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/pwm.cpp

@@ -0,0 +1,57 @@
+#include "pwm.hpp"
+#include <fstream>
+#include <thread>
+#include <chrono>
+
+PWM::PWM(int chip, int channel, unsigned int period_ns)
+    : _chip(chip), _channel(channel), _period_ns(period_ns), _exported(false)
+{
+    _export();
+    setPeriod(period_ns);
+}
+
+PWM::~PWM() { _unexport(); }
+
+std::string PWM::_basePath() const
+{
+    return "/sys/class/pwm/pwmchip" + std::to_string(_chip) +
+           "/pwm" + std::to_string(_channel);
+}
+
+void PWM::_export()
+{
+    std::ofstream f("/sys/class/pwm/pwmchip" + std::to_string(_chip) + "/export");
+    if (f.is_open()) { f << _channel; _exported = true; }
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+}
+
+void PWM::_unexport()
+{
+    std::ofstream f("/sys/class/pwm/pwmchip" + std::to_string(_chip) + "/unexport");
+    if (f.is_open()) f << _channel;
+}
+
+void PWM::setDutyCycle(unsigned int duty_ns)
+{
+    std::ofstream f(_basePath() + "/duty_cycle");
+    if (f.is_open()) f << duty_ns;
+}
+
+void PWM::setPeriod(unsigned int period_ns)
+{
+    _period_ns = period_ns;
+    std::ofstream f(_basePath() + "/period");
+    if (f.is_open()) f << period_ns;
+}
+
+void PWM::enable(bool on)
+{
+    std::ofstream f(_basePath() + "/enable");
+    if (f.is_open()) f << (on ? 1 : 0);
+}
+
+void PWM::setPolarity(const char* pol)
+{
+    std::ofstream f(_basePath() + "/polarity");
+    if (f.is_open()) f << pol;
+}