refactor: 对齐 DLD154V4B 规格和 M1H 参考

- 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

utilities/at32f421_freertos_demo/src/TaskLoop.c

@@ -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)){