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feat(V4B): V4.36.31 — B3 真空 EMA 重锚: 判定参考与锚错 Origin 解耦

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用户拍板: B3 为主, A2(学入步长)可选加严存档
- g_vacuum_ema: 无车 dev 窗内 EMA(α128 τ≈1.28s, 与均值窗同守卫); 判稳建立; INIT 清零
- vac_ref()=min(Origin, EMA): Origin 被 env 学高(搁置态 130636 vs 真空 130506)
  → 释放线/进入线不再偏高; 撤板真空即释放
- 替换: 进入判定/低Q释放线/环带兜底线/DBG RLN; 高Q中Q 零影响; env 学习用 Origin 本尊
- DBG 加 VEM 字段
语法0 error, 4测试全绿; spec V2.47 / devlog V2.66
This commit is contained in:
wangfq
2026-09-07 18:47:03 +08:00
parent 74512bcf54
commit 17575e8747
5 changed files with 50 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
utilities/at32f421_freertos_demo/src/TaskLoop.c
+28 -9
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@@ -46,6 +46,7 @@ uint32_t g_rel_smooth = 0; // V4.36.19: 低Q 释放平滑值 (τ≈5
uint8_t g_q_lo = 0; // V4.36.19: 低Q 档标志 (空场 f>100kHz, update_q_confirm_need 同步)
uint16_t g_origin_freeze_tick = 0; // V4.36.26: 释放后 Origin 均值窗冻结计数 (500ms, 切断 cycle 正反馈)
uint16_t g_rel_band_cnt = 0; // V4.36.30: 低Q 环带超时兜底计数 (离开触发深度持续 2.5s → 强制释放)
uint32_t g_vacuum_ema = 0; // V4.36.31: 真空 EMA 基线 (B3: 释放/触发参考与锚错 Origin 解耦)
uint32_t loop1_Origin;
uint32_t loop1_ORG_SUM;
uint16_t loop1_ORG_CNT;
@@ -281,6 +282,15 @@ uint32_t get_flt_value_rel(uint32_t new_value, uint32_t last_value)
* 快值直接判在边界试探时计数被抖断 → 释放点外移/卡死;
* 低Q 用 τ50ms 平滑值(复刻打印阻塞降采样平均效应) + 带回 ×1.5(留 σ 余量).
* 高Q/中Q 走原快值逻辑, 零影响 */
/* V4.36.31: B3 判定参考 — min(Origin, 真空 EMA)
* Origin 可能被 env 学习锚到高位(板搁置态/过冲, J1: 130636 vs 真空 130506) → 释放线偏高
* → 撤板真空也够不着; 取 min 使参考锚向实时真空(低者=保守方向), 双侧自动正确 */
static uint32_t vac_ref(void)
{
if (g_vacuum_ema == 0) return loop1_Origin;
return (g_vacuum_ema < loop1_Origin) ? g_vacuum_ema : loop1_Origin;
}
static uint8_t rel_release_hit(void)
{
uint32_t _cmp = loop1_CAPVD;
@@ -288,7 +298,7 @@ static uint8_t rel_release_hit(void)
if (g_q_lo) {
_cmp = g_rel_smooth;
_line = loop1_Origin - ((loop1_dlt_ORG * REL_BAND_LO_MULT) / 100);
_line = vac_ref() - ((loop1_dlt_ORG * REL_BAND_LO_MULT) / 100); /* V4.36.31: 锚真空参考 */
}
return (_line < _cmp) ? 1 : 0;
}
@@ -526,6 +536,7 @@ void INIT_VD(void)
g_q_lo = 0; /* V4.36.19: 低Q 档标志清零 */
g_origin_freeze_tick = 0; /* V4.36.26: 释放冻结计数清零 */
g_rel_band_cnt = 0; /* V4.36.30: 环带兜底计数清零 */
g_vacuum_ema = 0; /* V4.36.31: 真空 EMA 清零 (判稳后重建) */
loop1_CAP_OK = 0;
loop1_CAPVD = 0;
loop1_CAPVD_slow = 0; // 方案A: 释放慢滤波复位
@@ -1187,6 +1198,7 @@ void vd1_task(void)
g_loop_stable = 1;
g_stable_cnt = 0; // 计数退出时清零: 二次稳定期(安全复位)从零开始
g_settle_cnt = 0;
g_vacuum_ema = loop1_Origin; /* V4.36.31: 判稳完成建立真空基线 */
PRINT("Loop stable, Origin:%d\n", loop1_Origin);
}
return;
@@ -1232,9 +1244,16 @@ void vd1_task(void)
g_env_recover_cnt = 0; // 目标进入确认区 → 恢复计时重来
}
/* V4.36.26: 释放后冻结期内 Origin 均值窗不更新 (切断 cycle 间正反馈) */
if (g_origin_freeze_tick == 0)
if (g_origin_freeze_tick == 0) {
update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT,
&loop1_Origin, loop1_CAPVD, WINDOW_ORIGIN);
/* V4.36.31: 真空 EMA 同步更新 (同条件同守卫; α=128 τ≈1.28s) */
if (g_vacuum_ema == 0)
g_vacuum_ema = loop1_CAPVD;
else
g_vacuum_ema += (uint32_t)((int32_t)loop1_CAPVD - (int32_t)g_vacuum_ema)
/ VACUUM_EMA_ALFA;
}
} else if (dev < 0) {
g_env_wait_cnt = 0; // V4.24: 目标靠近(车方向) → 等待重来
env_resync_abort(); // V4.24: 学习中被打断 → 重算
@@ -1340,7 +1359,7 @@ void vd1_task(void)
coil_monitor();
/*--- 进入确认 — 连续 ENTRY_CONFIRM 次低于阈值才判有车 ---*/
if (loop1_CAPVD < (loop1_Origin - loop1_dlt_ORG) && g_reconn_blank_ms == 0 && !g_reconn_stab) {
if (loop1_CAPVD < (vac_ref() - loop1_dlt_ORG) && g_reconn_blank_ms == 0 && !g_reconn_stab) { /* V4.36.31: 锚真空参考 */
if (loop1_entry_cnt == 0) {
/* 过渡事件: 第一次命中进入线 (定位"为什么开始进入") */
PRINT("EVT|enter_try Value:%d CAPVD:%d Origin:%d dlt:%d f:%dkHz LPCNT:%d Xn:%d\n",
@@ -1498,8 +1517,8 @@ void vd1_task(void)
* 持续 2.5s → 强制释放. 空间回滞带(触发线~释放线)内停住不再永久卡死;
* 真实车深压(dev 远深于触发线)不触发; 撤板/缓离离开触发线后 2.5s 内必释放 */
if (g_q_lo) {
uint32_t _entry_ln = loop1_Origin -
(((uint32_t)loop1_Origin * SensTable[loop1_SensLevel]) >> 16);
uint32_t _entry_ln = vac_ref() -
(((uint32_t)loop1_Origin * SensTable[loop1_SensLevel]) >> 16); /* V4.36.31: 锚真空参考 */
if (g_rel_smooth > _entry_ln) {
g_rel_band_cnt++;
if (g_rel_band_cnt >= REL_BAND_TIMEOUT_TICKS) {
@@ -1672,12 +1691,12 @@ void loop_task_function(void *pvParameters)
/* V4.36.27 诊断: 释放路径现场 — QLO=低Q档 RSM=释放平滑 RLN=低Q释放线 RCN=释放确认计数
* (每 2s 一行, 不阻塞 10ms tick, 不屏蔽低Q 抖动复现) */
{
uint32_t _rln = loop1_Origin - loop1_dlt_ORG;
uint32_t _rln = vac_ref() - loop1_dlt_ORG;
if (g_q_lo)
_rln = loop1_Origin - ((loop1_dlt_ORG * REL_BAND_LO_MULT) / 100);
_rln = vac_ref() - ((loop1_dlt_ORG * REL_BAND_LO_MULT) / 100); /* V4.36.31: 显示真空锚定线 */
PRINT("DBG|t=%ums f=%dkHz L=%luuH Xn=%d LPCNT=%d Value=%d CAPVD=%d slow=%d "
"Origin=%d dlt=%d SENS=%d VD=%d FRZ=%d/%d LIM=%d LOOP=%d STBL=%d "
"QLO=%d RSM=%d RLN=%d RCN=%d\n",
"QLO=%d VEM=%d RSM=%d RLN=%d RCN=%d\n",
_t_ms,
_fk,
coil_l_uH(_fk),
@@ -1685,7 +1704,7 @@ void loop_task_function(void *pvParameters)
loop1_Origin, loop1_dlt_ORG, loop1_SensLevel, loop1_VD_FLAG,
loop1_freeze_cnt, loop1_freeze_ref, g_slope_limit_cnt,
loop1_LOOP_OK, g_loop_stable,
g_q_lo, g_rel_smooth, _rln, loop1_cnt_release);
g_q_lo, g_vacuum_ema, g_rel_smooth, _rln, loop1_cnt_release);
}
g_slope_limit_cnt = 0; // 限幅计数按周期清 (统计最近 2s)
}