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.hpp

@@ -0,0 +1,24 @@
+#pragma once
+#include <string>
+#include "types.hpp"
+
+class PWM {
+public:
+    PWM(int chip, int channel, unsigned int period_ns);
+    ~PWM();
+
+    void setDutyCycle(unsigned int duty_ns);
+    void setPeriod(unsigned int period_ns);
+    void enable(bool on = true);
+    void setPolarity(const char* pol = "normal");
+    unsigned int readPeriod() const { return _period_ns; }
+
+private:
+    int          _chip;
+    int          _channel;
+    unsigned int _period_ns;
+    bool         _exported;
+    std::string  _basePath() const;
+    void         _export();
+    void         _unexport();
+};