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feat(V4B): 释放手感对齐 PD132T — 释放慢滤波(方案A, 固件 V4.03)

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现场金属板测试: 灵敏度表已对齐, 但释放高度 V4B 比 PD132T 低
(刚离开触发位置即释放 vs 需离更远)。根因: IIR 滤波时间常数差异
(V4B 10ms+α79→τ32ms vs PD132T 43.7ms+α79/64→τ142~175ms),
释放阈值浅(进入20%)放大差异。

修复(USE_SLOW_RELEASE 开关, 默认 1):
- 新增独立慢滤波 loop1_CAPVD_slow(α=18/256 @10ms→τ≈142ms),
  吃原始 Value 不经斜率限幅, 复刻 PD132T 恢复速度
- 离开判定改用慢滤波值, 进入路径不变
- RELEASE_ALFA=18 可调(PD132T SET_FLT=ON 时用 15≈τ170ms)
- 同步: INIT_VD/稳定期/线圈重连
- 版本 V4.03(顺带修正 cmcng.h 字符串"4.00"与数字 4/2 不一致)

验证: gcc 单测 tests/test_release_slow_filter.c
τ fast=30ms/slow=140ms; 释放时机差 260ms ✓
文档: technical-spec §4.3.3 + devlog V2.12
待板级: 真机金属板测试 + MRS 编译
This commit is contained in:
wangfq
2026-08-31 16:52:45 +08:00
parent f0f2c29a04
commit 9391e1b808
6 changed files with 172 additions and 3 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 "4.00"
#define FIRMWARE_VER "4.03"
#define HARDWARE_VER "3.00"
#define FIRMWARE_VER_MAIN 4
#define FIRMWARE_VER_SUB 2
#define FIRMWARE_VER_SUB 3
#define HARDWARE_VER_MAIN 3
#define HARDWARE_VER_SUB 0