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

2026-05-25 10:31:55 +08:00
commit 28d9c6da58
52 changed files with 2599 additions and 0 deletions
--- a/main.cpp
+++ b/main.cpp
@@ -0,0 +1,97 @@
+#include "types.hpp"
+#include "hal/framebuffer.hpp"
+#include "vision/camera.hpp"
+#include "scheduler.hpp"
+#include "control/motor.hpp"
+#include "control/servo.hpp"
+#include "debug/config.hpp"
+#include "debug/draw.hpp"
+
+#include <csignal>
+#include <atomic>
+#include <cstdio>
+#include <thread>
+
+static std::atomic<bool> g_running{true};
+static FrameBuffer g_fb;
+
+static void signal_handler(int)
+{
+    g_running.store(false);
+}
+
+int main()
+{
+    std::signal(SIGINT,  signal_handler);
+    std::signal(SIGTERM, signal_handler);
+    setvbuf(stdout, NULL, _IONBF, 0);   // stdout 无缓冲, 日志实时落地
+
+    printf("========================================\n");
+    printf("  SmartCar Framework v0.1\n");
+    printf("  龙芯 2K0300 智能车开发框架\n");
+    printf("========================================\n\n");
+
+    // 1. 显示屏
+    printf("[INIT] 初始化显示屏...\n");
+    if (g_fb.init(FB_DEVICE))
+    {
+        printf("[INIT] 显示屏: %dx%d\n", g_fb.width(), g_fb.height());
+        dbg_draw_init(g_fb.buffer(), g_fb.width(), g_fb.height());
+    }
+    else
+        printf("[INIT] 显示屏初始化失败, 继续无屏运行\n");
+
+    // 2. 摄像头
+    printf("[INIT] 初始化摄像头...\n");
+    if (camera_init())
+    {
+        camera_stream_start();
+        printf("[INIT] 摄像头: %dx%d MJPG\n", CAMERA_WIDTH, CAMERA_HEIGHT);
+    }
+    else
+    {
+        printf("[INIT] 摄像头初始化失败\n");
+        return -1;
+    }
+
+    // 3. 调度器 (内部初始化电机/舵机/编码器/IMU)
+    printf("[INIT] 初始化调度器...\n");
+    if (!scheduler_init(&g_fb))
+    {
+        printf("[INIT] 调度器初始化失败\n");
+        return -1;
+    }
+
+    // 4. 启动调度器
+    scheduler_start();
+
+    // 5. 主循环 — 低频监控
+    printf("\n[READY] 系统运行中, Ctrl+C 停止\n");
+    while (g_running.load())
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+        // 热调参数 (读取文件)
+        bool running = read_config_flag(CFG_START, true);
+        if (!running)
+        {
+            motor_stop_all();
+            servo_center();
+        }
+
+        // 打印状态
+        static int last_print = 0;
+        if (g_print_flag.exchange(0))
+        {
+            printf("[STATUS] tick=%d 车辆运行中\n", last_print++);
+        }
+    }
+
+    printf("\n[EXIT] 正在安全停止...\n");
+    scheduler_stop();
+    camera_deinit();
+    g_fb.release();
+    printf("[EXIT] 系统已安全退出\n");
+
+    return 0;
+}