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

hal/encoder.cpp

@@ -0,0 +1,64 @@
+#include "encoder.hpp"
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <cmath>
+
+Encoder::Encoder(int pwm_channel, int dir_gpio, int direction_polarity)
+    : _channel(pwm_channel)
+    , _dir_gpio(dir_gpio)
+    , _polarity(direction_polarity)
+    , _reg_base(nullptr)
+    , _mem_fd(-1)
+    , _rps(0.0f)
+    , _last_period(0)
+{
+    _dir_gpio.setDirection("in");
+    _mmapRegs();
+}
+
+Encoder::~Encoder() { _munmapRegs(); }
+
+void Encoder::_mmapRegs()
+{
+    _mem_fd = open("/dev/mem", O_RDWR);
+    if (_mem_fd < 0) return;
+
+    _reg_base = (volatile uint32*)mmap(nullptr, 0x10000, PROT_READ | PROT_WRITE,
+                                        MAP_SHARED, _mem_fd, ENCODER_BASE);
+}
+
+void Encoder::_munmapRegs()
+{
+    if (_reg_base && _reg_base != MAP_FAILED)
+        munmap((void*)_reg_base, 0x10000);
+    if (_mem_fd >= 0) { close(_mem_fd); _mem_fd = -1; }
+}
+
+uint32 Encoder::_readRegister(unsigned int offset) const
+{
+    if (!_reg_base || _reg_base == MAP_FAILED) return 0;
+    return _reg_base[offset / sizeof(uint32)];
+}
+
+int Encoder::getDirection() const
+{
+    return _dir_gpio.getValue() * _polarity;
+}
+
+void Encoder::update()
+{
+    if (!_reg_base || _reg_base == MAP_FAILED) return;
+
+    uint32 period = _readRegister(REG_OFFSET + _channel * 0x100);
+    if (period > 0 && period < 0xFFFFFF)
+    {
+        float freq = 50000000.0f / period;       // 50MHz 基频
+        _rps = (freq / 4.0f) * getDirection();    // 4倍频编码器
+        _last_period = period;
+    }
+    else
+    {
+        _rps *= 0.6f;  // 无脉冲时速度衰减
+    }
+}