;
+
+    if (duty >= 0)
+    {
+        dir->setValue(1);
+        unsigned int d_ns = static_cast<unsigned int>(MOTOR_PWM_PERIOD_NS * duty / 100.0f);
+        pwm->setDutyCycle(d_ns);
+    }
+    else
+    {
+        dir->setValue(0);
+        unsigned int d_ns = static_cast<unsigned int>(MOTOR_PWM_PERIOD_NS * (-duty) / 100.0f);
+        pwm->setDutyCycle(d_ns);
+    }
+}
+
+void motor_stop_all()
+{
+    motor_set_pwm(MOTOR_LEFT, 0);
+    motor_set_pwm(MOTOR_RIGHT, 0);
+}
+
+void motor_enable(bool on)
+{
+    if (mortor_en) mortor_en->setValue(on ? 1 : 0);
+}