perf: 提高测量精度和响应速度

- TIM3 分频 DIV_4→DIV_2（中断率×2，CPU仍<3%）
- 去掉 XNSUM_FOR_ORIGIN_FACTOR (>>6)，保留全部采样精度
- LPCNT = MEASUREMENT_BASE(131072)/Xn，替代 (32768<<6)/Xn
- 测量窗口 17.5ms→~1ms（快16倍）
- Origin 范围 32K→131K，灵敏度阈值自动按比例缩放
- 离开增加 cnt_release>=3 防抖，防瞬间噪声误落杆

project/at32f421_board/at32f421_board.c

@@ -236,7 +236,7 @@ void loop_timer_io_init(void)
     g_tmr_input_config_struct.input_channel_select = TMR_SELECT_CHANNEL_2;
     g_tmr_input_config_struct.input_mapped_select = TMR_CC_CHANNEL_MAPPED_DIRECT;
     g_tmr_input_config_struct.input_polarity_select = TMR_INPUT_RISING_EDGE;
-    _div = TMR_CHANNEL_INPUT_DIV_4;
+    _div = TMR_CHANNEL_INPUT_DIV_2;
     tmr_input_channel_init(TMR3, &g_tmr_input_config_struct, _div);
     for(i = 0; i< _div; i++){
         g_input_div *= 2;

utilities/at32f421_freertos_demo/inc/TaskLoop.h

@@ -33,10 +33,11 @@
 
 /*===========================================================================
  * 频率测量参数
- * XNSUM_FOR_ORIGIN_FACTOR: Value/LPCNT 的归一化右移量
+ * MEASUREMENT_BASE: 自适应测量窗口目标值 (≈131072)
- * 使 Origin 保持在合理的 uint32 范围内
+ *   LPCNT = MEASUREMENT_BASE / Xn, 使 Value ≈ MEASUREMENT_BASE
+ *   121072 = 2^17, 兼顾精度和 Origin 范围
  *===========================================================================*/
-#define   XNSUM_FOR_ORIGIN_FACTOR   6   // >>6
+#define   MEASUREMENT_BASE   131072     // 2^17
 
 /*===========================================================================
  * 灵敏度表 — 对齐 M1H
@@ -81,6 +82,9 @@ extern uint8_t  loop1_FLAG_OUT;           // 离开延时中
 extern uint8_t  loop1_FLAG_PLUSE;         // 脉冲输出中
 extern uint8_t  loop1_SensLevel;          // 当前灵敏度等级 (0~3)
 
+/* 离开防抖计数器（连续 CAPVD 恢复到阈值以上才释放） */
+extern uint8_t  loop1_cnt_release;        // 离开防抖计数
+
 /*===========================================================================
  * 全局状态变量 — 计数器
  *===========================================================================*/

utilities/at32f421_freertos_demo/src/TaskLoop.c

@@ -50,6 +50,7 @@ uint8_t  loop1_FLAG_IN;
 uint8_t  loop1_FLAG_OUT;
 uint8_t  loop1_FLAG_PLUSE;
 uint8_t  loop1_SensLevel;
+uint8_t  loop1_cnt_release;
 
 /*===========================================================================
  * 全局状态变量 — 计数器
@@ -288,6 +289,7 @@ void INIT_VD(void)
     loop1_FLAG_IN    = 0;
     loop1_FLAG_OUT   = 0;
     loop1_FLAG_PLUSE = 0;
+    loop1_cnt_release = 0;
 
     loop1_LC_HOLD  = 0;
     loop1_LC_Reset = 0;
@@ -360,15 +362,14 @@ void TMR3_GLOBAL_IRQHandler(void)
                 if (loop1_LPCNT == 0) {
                     if (loop1_CapCnt > 10) {
                         /*
-                         * 修复: 先乘后除，避免截断为 0
+                         * 自适应测量窗口: MEASUREMENT_BASE / Xn
-                         * 原代码: loop1_LPCNT = (32768 / Xn) << 6   ← 小 Xn 时溢出
+                         * 使归一化 Value ≈ 131072，无需后续 >>6
-                         * 新代码: (32768UL << 6) / Xn = 2097152 / Xn
                          */
-                        loop1_LPCNT = (32768UL << XNSUM_FOR_ORIGIN_FACTOR) / loop1_Xn;
+                        loop1_LPCNT = MEASUREMENT_BASE / loop1_Xn;
                         PRINT("First_calc_loop1_LPCNT:%d, loop1_Xn:%d\n",
                               loop1_LPCNT, loop1_Xn);
                         if (loop1_LPCNT == 0) {
-                            loop1_LPCNT = 1000;
+                            loop1_LPCNT = 100;
                         }
                         loop1_CAPVD  = 0;
                         loop1_CapSum = 0;
@@ -379,7 +380,7 @@ void TMR3_GLOBAL_IRQHandler(void)
                     loop1_CapSum += loop1_Xn;
                     if (loop1_CapCnt >= loop1_LPCNT) {
                         loop1_CAPVD  = loop1_CapSum;
-                        loop1_Origin = loop1_CAPVD >> XNSUM_FOR_ORIGIN_FACTOR;
+                        loop1_Origin = loop1_CAPVD;          // 不再 >>6
                         PRINT("First_capSum:%d, Origin:%d\n",
                               loop1_CapSum, loop1_Origin);
                         loop1_INI_LOOP = 0;
@@ -560,13 +561,11 @@ void TMR15_GLOBAL_IRQHandler(void)
  *===========================================================================*/
 void vd1_task(void)
 {
-    uint32_t tmp_value;
-
     if (loop1_Origin == 0) return;
 
     /*--- 1. IIR 一阶低通滤波（对齐 M1H 公式） ---*/
-    tmp_value    = loop1_Value >> XNSUM_FOR_ORIGIN_FACTOR;
+    /* Value 已经是 MEASUREMENT_BASE 级别的原始值，不再右移 */
-    loop1_CAPVD  = get_flt_value(tmp_value, loop1_CAPVD);
+    loop1_CAPVD = get_flt_value(loop1_Value, loop1_CAPVD);
 
     if (!loop1_VD_FLAG) {
         /*================================================================
@@ -581,9 +580,8 @@ void vd1_task(void)
         loop1_dlt_ORG = ((uint32_t)loop1_Origin * SensTable[loop1_SensLevel]) >> 16;
 
         if (loop1_CAPVD < (loop1_Origin - loop1_dlt_ORG)) {
-            PRINT("Car_In, Value:%d, CAPVD:%d, Origin:%d, dlt:%d, freq:%d\n",
+            PRINT("Car_In, Value:%d, CAPVD:%d, Origin:%d, dlt:%d\n",
-                  tmp_value, loop1_CAPVD, loop1_Origin,
+                  loop1_Value, loop1_CAPVD, loop1_Origin, loop1_dlt_ORG);
-                  loop1_dlt_ORG, g_crm_clocks_freq_struct.sclk_freq);
 
             loop1_VD_FLAG = 1;
             loop1_FLAG_IN = 1;
@@ -600,19 +598,23 @@ void vd1_task(void)
 
             loop1_ORG_CNT = 0;
             loop1_ORG_SUM = 0;
+            loop1_cnt_release = 0;   // 重置离开防抖
         }
     } else {
         /*================================================================
          * 有车状态
          *================================================================*/
 
-        /*--- 离开检测（滞回阈值 SensTable_1 ≈ SensTable 的 50%） ---*/
+        /*--- 离开检测（滞回阈值 SensTable_1 ≈ SensTable 的 50%）
+         *    增加 cnt_release >= 3 防抖：连续 3 次恢复到阈值以上才释放
+         *    避免因瞬间噪声导致误落杆 ---*/
         loop1_dlt_ORG = ((uint32_t)loop1_Origin * SensTable_1[loop1_SensLevel]) >> 16;
 
         if ((loop1_Origin - loop1_dlt_ORG) < loop1_CAPVD) {
-            PRINT("Car_OFF, Value:%d, CAPVD:%d, Origin:%d, dlt:%d, freq:%d\n",
+            loop1_cnt_release++;
-                  tmp_value, loop1_CAPVD, loop1_Origin,
+            if (loop1_cnt_release >= 3) {
-                  loop1_dlt_ORG, g_crm_clocks_freq_struct.sclk_freq);
+                PRINT("Car_OFF, 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;
@@ -623,6 +625,13 @@ void vd1_task(void)
                 loop1_ORG_CNT = 0;
                 loop1_ORG_SUM = 0;
                 Hold_CNT      = 0;
+                loop1_cnt_release = 0;
+            }
+        } else {
+            /* CAPVD 又掉回阈值以下 → 重置防抖，车还在 */
+            if (loop1_cnt_release > 0) {
+                loop1_cnt_release = 0;
+            }
         }
     }
 }
@@ -693,7 +702,7 @@ void loop_task_function(void *pvParameters)
             _dbg_cnt++;
             if (_dbg_cnt >= 200) {      // 200 × 10ms = 2s
                 _dbg_cnt = 0;
-                PRINT("SET_DLY:%d, SET_SAFE:%d, Xn:%d, LPCNT:%d, "
+                PRINT("SET_DLY:%d, SAFE:%d, Xn:%d, LPCNT:%d, "
                       "CAPVD:%d, Origin:%d, VD:%d\n",
                       SET_DLY, SET_SAFE, loop1_Xn, loop1_LPCNT,
                       loop1_CAPVD, loop1_Origin, loop1_VD_FLAG);