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

vision/element.hpp

@@ -0,0 +1,23 @@
+#pragma once
+#include "types.hpp"
+#include "search.hpp"
+
+struct ElementMachine {
+    TrackScene state      = TRACK_STRAIGHT;
+    TrackScene last_state = TRACK_STRAIGHT;
+
+    uint8 lock_cnt        = 0;
+    uint8 confirm_cnt     = 0;
+    uint8 exit_cnt        = 0;
+    uint16 in_state_frames= 0;
+
+    float  normal_width   = 0.0f;
+    int    calib_cnt      = 0;
+    float  entry_deviation= 0.0f;
+};
+
+extern ElementMachine g_elm;
+
+void element_init();
+void element_recognize(SearchResult& sr, TrackInfo& info);
+bool element_is_cross();