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/framebuffer.hpp

@@ -0,0 +1,23 @@
+#pragma once
+#include "../types.hpp"
+
+class FrameBuffer {
+public:
+    FrameBuffer();
+    ~FrameBuffer();
+
+    bool   init(const char* device = "/dev/fb0");
+    void   release();
+    int    width()  const { return _width; }
+    int    height() const { return _height; }
+    uint16* buffer() const { return _buffer; }
+    bool   write(const uint8* rgb888_data, int w, int h);
+
+private:
+    int      _fd;
+    uint16*  _buffer;
+    int      _width;
+    int      _height;
+    int      _screensize;
+    void     _rgb888_to_rgb565(const uint8* src, uint16* dst, int pixels);
+};