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.hpp

@@ -0,0 +1,26 @@
+#pragma once
+#include "types.hpp"
+#include "gpio.hpp"
+
+class Encoder {
+public:
+    Encoder(int pwm_channel, int dir_gpio, int direction_polarity);
+    ~Encoder();
+
+    void   update();
+    float  getRPS() const { return _rps; }
+    int    getDirection() const;
+
+private:
+    int           _channel;
+    GPIO          _dir_gpio;
+    int           _polarity;      // 1 或 -1
+    volatile uint32* _reg_base;
+    int            _mem_fd;
+    float          _rps;
+    uint32         _last_period;
+    static constexpr unsigned int REG_OFFSET = 0x0100;
+    void           _mmapRegs();
+    void           _munmapRegs();
+    uint32         _readRegister(unsigned int offset) const;
+};