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feat(V4B): V4.36.30 — 环带超时兜底: 时间回滞替代空间回滞

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用户反馈 V4.36.29: 抬一点就释放(容差压塌回滞到4) / 反复试探=连续过车?
- 撤 REL_LO_TOL=4: 回滞恢复 8 counts (Origin-49 触发/Origin-41 释放)
- 新增 REL_BAND_TIMEOUT_TICKS=250(2.5s): 低Q 触发后 CAPVD 平滑>进入线
  (已离开触发深度) 持续 2.5s → 强制释放
- 根治'板停空间回滞带内永久卡死'(试探场景); 真实车深压不触发(安全);
  J1 撤板 75s→2.5s; 抬 4 counts 不再立刻释放
- '越来越难释放'机制: 拿起板 Origin 被 env 学高, 试探快于收敛则净升 (远期 env 过冲抑制)
- 低L 灵敏度自适应(进入带回放大)列为下一档评估
语法0 error, 4测试全绿; spec V2.46 / devlog V2.65
This commit is contained in:
wangfq
2026-09-07 16:32:24 +08:00
parent 3ea876b7d9
commit 74512bcf54
5 changed files with 54 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
utilities/at32f421_freertos_demo/inc/TaskLoop.h
+2 -3
View File
@@ -38,9 +38,8 @@
#define RELEASE_ALFA 21 // 释放慢滤波 α = 21/256 ≈ 0.082 (@10ms → 精确τ≈117ms, V4.04: 对齐 PD132T α79@43.7ms 精确τ≈118ms; 原18→精确τ137ms偏慢)
#define REL_ALFA 30 // V4.36.19/26: 低Q 释放平滑 α=30/256≈0.117 (@10ms → τ≈85ms, 46→30): 复刻打印降采样平均效应, 只用于低Q 释放判定抗抖 (V4.36.26 加大剂量 50→85ms)
#define REL_BAND_LO_MULT 180 // V4.36.19/28: 低Q 释放带回加宽 % (dlt_rel×1.8: 23→41@SENS3): 防边界试探锁死
#define REL_LO_TOL 4 // V4.36.29: 低Q 释放判定容差 counts (破"平滑差 1~2 counts 死锁"):
// J1 实测 Origin 过冲残留 34 → 释放线偏高 → 撤板后真空 CAPVD 距线 7 counts,
// RSM 差 1 count 卡 75s; 容差 4 = 等效线 Origin-45, 回滞 49-45=4 (σ1-2 → 2~4σ 安全)
#define REL_BAND_TIMEOUT_TICKS 250 // V4.36.30: 低Q 环带超时兜底 2.5s(@10ms): 板已离开触发深度(CAPVD>进入线)
// 持续 2.5s → 强制释放 (空间回滞带内停住不再永久卡死; 用时间回滞替代空间回滞)
// 150(→35)不够: 23µH 现场实测板停临界回摆 Origin-36, 需释放线<Origin-37 才释放;
// 180(→41)线=Origin-41, 余 4 counts; 触发-释放回滞 49-41=8 counts (实测σ≈1-2, 安全)
#define USE_SLOW_RELEASE 0 // 方案A总开关: 1=释放走慢滤波(对齐PD132T) 0=原快滤波释放
utilities/at32f421_freertos_demo/inc/cmcng.h
+2 -2
View File
@@ -14,11 +14,11 @@
#define __CMCNG_H__
#define PRODUCT_MODEL "DLD154"
#define FIRMWARE_VER "4.36.29" // 主.子.修订 (2026-09-03 起: 小改动只增 REV; MAIN/SUB 由产品定)
#define FIRMWARE_VER "4.36.30" // 主.子.修订 (2026-09-03 起: 小改动只增 REV; MAIN/SUB 由产品定)
#define HARDWARE_VER "3.00"
#define FIRMWARE_VER_MAIN 4
#define FIRMWARE_VER_SUB 36
#define FIRMWARE_VER_REV 29
#define FIRMWARE_VER_REV 30
#define HARDWARE_VER_MAIN 3
#define HARDWARE_VER_SUB 0
utilities/at32f421_freertos_demo/src/TaskLoop.c
+30 -1
View File
@@ -45,6 +45,7 @@ uint32_t loop1_CAPVD_slow = 0; // 释放判定慢滤波值 (方案A)
uint32_t g_rel_smooth = 0; // V4.36.19: 低Q 释放平滑值 (τ≈50ms, 复刻打印降采样平均效应)
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 loop1_Origin;
uint32_t loop1_ORG_SUM;
uint16_t loop1_ORG_CNT;
@@ -288,7 +289,6 @@ 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);
if (_line > REL_LO_TOL) _line -= REL_LO_TOL; /* V4.36.29: 容差破死锁(等效线 Origin-45) */
}
return (_line < _cmp) ? 1 : 0;
}
@@ -525,6 +525,7 @@ void INIT_VD(void)
g_rel_smooth = 0; /* V4.36.19: 低Q 释放平滑清零 */
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 */
loop1_CAP_OK = 0;
loop1_CAPVD = 0;
loop1_CAPVD_slow = 0; // 方案A: 释放慢滤波复位
@@ -1363,6 +1364,7 @@ void vd1_task(void)
loop1_CAPVD_slow = loop1_CAPVD;
#endif
g_rel_smooth = loop1_CAPVD; /* V4.36.19: 低Q 释放平滑 snap 到进入点 */
g_rel_band_cnt = 0; /* V4.36.30: 环带兜底计数进入时清零 */
if (!SET_SAFE) {
loop1_LC_HOLD = 1;
@@ -1491,6 +1493,33 @@ void vd1_task(void)
} else {
if (loop1_cnt_release > 0) loop1_cnt_release = 0;
}
/* V4.36.30: 环带超时兜底(仅低Q) — 板已离开触发深度(CAPVD 平滑 > 进入线)
* 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);
if (g_rel_smooth > _entry_ln) {
g_rel_band_cnt++;
if (g_rel_band_cnt >= REL_BAND_TIMEOUT_TICKS) {
g_rel_band_cnt = 0;
PRINT("Car_OFF(band_timeout), Value:%d CAPVD:%d Origin:%d dlt:%d\n",
loop1_Value, loop1_CAPVD, loop1_Origin, loop1_dlt_ORG);
loop1_VD_FLAG = 0;
loop1_FLAG_OUT = 1;
loop1_VD_HOLD = 0;
loop1_LC_HOLD = 0;
loop1_ORG_CNT = 0;
loop1_ORG_SUM = 0;
Hold_CNT = 0;
loop1_cnt_release = 0;
g_origin_freeze_tick = REL_ORIGIN_FREEZE_TICKS;
}
} else {
g_rel_band_cnt = 0;
}
}
#endif
}
}