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feat(V4B): V4.30 — 故障补偿时序: 预判3s + 补偿8s + 恢复2s (总恢复 ~16s)

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拍板: 预判 ENV_WARN_WAIT 500→300(3s); 补偿 ENV_RESYNC_WAIT 1000→800(8s);
恢复确认 ENV_RECOVER_WAIT 500→200(2s, 新基线替换后空闲稳定即灭灯)
时序: 3s 黄灯预判锁存 → 8s 进入学习 → 6s(3×200tick)学完原子替换 → 2s 确认灭
test_env_resync.c 重写: 镜像与固件逐分支一致(学习中压线=搁置不退出/学习仅高位段
计数/abort后循环重触发) → 5 场景 ALL PASS (warn@300, applied@1400, 灭@1600)
文档: devlog V2.28 / spec V2.9 / design doc v0.7
This commit is contained in:
wangfq
2026-09-03 16:08:21 +08:00
parent 71feb3e06d
commit 4200d96250
7 changed files with 288 additions and 232 deletions
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utilities/at32f421_freertos_demo/src/TaskLoop.c
+1 -1
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@@ -875,7 +875,7 @@ void vd1_task(void)
#define STABLE_ORIGIN_PPT 1 // 基准稳定判据: 窗口均值漂移 ≤ Origin×1/1000 (0.1%)
#define STABLE_SETTLE_WINDOWS 2 // 连续 2 个窗口(每窗100样本≈1s)漂移达标 → 判稳
#define STABLE_MAX_SAMPLES 500 // 硬兜底: 5s 未判稳强制结束自检(防绿灯无限闪)
#define ENV_RESYNC_WAIT 1000 // V4.26: dev>+4dlt 高位连续 10s → 判定永久环境变化 (拍板: 故障补偿 60s→10s)
#define ENV_RESYNC_WAIT 800 // V4.30: dev>+4dlt 高位连续 8s → 判定永久环境变化 (拍板: 预判3s + 补偿8s + 恢复2s)
#define ENV_LEARN_WINDOW 200 // V4.24: 环境学习窗口 2s (200×10ms)
#define ENV_LEARN_MAX_TICKS 3000 // V4.24: 学习预算 30s, 超时放弃 (防黄灯常亮死锁)