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refactor: 对齐 DLD154V4B 规格和 M1H 参考

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- 灵敏度表改为 M1H 值: {216,108,36,10} / {108,72,18,9}
- 时序参数对齐: OUT_DELAY 39→38, PULSE_DELAY 10→19
- LED 宏命名对齐 154V4B: LEDA=红(PB1), LEDB=绿(PA9), LEDC=黄(PA10)
- RLY1/RLY2 引脚交换: PA6=RLY1, PA5=RLY2
This commit is contained in:
wangfq
2026-06-22 19:52:46 +08:00
parent cc61877510
commit 1d1e7fbc19
4 changed files with 52 additions and 47 deletions
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11
utilities/at32f421_freertos_demo/inc/TaskLoop.h
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@@ -16,11 +16,12 @@
#include <stdint.h>
#define HOLD_TIME 5*1200
#define LC_HOLD_TIME 4*1200 //时间4分钟
#define IN_DELAY 10
#define OUT_DELAY 39
#define PLUSE_DELAY 10
// 时序参数（每 tick ≈50ms），对齐 M1H 参考实现
#define HOLD_TIME (5 * 1200) // 有限存在保持（约5分钟）
#define LC_HOLD_TIME (4 * 1200) // 安全复位时间（约4分钟）
#define IN_DELAY 10 // 进入防抖 500ms
#define OUT_DELAY 38 // 离开防抖 1.9s
#define PULSE_DELAY 19 // 脉冲宽度 950ms
#define MAX_CMP_LOOP_UNIT 4 // 5 组

31
utilities/at32f421_freertos_demo/src/TaskLoop.c
View File

@@ -9,8 +9,11 @@
const uint16_t SensTable[4] = {300, 60, 32, 21 };
const uint16_t SensTable_1[4] = {60, 32, 21, 14 }; //释放灵敏度
// 灵敏度表（对齐 M1H 参考实现）
// 进入阈值 = Origin × SensTable[SENS] / 65536
// 离开阈值（滞回）= Origin × SensTable_1[SENS] / 65536，约为进入的一半
const uint16_t SensTable[4] = {216, 108, 36, 10}; // 0=低灵敏, 3=高灵敏
const uint16_t SensTable_1[4] = {108, 72, 18, 9}; // 释放灵敏度（滞回）
const uint16_t DELAY_TIME[4] = {0, 10}; //0、0.6秒、1.6秒、3秒 {0,12,32,60}; //0、0.6秒、1.6秒、3秒
@@ -345,7 +348,7 @@ void update_flt_history(uint32_t new_flt, int32_t firstOrder, int32_t secondOrde
if (flt_mgr.init_samples >= INIT_SAMPLE_COUNT) {
flt_mgr.stable_init_value = flt_mgr.init_sum / INIT_SAMPLE_COUNT;
flt_mgr.is_initialized = 1;
LEDA_OFF;
LEDB_OFF;
stage_config[0].base_value = flt_mgr.stable_init_value;
update_lower_upper(&stage_config[0]);
flt_mgr.init_freq = (float)(g_sys_freq )/((float)(flt_mgr.stable_init_value << XNSUM_FOR_ORIGIN_FACTOR)/((float)(loop1_LPCNT))) * g_input_div;
@@ -727,7 +730,7 @@ void TMR15_GLOBAL_IRQHandler(void)
loop1_FLAG_PLUSE_IN_F = 1;
}
loop1_INCNT = 0;
LEDA_ON;
LEDB_ON;
}
if(loop1_FLAG_PLUSE_IN_F)
@@ -760,14 +763,14 @@ void TMR15_GLOBAL_IRQHandler(void)
loop1_FLAG_OUT = 0;
loop1_FLAG_PLUSE = 1;
loop1_OUTCNT = 0;
LEDA_OFF;
LEDB_OFF;
}
}
if(loop1_FLAG_PLUSE) // Give 500ms
{
loop1_OUTCNT++;
if(loop1_OUTCNT > PLUSE_DELAY)
if(loop1_OUTCNT > PULSE_DELAY)
{
loop1_FLAG_PLUSE = 0;
loop1_OUTCNT = 0;
@@ -971,7 +974,7 @@ void vd1_task(void){
loop1_VD_FLAG = 1; //???????1
loop1_FLAG_IN = 1; //??????
LEDA_ON;
LEDB_ON;
if(!SET_SAFE)
@@ -1026,7 +1029,7 @@ void vd1_task(void){
g_loop_acs_info.flag_event = 1;
g_loop_acs_info.car_state = 0;
// g_led_A_state = 0;
LEDA_OFF;
LEDB_OFF;
loop1_ORG_CNT = 0;
loop1_ORG_SUM = 0;
Hold_CNT = 0;
@@ -1085,16 +1088,16 @@ void loop_task_function(void *pvParameters)
if(!loop1_LOOP_OK0){
for(swcnt = 0; swcnt < 6; swcnt++){
if(gpio_output_data_bit_read(LED_GREEN_GPIO, LED_GREEN_PIN)){
LEDA_ON;
LEDB_ON;
}
else{
LEDA_OFF;
LEDB_OFF;
}
vTaskDelay(200);
// TODO: 添加看门狗
}
loop1_LOOP_OK0= 1;
LEDA_OFF;
LEDB_OFF;
}
if(loop1_CAP_OK){
@@ -1132,7 +1135,7 @@ void loop_task_function(void *pvParameters)
// loop1_FLAG_PLUSE = 0;
// 线圈断开，继电器释放，状态为0，车辆状态也为0
RLY1_OFF; RLY2_OFF; LEDA_OFF;
RLY1_OFF; RLY2_OFF; LEDB_OFF;
if(gpio_output_data_bit_read(LED_YELLOW_GPIO, LED_YELLOW_PIN)){
LED_YELLOW_ON;
@@ -1152,10 +1155,10 @@ void loop_task_function(void *pvParameters)
g_xn_counter = 0;
// if(gpio_output_data_bit_read(LED_GREEN_GPIO, LED_GREEN_PIN)){
// LEDA_ON;
// LEDB_ON;
// }
// else{
// LEDA_OFF;
// LEDB_OFF;
// }
//
// if(gpio_output_data_bit_read(LED_YELLOW_GPIO, LED_YELLOW_PIN)){