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feat(V4B): V4.24 — 环境重校准：永久环境变化自动恢复基线(金属板A拿走场景)

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现场(2026-09-02实测): 线圈旁金属板A上电把Origin学低(128096)，A拿走CAPVD弹回
真空场(128856) dev=+761(0.59%)，被36321a1双向保护"dev>0永不更新"永久冻结
→ B触发需809cnt(正常54cnt) 灵敏度假性降低且不恢复(V4.20分钟级可自愈)

修复: dev>+4dlt高位两段式受控重校准
  ① 60s(ENV_RESYNC_WAIT)高位连续未回摆 → 判定永久环境变化(瞬态铁块类不污染)
  ② 学习基线B: 连续空闲窗200tick均值 + settle判稳(连续2窗漂移≤0.1%)
  ③ 空闲原子替换Origin, 清freeze/ORG/entry残留, slow snap, 黄灯恢复
- 学习期打断(回窗/dev<0/断线重连)→重算; 30s预算超时放弃保留旧Origin
- 黄灯模式4: 环境学习中常亮(优先级: 断开快闪>学习常亮>N短闪>灭)
- tests/test_env_resync.c 5场景ALL PASS(恢复66s/瞬态不学/打断重算/放弃/不震荡)
- docs: devlog V2.22 + spec V2.3 + 产品手册 V2.7 同步
This commit is contained in:
wangfq
2026-09-02 18:10:28 +08:00
parent cd0fd90770
commit 672f143e99
6 changed files with 477 additions and 8 deletions
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utilities/at32f421_freertos_demo/inc/cmcng.h
+2 -2
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@@ -14,10 +14,10 @@
#define __CMCNG_H__
#define PRODUCT_MODEL "DLD154"
#define FIRMWARE_VER "4.23"
#define FIRMWARE_VER "4.24"
#define HARDWARE_VER "3.00"
#define FIRMWARE_VER_MAIN 4
#define FIRMWARE_VER_SUB 23
#define FIRMWARE_VER_SUB 24
#define HARDWARE_VER_MAIN 3
#define HARDWARE_VER_SUB 0