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

debug/draw.hpp

@@ -0,0 +1,17 @@
+#pragma once
+#include <cstdint>
+#include "types.hpp"
+
+struct DebugOverlay {
+    bool enable       = true;
+    int  mode         = DBG_OVERLAY;
+};
+
+extern DebugOverlay g_dbg;
+
+void dbg_draw_init(uint16* fb_buffer, int w, int h);
+void dbg_draw_line(int x0, int y0, int x1, int y1, uint8 r, uint8 g, uint8 b);
+void dbg_draw_cross(int cx, int cy, int size, uint8 r, uint8 g, uint8 b);
+void dbg_draw_rect(int x, int y, int w, int h, uint8 r, uint8 g, uint8 b);
+void dbg_draw_points(const int points[][2], int count, uint8 r, uint8 g, uint8 b);
+void dbg_draw_edge_zoom(const EdgeLines& lines, uint8 r, uint8 g, uint8 b);