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feat(V4B): V4.25 — 环境异常黄灯预判: 高位持续5s即常亮(将进入重学)

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背景: V4.24 黄灯只在60s进入学习后才亮, 前60s操作员无可视反馈
改动: poll_yellow_led 模式4条件放宽 = g_env_resync || g_env_wait_cnt>=ENV_WARN_WAIT
  - ENV_WARN_WAIT=500tick(~5s) 放 TaskLoop.h 文件级(poll_yellow_led 可见)
  - dev>+4dlt 高位连续5s未回摆 → 黄灯预判常亮; 累计60s才真正学习(黄灯保持)
  - 预判≠学习: 回摆/目标靠近(wait清零) → 黄灯即灭, 不触发学习
tests/test_env_resync.c 扩展: 预判点亮时刻=500tick / 瞬态4000tick预判亮但不学
  / 打断回摆后预判灭; 5场景ALL PASS + 语法0 error
docs: devlog V2.23 + spec V2.4(ENV_WARN_WAIT行) + 产品手册 V2.8 同步
This commit is contained in:
wangfq
2026-09-02 18:40:39 +08:00
parent 672f143e99
commit 7fd120fdf3
7 changed files with 69 additions and 17 deletions
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utilities/at32f421_freertos_demo/inc/TaskLoop.h
+1
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@@ -46,6 +46,7 @@
#define ENTRY_CONFIRM 3 // 进入确认: 连续 N 次低于阈值才判定有车
#define FREEZE_TIMEOUT 1000 // 基线冻结超时: ~10s @ 10ms/tick, 持续偏高且稳定后强制更新基线
#define FREEZE_STABILITY_RATE 2 // 冻结稳定性窗口: 参考值的 ±2% (CAPVD 需在此范围内才累计超时)
#define ENV_WARN_WAIT 500 // 环境预判 (V4.25): dev>+4dlt 高位连续 ~5s 未回摆 → 黄灯常亮预判提示
/*===========================================================================
* 离开检测模式
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 "4.24"
#define FIRMWARE_VER "4.25"
#define HARDWARE_VER "3.00"
#define FIRMWARE_VER_MAIN 4
#define FIRMWARE_VER_SUB 24
#define FIRMWARE_VER_SUB 25
#define HARDWARE_VER_MAIN 3
#define HARDWARE_VER_SUB 0