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feat(V4B): V4.23 — 红灯呼吸对齐vd960Loop(≈2.6s) + 上电自检基准判稳

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现场测试 DLD154V4 反馈两问题修复:

1. 红灯呼吸太快 → 借鉴 vd960Loop 效果 (main.c poll_red_pwm)
   - 参数按 665/6800 缩放取整: 大步 100→39(≈5.9%), 近顶 20→10(≈1.5%),
     分界 585(88%), 峰值保持 660×3 步
   - 周期 ≈1.6s → ≈2.6s (仿真 42 步×60ms=2520ms)

2. 绿灯上电自检闪到"稳定基准值"才停 (TaskLoop.c 稳定期判稳)
   - 根因: 固定 128 样本即判稳, 与基准是否稳定无关; static 计数不清零,
     二次稳定期(安全复位)1 样本瞬间判稳
   - 修复: 全局 g_stable_cnt/g_settle_cnt, 每窗(100样本≈1s)Origin 均值
     漂移 ≤0.1% → settle++, 连续 2 窗 + 最少 128 样本判稳; 硬兜底 500
     样本(5s); 计数判稳退出/INIT_VD 清零

验证: tests/test_power_on_stable.c (200/300/500/200 样本 PASS),
      tests/test_red_breath.c (周期 2520ms/峰值保持/写值≤ARR PASS),
      gcc -fsyntax-only 两文件 0 error (借 vd960Loop AT32F421 库头)
文档: devlog 置顶 + 修订表回填 V2.12~V2.20 + V2.21; product-manual §5.1/
      核心特性; technical-spec V2.2 (§5.2 参数表/§7 判稳语义/§15 修订记录)

待现场验证: 呼吸观感、绿灯自检时长 (无车 2~3s / 首窗尖峰 3s / 5s 兜底)
This commit is contained in:
wangfq
2026-09-02 16:26:03 +08:00
parent 47898fd16e
commit cd0fd90770
8 changed files with 405 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
utilities/at32f421_freertos_demo/src/TaskLoop.c
+42 -8
View File
@@ -70,6 +70,11 @@ uint8_t loop1_FLAG_PLUSE;
uint8_t loop1_SensLevel;
uint8_t loop1_cnt_release;
uint8_t g_loop_stable;
/* V4.23: 稳定期(上电自检)计数器 — 基准值稳定后才结束自检 */
uint16_t g_stable_cnt = 0; // 稳定期累计样本 (每次 CAP_OK +1)
uint16_t g_settle_cnt = 0; // 基准稳定连续窗口计数 (窗口=100样本≈1s)
#if USE_FLATNESS_EXIT
uint8_t g_exit_state;
uint16_t g_max_slope;
@@ -395,6 +400,8 @@ void INIT_VD(void)
loop1_FLAG_PLUSE = 0;
loop1_cnt_release = 0;
g_loop_stable = 0;
g_stable_cnt = 0; // V4.23: 自检计数从零开始
g_settle_cnt = 0;
/* M4 优化: 快速 IIR + 进入确认 */
loop1_entry_cnt = 0;
@@ -708,9 +715,11 @@ static uint32_t calc_freq_khz(uint32_t capvd, uint16_t lp_cnt)
*===========================================================================*/
void vd1_task(void)
{
#define STABLE_SAMPLES 128 // 稳定期样本数
#define STABLE_SAMPLES 128 // 稳定期最少样本数 (128×10ms≈1.3s)
#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)
static uint16_t _stable_cnt = 0;
if (loop1_Origin == 0) return;
@@ -741,19 +750,44 @@ void vd1_task(void)
}
#endif
/*--- 2. 稳定期：绕过 IIR 和斜率限幅，小窗口快速收敛 ---*/
/*--- 2. 稳定期：绕过 IIR 和斜率限幅，小窗口快速收敛;
* 基准值稳定(连续窗口 Origin 漂移达标)后才结束自检 ---*/
if (!g_loop_stable) {
uint32_t _prev_origin = loop1_Origin;
uint8_t _win_done;
loop1_CAPVD = loop1_Value;
#if USE_SLOW_RELEASE
loop1_CAPVD_slow = loop1_Value; // 方案A: 稳定期同步直锁
#endif
update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT,
&loop1_Origin, loop1_CAPVD, 100);
_stable_cnt++;
if (_stable_cnt >= STABLE_SAMPLES) {
_win_done = update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT,
&loop1_Origin, loop1_CAPVD, 100);
g_stable_cnt++;
/* V4.23: 每窗(100样本≈1s)完成时比较 Origin 均值漂移;
* 漂移 ≤ Origin×STABLE_ORIGIN_PPT/1000 → settle 计数+1, 否则清零
* (首个窗口常与 TMR3 首窗 Origin 偏差大, 自然多等一窗再判稳) */
if (_win_done) {
uint32_t _drift = (loop1_Origin > _prev_origin)
? (loop1_Origin - _prev_origin)
: (_prev_origin - loop1_Origin);
uint32_t _band = (uint32_t)(loop1_Origin * STABLE_ORIGIN_PPT / 1000);
if (_drift <= _band) {
if (g_settle_cnt < 0xFFFF) g_settle_cnt++;
} else {
g_settle_cnt = 0;
}
}
/* 判稳条件: 最少样本 + 连续 2 窗基准稳定; 硬兜底 STABLE_MAX_SAMPLES */
if ((g_stable_cnt >= STABLE_SAMPLES &&
g_settle_cnt >= STABLE_SETTLE_WINDOWS) ||
g_stable_cnt >= STABLE_MAX_SAMPLES) {
g_loop_stable = 1;
PRINT("Loop stable, Origin:%d\\n", loop1_Origin);
g_stable_cnt = 0; // 计数退出时清零: 二次稳定期(安全复位)从零开始
g_settle_cnt = 0;
PRINT("Loop stable, Origin:%d\n", loop1_Origin);
}
return;
}
utilities/at32f421_freertos_demo/src/main.c
+37 -29
View File
@@ -155,45 +155,53 @@ void Timr6_Init(void)
tmr_counter_enable(TMR14, TRUE);
}
/*===========================================================================
* 红灯呼吸 (PB1 / TMR14 PWM) — V4.23: 呼吸节奏对齐 vd960Loop (LED_PWR)
*
* vd960Loop 参考 (周期≈2.6s, 60ms/步): 满量程 6800
* 升: <6000 大步 +400(≈5.9%), ≥6000 小步 +100(≈1.5%)
* 峰值保持 3 步后回落; 降: -400(≈5.9%)
* V4B PWM 满量程 = TMR14 ARR 665, 参数按 665/6800 ≈ 0.0978 缩放取整:
* 大歩 39(≈5.9%) / 小步 10(≈1.5%) / 分界 585(≈88%) / 峰值保持 660(≈99%)
* 全周期 ≈ 2.6s, 与 vd960Loop 观感一致
*===========================================================================*/
#define RED_BREATH_ARR 665 /* 必须与 tmr_base_init(TMR14,665,...) 一致 */
#define RED_STEP_BIG 39 /* 低段升/全程降步长 ≈ 400×665/6800 */
#define RED_STEP_SMALL 10 /* 近顶小步 ≈ 100×665/6800 */
#define RED_SPLIT 585 /* 大步/小步分界 ≈ 6000×665/6800 (88%) */
#define RED_HOLD_LEVEL 660 /* 峰值保持占空比 (≈99%) */
#define RED_HOLD_TICKS 3 /* 峰值保持 3 步 × 60ms = 180ms */
uint8_t g_cnt_pwm_red_low_timeout = 0;
void poll_red_pwm(void)
{
g_pulse_counter++;
if(g_pulse_counter >= 12){
if (g_pulse_counter >= 12) { /* 12 × 5ms = 60ms/步 (同 vd960Loop) */
g_pulse_counter = 0;
if(g_flag_pulse){
if(pulse < 500){
pulse += 100;
}
else{
pulse += 20;
}
if(pulse >= 670)
{
if(g_cnt_pwm_red_low_timeout < 3){
pulse = 665;
g_cnt_pwm_red_low_timeout++;
}
else{
if (g_flag_pulse) {
/* 渐亮: 低段大步, 近顶小步 */
if (pulse < RED_SPLIT)
pulse += RED_STEP_BIG;
else
pulse += RED_STEP_SMALL;
/* 到最亮: 保持 RED_HOLD_TICKS 步再回落 */
if (pulse >= RED_BREATH_ARR) {
g_cnt_pwm_red_low_timeout++;
if (g_cnt_pwm_red_low_timeout >= RED_HOLD_TICKS) {
g_flag_pulse = 0;
g_cnt_pwm_red_low_timeout = 0;
pulse = 660;
}
pulse = RED_HOLD_LEVEL;
}
}
else{
if(pulse <= 600)
{
pulse -= 100;
}
else{
pulse -= 20;
}
if(pulse == 0){
} else {
/* 渐暗 */
if (pulse <= RED_STEP_BIG) {
pulse = 0;
g_flag_pulse = 1;
} else {
pulse -= RED_STEP_BIG;
}
}
tmr_channel_value_set(TMR14, TMR_SELECT_CHANNEL_1, pulse);