946 lines
34 KiB
C
946 lines
34 KiB
C
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#include "TaskLoop.h"
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#include "at32f421_board.h"
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#include "cmcng.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include <stdlib.h>
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/*===========================================================================
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* 灵敏度表 — 对齐 M1H 参考实现
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* 进入阈值 = Origin × SensTable[SENS] / 65536
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* 离开阈值（滞回）= Origin × SensTable_1[SENS] / 65536
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* SENS: 0=低灵敏, 3=高灵敏
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*===========================================================================*/
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const uint16_t SensTable[4] = {216, 108, 36, 10};
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const uint16_t SensTable_1[4] = {108, 72, 18, 9};
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/*===========================================================================
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* 全局状态变量 — 捕获 & 测量
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*===========================================================================*/
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uint32_t g_sys_freq = 0;
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uint8_t g_input_div = 1;
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uint16_t loop1_Xn;
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uint16_t loop1_CapThis;
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uint16_t loop1_CapLast;
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uint16_t loop1_LPCNT;
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uint16_t loop1_CapCnt;
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uint32_t loop1_CapSum;
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uint32_t loop1_Value;
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uint32_t loop1_CAPVD;
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uint32_t loop1_Origin;
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uint32_t loop1_ORG_SUM;
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uint16_t loop1_ORG_CNT;
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uint16_t loop1_dlt_ORG;
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uint8_t Flt_Reg;
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/* M4 优化: 快速 IIR + 进入确认 */
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uint32_t loop1_CAPVD_fast;
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uint8_t loop1_entry_cnt;
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uint16_t loop1_freeze_cnt;
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uint32_t loop1_freeze_ref;
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/*===========================================================================
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* 全局状态变量 — 标志位
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*===========================================================================*/
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uint8_t loop1_INI_LOOP;
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uint8_t loop1_CAP_OK;
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uint8_t loop1_VD_FLAG;
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uint8_t loop1_VD_HOLD;
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uint8_t loop1_RF_FLAG;
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uint8_t loop1_LOOP_OK;
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uint8_t loop1_LOOP_OK0;
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uint8_t loop1_FLAG_IN;
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uint8_t loop1_FLAG_OUT;
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uint8_t loop1_FLAG_PLUSE;
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uint8_t loop1_SensLevel;
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uint8_t loop1_cnt_release;
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uint8_t g_loop_stable;
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#if USE_FLATNESS_EXIT
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uint8_t g_exit_state;
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uint16_t g_max_slope;
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uint16_t g_max_slope_rate;
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uint16_t g_delta2;
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uint16_t g_delta3;
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int32_t g_prev_capvd;
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int32_t g_prev_first_deriv;
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uint8_t g_slope_flat_cnt;
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uint8_t g_flat_ok_cnt;
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#endif
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/*===========================================================================
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* 全局状态变量 — 计数器
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*===========================================================================*/
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uint16_t Hold_CNT = 0;
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uint8_t loop1_INCNT = 0;
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uint8_t loop1_OUTCNT = 0;
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uint8_t TM1cnt = 0;
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/*===========================================================================
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* 拨码开关状态
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*===========================================================================*/
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uint8_t SET_PLUS = 0;
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uint8_t SET_DLY = 0; // 离开延时: 0=无, 1=500ms
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uint8_t SET_SAFE = 0;
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/*===========================================================================
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* 拨码开关去抖变量
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*===========================================================================*/
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uint8_t sw0, swok, sw1, swcnt, SENS = 0, SENS_LAST = 0;
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/*===========================================================================
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* 安全复位相关
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*===========================================================================*/
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uint8_t loop1_LC_HOLD = 0;
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uint8_t loop1_LC_Reset = 0;
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uint32_t LC_Hold_CNT = 0;
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uint16_t g_safe_max_cnt = LC_HOLD_TIME;
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/*===========================================================================
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* 故障指示相关 — 黄灯
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*===========================================================================*/
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uint8_t g_loop_power_up_state = 0;
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uint8_t g_disconnect_count = 0;
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uint8_t g_disconnect_active = 0;
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uint8_t g_fault_phase = 0;
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uint16_t g_fault_tick = 0;
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/*===========================================================================
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* 调试计数器
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*===========================================================================*/
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uint32_t g_xn_counter = 0;
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/*===========================================================================
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* 拨码开关轮询（5 次去抖，对齐 M1H）
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*===========================================================================*/
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void poll_sw_state(void)
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{
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sw0 = gpio_input_data_bit_read(SW5_BUTTON_PORT, SW5_BUTTON_PIN) << 4;
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sw0 |= gpio_input_data_bit_read(SW4_BUTTON_PORT, SW4_BUTTON_PIN) << 3;
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sw0 |= gpio_input_data_bit_read(SW3_BUTTON_PORT, SW3_BUTTON_PIN) << 2;
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sw0 |= gpio_input_data_bit_read(SW2_BUTTON_PORT, SW2_BUTTON_PIN) << 1;
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sw0 |= gpio_input_data_bit_read(SW1_BUTTON_PORT, SW1_BUTTON_PIN) << 0;
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if (sw0 == sw1) {
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if (swok != sw0) {
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swcnt++;
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if (swcnt > 5) { // 对齐 M1H: 5 次确认
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swok = sw0;
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SET_PLUS = swok & 0x04;
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SET_DLY = (swok & 0x08) >> 3;
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SET_SAFE = (swok & 0x10) >> 4;
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}
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}
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} else {
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sw1 = sw0;
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swcnt = 0;
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}
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SENS = swok & 0x03;
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if (SENS != SENS_LAST) {
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PRINT("SENS changed: %02X -> %02X, resetting...\n", SENS_LAST, SENS);
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nvic_system_reset();
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}
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}
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/*===========================================================================
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* 一阶 IIR 低通滤波器（对齐 M1H 公式）
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* CAPVD_new = α × new_value + (1-α) × CAPVD_old
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* α = Flt_Reg / 256 = 79/256 ≈ 0.3086
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*===========================================================================*/
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uint32_t get_flt_value(uint32_t new_value, uint32_t last_Value)
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{
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uint32_t value_Flt;
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uint32_t delta = (new_value > last_Value)
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? (new_value - last_Value)
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: (last_Value - new_value);
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uint32_t scaled_delta = (delta * (uint32_t)Flt_Reg) >> 8;
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if (new_value > last_Value) {
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value_Flt = last_Value + scaled_delta;
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} else {
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value_Flt = last_Value - scaled_delta;
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}
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return value_Flt;
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}
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/*===========================================================================
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* 滑动平均基线更新
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* 累加 new_value，当计数达到 window 时计算平均值并重置
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* 返回 1 表示本轮更新了平均值
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*===========================================================================*/
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uint8_t update_moving_average(uint32_t* p_sum, uint16_t* p_cnt,
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uint32_t* p_origin, uint32_t new_value,
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uint16_t window)
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{
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if (!p_sum || !p_cnt || !p_origin || window == 0) {
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return 0;
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}
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*p_sum += new_value;
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(*p_cnt)++;
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if (*p_cnt >= window) {
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*p_origin = *p_sum / window;
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*p_cnt = 0;
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*p_sum = 0;
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return 1;
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}
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return 0;
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}
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/*===========================================================================
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* 红灯呼吸 (LEDA, PB1) — 每 5ms 由 TMR15 ISR 调用
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*===========================================================================*/
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void LEDA_ON_OFF(void)
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{
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LED_RED_GPIO->odt ^= LED_RED_PIN;
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}
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/*===========================================================================
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* 绿灯指示 — LEDA (PA9)
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*
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* 由 TMR15 ISR 每 5ms 驱动一次，是绿灯的唯一控制入口。
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*
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* 模式：
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* 自检/稳定中 (loop1_INI_LOOP || 线圈未连 || !g_loop_stable):
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* → 慢闪 (200ms 亮 / 200ms 灭)
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* 正常工作:
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* → 有车亮 (VD_FLAG==1), 无车灭
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*===========================================================================*/
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void poll_green_led(void)
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{
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#define GREEN_SLOW_HALF 40 // 200ms (40 × 5ms)
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static uint16_t _slow_tick = 0;
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/*--- 线圈断开中 → 灭（黄灯快闪负责故障指示） ---*/
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if (g_disconnect_active) {
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LEDA_OFF;
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_slow_tick = 0;
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return;
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}
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/*--- 自检阶段：慢闪 ---*/
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if (loop1_INI_LOOP || !g_loop_power_up_state || !g_loop_stable) {
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_slow_tick++;
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if (_slow_tick >= GREEN_SLOW_HALF) {
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_slow_tick = 0;
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LED_GREEN_GPIO->odt ^= LED_GREEN_PIN; // toggle
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}
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return;
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}
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/*--- 正常工作：车辆存在指示 ---*/
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_slow_tick = 0;
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if (loop1_VD_FLAG)
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LEDA_ON;
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else
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LEDA_OFF;
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}
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/*===========================================================================
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* 黄灯故障指示 — LEDC (PA10)
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*
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* 由 TMR15 ISR 每 5ms 驱动一次。
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*
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* 模式判定：
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* 当前线圈断开 或 上电后从未接线圈:
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* → 快闪 (200ms 亮 / 200ms 灭)
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* 线圈已恢复连接, 且上电后有断开记录 (g_disconnect_count >= 1):
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* → N 短闪 (80ms亮/200ms灭 × N, 1.2s间隔, N=断开次数≤3)
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* 线圈正常连接, 无断开记录:
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* → 灭
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*===========================================================================*/
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void poll_yellow_led(void)
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{
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#define FLT_ON_SHORT 16 // 80ms (16 × 5ms)
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#define FLT_GAP_SHORT 40 // 200ms
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#define FLT_GAP_LONG 240 // 1.2s (240 × 5ms)
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#define FLT_FAST_HALF 40 // 200ms 快闪半周期
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g_fault_tick++;
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/*--- 模式1: 快闪 — 当前断开中 或 从无线圈上电 ---*/
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if (g_disconnect_active || !g_loop_power_up_state) {
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if (g_fault_tick >= FLT_FAST_HALF) {
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g_fault_tick = 0;
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LED_YELLOW_GPIO->odt ^= LED_YELLOW_PIN; // toggle
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}
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return;
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}
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uint8_t N = g_disconnect_count;
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if (N == 0) {
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/*--- 模式2: 无断开记录 → 灭 ---*/
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LED_YELLOW_OFF;
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g_fault_tick = 0;
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g_fault_phase = 0;
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return;
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}
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/*--- 模式3: N 短闪 (连接中, 但有断开历史) ---*/
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if (N > 3) N = 3;
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uint8_t phases_total = N * 2; // N 个 ON_short + N 个 GAP_short
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uint16_t duration;
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if (g_fault_phase < phases_total) {
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duration = (g_fault_phase & 1) ? FLT_GAP_SHORT : FLT_ON_SHORT;
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if (g_fault_phase & 1)
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LED_YELLOW_OFF;
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else
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LED_YELLOW_ON;
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} else {
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/* LONG 间隔 */
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duration = FLT_GAP_LONG;
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LED_YELLOW_OFF;
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}
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if (g_fault_tick >= duration) {
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g_fault_tick = 0;
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g_fault_phase++;
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if (g_fault_phase > phases_total)
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g_fault_phase = 0;
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}
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}
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/*===========================================================================
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* 初始化所有状态变量（对齐 M1H INIT_VD）
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*===========================================================================*/
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void INIT_VD(void)
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{
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loop1_INCNT = 0;
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loop1_OUTCNT = 0;
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loop1_CapCnt = 0;
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loop1_CapLast = 0;
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loop1_LPCNT = 0;
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loop1_INI_LOOP = 1;
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loop1_VD_FLAG = 0;
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loop1_RF_FLAG = 0;
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loop1_LOOP_OK = 1;
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loop1_LOOP_OK0 = 0;
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loop1_CAP_OK = 0;
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loop1_CAPVD = 0;
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loop1_SensLevel = 2; // 默认中灵敏度
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Flt_Reg = ALFA_CAP1; // 79
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loop1_ORG_CNT = 0;
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loop1_ORG_SUM = 0;
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loop1_FLAG_IN = 0;
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loop1_FLAG_OUT = 0;
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loop1_FLAG_PLUSE = 0;
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loop1_cnt_release = 0;
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g_loop_stable = 0;
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/* M4 优化: 快速 IIR + 进入确认 */
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loop1_CAPVD_fast = 0;
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loop1_entry_cnt = 0;
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loop1_freeze_cnt = 0;
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loop1_freeze_ref = 0;
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#if USE_FLATNESS_EXIT
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g_exit_state = 0;
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g_max_slope = 0;
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g_max_slope_rate = 0;
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g_delta2 = 0;
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g_delta3 = 0;
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g_prev_capvd = 0;
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g_prev_first_deriv = 0;
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g_slope_flat_cnt = 0;
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g_flat_ok_cnt = 0;
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#endif
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loop1_LC_HOLD = 0;
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loop1_LC_Reset = 0;
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LC_Hold_CNT = 0;
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Hold_CNT = 0;
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g_loop_power_up_state = 0;
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g_disconnect_count = 0;
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g_disconnect_active = 0;
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g_fault_phase = 0;
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g_fault_tick = 0;
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/* 读取拨码初始状态 */
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sw0 = gpio_input_data_bit_read(SW5_BUTTON_PORT, SW5_BUTTON_PIN) << 4;
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sw0 |= gpio_input_data_bit_read(SW4_BUTTON_PORT, SW4_BUTTON_PIN) << 3;
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sw0 |= gpio_input_data_bit_read(SW3_BUTTON_PORT, SW3_BUTTON_PIN) << 2;
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sw0 |= gpio_input_data_bit_read(SW2_BUTTON_PORT, SW2_BUTTON_PIN) << 1;
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sw0 |= gpio_input_data_bit_read(SW1_BUTTON_PORT, SW1_BUTTON_PIN) << 0;
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swok = sw0;
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sw1 = sw0;
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SENS = swok & 0x03;
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SENS_LAST = SENS;
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swcnt = 0;
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switch (SENS) {
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case 0x00: loop1_SensLevel = 0; break;
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case 0x02: loop1_SensLevel = 1; break;
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case 0x01: loop1_SensLevel = 2; break;
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case 0x03: loop1_SensLevel = 3; break;
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default: loop1_SensLevel = 0; break;
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}
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SET_PLUS = swok & 0x04;
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SET_DLY = (swok & 0x08) >> 3;
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SET_SAFE = (swok & 0x10) >> 4;
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}
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|
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/*===========================================================================
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* TMR3 输入捕获中断 — 线圈频率测量（对齐 M1H CAP0 ISR）
|
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*
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* PA7 → TIM3_CH2, 上升沿触发。
|
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* 每次捕获中断读取 CCR2，计算相邻边沿差 Xn。
|
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* 累加 LPCNT 次后产生一个测量窗口的 Value。
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*===========================================================================*/
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void TMR3_GLOBAL_IRQHandler(void)
|
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{
|
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if (tmr_interrupt_flag_get(TMR3, TMR_C2_FLAG) != RESET) {
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tmr_flag_clear(TMR3, TMR_C2_FLAG);
|
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loop1_CapThis = tmr_channel_value_get(TMR3, TMR_SELECT_CHANNEL_2);
|
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|
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if (!loop1_RF_FLAG) {
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/* 首次捕获，记录基准 */
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loop1_CapLast = loop1_CapThis;
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loop1_RF_FLAG = 1;
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} else {
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/* 计算相邻边沿周期差（16bit 溢出回绕处理） */
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if (loop1_CapThis > loop1_CapLast) {
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loop1_Xn = loop1_CapThis - loop1_CapLast;
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} else {
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loop1_Xn = (0x10000 - loop1_CapLast) + loop1_CapThis;
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}
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g_xn_counter++;
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loop1_CapLast = loop1_CapThis;
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loop1_CapCnt++;
|
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|
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if (loop1_INI_LOOP) {
|
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/*--- 初始化阶段：计算自适应测量窗口大小 ---*/
|
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if (loop1_LPCNT == 0) {
|
||
if (loop1_CapCnt > 10) {
|
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/*
|
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* 自适应测量窗口: MEASUREMENT_BASE / Xn
|
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* 使归一化 Value ≈ 131072，无需后续 >>6
|
||
*/
|
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loop1_LPCNT = MEASUREMENT_BASE / loop1_Xn;
|
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PRINT("First_calc_loop1_LPCNT:%d, loop1_Xn:%d\n",
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loop1_LPCNT, loop1_Xn);
|
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if (loop1_LPCNT == 0) {
|
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loop1_LPCNT = 100;
|
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}
|
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loop1_CAPVD = 0;
|
||
loop1_CapSum = 0;
|
||
loop1_CapCnt = 0;
|
||
}
|
||
} else {
|
||
/* 第一个窗口：直接作为基线 Origin */
|
||
loop1_CapSum += loop1_Xn;
|
||
if (loop1_CapCnt >= loop1_LPCNT) {
|
||
loop1_CAPVD = loop1_CapSum;
|
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loop1_Origin = loop1_CAPVD; // 不再 >>6
|
||
PRINT("First_capSum:%d, Origin:%d\n",
|
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loop1_CapSum, loop1_Origin);
|
||
loop1_INI_LOOP = 0;
|
||
loop1_CapSum = 0;
|
||
loop1_Value = 0;
|
||
loop1_CapCnt = 0;
|
||
}
|
||
}
|
||
} else {
|
||
/*--- 正常运行：累加到测量窗口 ---*/
|
||
loop1_CapSum += loop1_Xn;
|
||
if (loop1_CapCnt >= loop1_LPCNT) {
|
||
loop1_Value = loop1_CapSum;
|
||
loop1_CAP_OK = 1;
|
||
loop1_CapSum = 0;
|
||
loop1_CapCnt = 0;
|
||
loop1_INI_LOOP = 0;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
/*===========================================================================
|
||
* TMR15 定时器中断 — 5ms tick，主状态机（对齐 M1H Timer1 ISR）
|
||
*
|
||
* 职责：
|
||
* 1. 50ms tick 计数器（TM1cnt ÷ 10）
|
||
* 2. 进入/离开/脉冲时序状态机
|
||
* 3. 有限存在超时 / 安全复位超时
|
||
* 4. 线圈载波检测 (RF_FLAG) 及继电器输出刷新
|
||
* 5. 呼吸灯、故障灯驱动
|
||
*===========================================================================*/
|
||
void TMR15_GLOBAL_IRQHandler(void)
|
||
{
|
||
static uint16_t _counter1_init = 0;
|
||
|
||
if (tmr_interrupt_flag_get(TMR15, TMR_OVF_FLAG) != RESET) {
|
||
|
||
/*--- 初始化阶段红灯快闪 (200ms 周期) ---*/
|
||
if (!g_loop_power_up_state) {
|
||
_counter1_init++;
|
||
if (_counter1_init >= 40) { // 40 × 5ms = 200ms
|
||
_counter1_init = 0;
|
||
LEDA_ON_OFF();
|
||
}
|
||
}
|
||
|
||
/*--- 50ms tick 分频 ---*/
|
||
TM1cnt++;
|
||
if (TM1cnt >= 10) { // 10 × 5ms = 50ms
|
||
TM1cnt = 0;
|
||
|
||
/*================================================================
|
||
* 时序状态机（对齐 M1H Timer1 ISR）
|
||
*
|
||
* IN_DELAY OUT_DELAY
|
||
* [空闲] ──有车──→ [进入延时] ──→ [有车确认] ──离开──→
|
||
* ↑ │
|
||
* └──脉冲结束──── [脉冲输出] ←──── [离开延时] ←──────┘
|
||
* PULSE_DELAY
|
||
*================================================================*/
|
||
|
||
/* FLAG_IN: 进入延时 500ms */
|
||
if (loop1_FLAG_IN) {
|
||
loop1_INCNT++;
|
||
if (loop1_INCNT > IN_DELAY) {
|
||
loop1_FLAG_IN = 0;
|
||
loop1_INCNT = 0;
|
||
}
|
||
}
|
||
|
||
/* FLAG_OUT: 离开延时（SW_4=ON 时 500ms，OFF 时 0） */
|
||
if (loop1_FLAG_OUT) {
|
||
if (!SET_DLY) {
|
||
loop1_OUTCNT++;
|
||
if (loop1_OUTCNT > OUT_DELAY) {
|
||
loop1_FLAG_OUT = 0;
|
||
loop1_FLAG_PLUSE = 1;
|
||
loop1_OUTCNT = 0;
|
||
}
|
||
} else {
|
||
/* 无离开延时：立即触发脉冲 */
|
||
loop1_FLAG_OUT = 0;
|
||
loop1_FLAG_PLUSE = 1;
|
||
loop1_OUTCNT = 0;
|
||
}
|
||
}
|
||
|
||
/* FLAG_PLUSE: 脉冲宽度 500ms */
|
||
if (loop1_FLAG_PLUSE) {
|
||
loop1_OUTCNT++;
|
||
if (loop1_OUTCNT > PULSE_DELAY) {
|
||
loop1_FLAG_PLUSE = 0;
|
||
loop1_OUTCNT = 0;
|
||
}
|
||
}
|
||
|
||
/* 有限存在超时 */
|
||
if (loop1_VD_HOLD) {
|
||
Hold_CNT++;
|
||
if (Hold_CNT > HOLD_TIME) {
|
||
loop1_VD_HOLD = 0;
|
||
Hold_CNT = 0;
|
||
if (loop1_VD_FLAG) {
|
||
/* 超时：强制释放 */
|
||
RLY1_OFF;
|
||
RLY2_OFF;
|
||
}
|
||
}
|
||
}
|
||
|
||
/* 安全复位超时 */
|
||
if (loop1_LC_HOLD) {
|
||
LC_Hold_CNT++;
|
||
if (LC_Hold_CNT > g_safe_max_cnt) {
|
||
loop1_LC_Reset = 1;
|
||
loop1_INI_LOOP = 1;
|
||
loop1_LOOP_OK0 = 0;
|
||
g_loop_stable = 0;
|
||
#if USE_FLATNESS_EXIT
|
||
g_exit_state = 0;
|
||
g_max_slope = 0;
|
||
g_max_slope_rate = 0;
|
||
#endif
|
||
LC_Hold_CNT = 0;
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
}
|
||
}
|
||
}
|
||
|
||
/*================================================================
|
||
* 线圈载波检测 & 继电器输出刷新（每 5ms）
|
||
* RF_FLAG 由 TMR3 ISR 置位，此处消费后清除。
|
||
*================================================================*/
|
||
if (loop1_RF_FLAG) {
|
||
loop1_LOOP_OK = 1;
|
||
loop1_RF_FLAG = 0;
|
||
|
||
if (loop1_LC_Reset == 0) {
|
||
/* 继电器 2（辅助/方向） */
|
||
if (loop1_VD_FLAG)
|
||
RLY2_ON;
|
||
else
|
||
RLY2_OFF;
|
||
|
||
/* 继电器 1（主输出） */
|
||
if (SET_PLUS) {
|
||
/* 存在输出模式：有车或离开延时中 */
|
||
if (loop1_VD_FLAG || loop1_FLAG_OUT)
|
||
RLY1_ON;
|
||
else
|
||
RLY1_OFF;
|
||
} else {
|
||
/* 脉冲输出模式：脉冲期间吸合 */
|
||
if (loop1_FLAG_PLUSE)
|
||
RLY1_ON;
|
||
else
|
||
RLY1_OFF;
|
||
}
|
||
}
|
||
} else {
|
||
loop1_LOOP_OK0 = loop1_LOOP_OK;
|
||
loop1_LOOP_OK = 0;
|
||
}
|
||
|
||
/*--- 硬件驱动：呼吸灯 + 指示灯 ---*/
|
||
poll_red_pwm();
|
||
poll_green_led();
|
||
poll_yellow_led();
|
||
|
||
tmr_flag_clear(TMR15, TMR_OVF_FLAG);
|
||
}
|
||
}
|
||
|
||
/*===========================================================================
|
||
* vd1_task — 核心检测算法（对齐 M1H VD1_TASK）
|
||
*
|
||
* 每次 loop1_CAP_OK 时调用一次。
|
||
* 流程：
|
||
* 1. IIR 滤波：CAPVD = α·Value + (1-α)·CAPVD
|
||
* 2. 无车时：基线跟踪 + 进入检测
|
||
* 3. 有车时：离开检测（带滞回）
|
||
*===========================================================================*/
|
||
void vd1_task(void)
|
||
{
|
||
#define STABLE_SAMPLES 128 // 稳定期样本数
|
||
|
||
static uint16_t _stable_cnt = 0;
|
||
|
||
if (loop1_Origin == 0) return;
|
||
|
||
/*================================================================
|
||
* 1. 双路 IIR 滤波 (M4 优化)
|
||
*
|
||
* 慢速 IIR (CAPVD): α=18/256 ≈ 0.07, τ≈135ms
|
||
* - 斜率限幅: 单次变化 >5% → 截断 (拒绝 EMI/闪电尖峰)
|
||
* - 用途: 基线跟踪
|
||
*
|
||
* 快速 IIR (CAPVD_fast): α=0.5, τ≈28ms
|
||
* - 从斜率限幅后的 CAPVD 派生
|
||
* - 用途: 进入/离开检测判定
|
||
*================================================================*/
|
||
|
||
/* 1a. 慢速 IIR — 斜率限幅 */
|
||
if (loop1_CAPVD == 0) {
|
||
loop1_CAPVD = loop1_Value;
|
||
loop1_CAPVD_fast = loop1_Value;
|
||
} else {
|
||
/* 斜率限幅: 物理车辆不可能让频率瞬间跳变 > MAX_SLOPE_RATE% */
|
||
int32_t raw_delta = (int32_t)loop1_Value - (int32_t)loop1_CAPVD;
|
||
int32_t max_step = (int32_t)(loop1_CAPVD * MAX_SLOPE_RATE / 100);
|
||
if (max_step < 100) max_step = 100; // 最小限幅，防止 origin 很小时锁死
|
||
if (raw_delta > max_step) raw_delta = max_step;
|
||
if (raw_delta < -max_step) raw_delta = -max_step;
|
||
uint32_t clamped_value = (uint32_t)((int32_t)loop1_CAPVD + raw_delta);
|
||
loop1_CAPVD = get_flt_value(clamped_value, loop1_CAPVD);
|
||
}
|
||
|
||
/* 1b. 快速 IIR — α=0.5: (old + new) / 2 */
|
||
if (loop1_CAPVD_fast == 0) {
|
||
loop1_CAPVD_fast = loop1_CAPVD; // 首次直接锁定
|
||
} else {
|
||
loop1_CAPVD_fast = (loop1_CAPVD_fast + loop1_CAPVD) / 2;
|
||
}
|
||
|
||
/*--- 2. 稳定期：只跟踪基线，不检测车辆 ---*/
|
||
if (!g_loop_stable) {
|
||
/* 稳定期内不做斜率限幅和 IIR — 直接用 Value 快速收敛到真实基线 */
|
||
loop1_CAPVD = loop1_Value;
|
||
loop1_CAPVD_fast = loop1_Value;
|
||
|
||
update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT,
|
||
&loop1_Origin, loop1_CAPVD, WINDOW_ORIGIN);
|
||
_stable_cnt++;
|
||
if (_stable_cnt >= STABLE_SAMPLES) {
|
||
g_loop_stable = 1;
|
||
PRINT("Loop stable, Origin:%d\\n", loop1_Origin);
|
||
}
|
||
return;
|
||
}
|
||
|
||
if (!loop1_VD_FLAG) {
|
||
/*================================================================
|
||
* 无车状态
|
||
*================================================================*/
|
||
|
||
/*--- 基线跟踪（仿 TLD-110：有车时冻结）
|
||
* 额外保护: CAPVD 异常上升时暂停跟踪，防止基线被污染
|
||
* 否则车辆驶入时若 Xn 先增大，Origin 被顶上去后无法释放 ---*/
|
||
loop1_dlt_ORG = ((uint32_t)loop1_Origin * SensTable[loop1_SensLevel]) >> 16;
|
||
{
|
||
int32_t dev = (int32_t)loop1_CAPVD - (int32_t)loop1_Origin;
|
||
if (dev < (int32_t)(loop1_dlt_ORG * 4)) {
|
||
/* CAPVD 未显著高于基线 → 安全跟踪，重置冻结计数 */
|
||
loop1_freeze_cnt = 0;
|
||
update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT,
|
||
&loop1_Origin, loop1_CAPVD, WINDOW_ORIGIN);
|
||
} else {
|
||
/* CAPVD 异常偏高 → 冻结跟踪 */
|
||
if (loop1_freeze_cnt == 0) {
|
||
loop1_freeze_ref = loop1_CAPVD; // 记录冻结起始值
|
||
} else {
|
||
/* 稳定性检查: CAPVD 偏离参考值超过 FREEZE_STABILITY_RATE% 则重置 */
|
||
int32_t drift = (int32_t)loop1_CAPVD - (int32_t)loop1_freeze_ref;
|
||
if (drift < 0) drift = -drift;
|
||
if (drift > (int32_t)(loop1_freeze_ref * FREEZE_STABILITY_RATE / 100)) {
|
||
/* 波动过大 → 不是稳定值，重置计数并以当前值重新计时 */
|
||
loop1_freeze_cnt = 0;
|
||
loop1_freeze_ref = loop1_CAPVD;
|
||
}
|
||
}
|
||
loop1_freeze_cnt++;
|
||
if (loop1_freeze_cnt >= FREEZE_TIMEOUT) {
|
||
/* 超时: CAPVD 持续偏高且稳定 → 环境变化，接受新基线 */
|
||
loop1_Origin = loop1_CAPVD;
|
||
loop1_freeze_cnt = 0;
|
||
loop1_freeze_ref = 0;
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
PRINT("Baseline timeout update, new Origin:%d\\n", loop1_Origin);
|
||
} else {
|
||
/* 未超时: 保持冻结，重置累计（防止突然解冻时旧数据污染） */
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
}
|
||
}
|
||
}
|
||
|
||
/*--- M4 优化: 进入确认 — 连续 ENTRY_CONFIRM 次低于阈值才判有车
|
||
* 使用快速 IIR (CAPVD_fast) 提高响应速度
|
||
* 配合确认机制防止瞬态干扰误触发 ---*/
|
||
if (loop1_CAPVD_fast < (loop1_Origin - loop1_dlt_ORG)) {
|
||
loop1_entry_cnt++;
|
||
if (loop1_entry_cnt >= ENTRY_CONFIRM) {
|
||
PRINT("Car_In, Value:%d, CAPVD:%d, CAPVD_fast:%d, Origin:%d, dlt:%d\\n",
|
||
loop1_Value, loop1_CAPVD, loop1_CAPVD_fast,
|
||
loop1_Origin, loop1_dlt_ORG);
|
||
|
||
loop1_VD_FLAG = 1;
|
||
loop1_FLAG_IN = 1;
|
||
loop1_entry_cnt = 0;
|
||
loop1_freeze_cnt = 0; // 入场时重置冻结状态
|
||
loop1_freeze_ref = 0;
|
||
|
||
/* 有限存在计时（非安全复位模式下） */
|
||
if (!SET_SAFE) {
|
||
loop1_LC_HOLD = 1;
|
||
} else {
|
||
loop1_LC_HOLD = 0;
|
||
}
|
||
if (loop1_LC_Reset)
|
||
loop1_LC_Reset = 0;
|
||
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
|
||
/* 重置平坦性状态（专利 CN200910309382） */
|
||
#if USE_FLATNESS_EXIT
|
||
g_exit_state = 0;
|
||
g_max_slope = 0;
|
||
g_max_slope_rate = 0;
|
||
g_delta2 = 0;
|
||
g_delta3 = 0;
|
||
g_slope_flat_cnt = 0;
|
||
g_flat_ok_cnt = 0;
|
||
#endif
|
||
}
|
||
} else {
|
||
if (loop1_entry_cnt > 0) loop1_entry_cnt = 0; // 离开阈值区域则重置确认计数
|
||
}
|
||
} else {
|
||
#if USE_FLATNESS_EXIT
|
||
/*================================================================
|
||
* 有车状态 — 平坦性判定离开（专利 CN200910309382）
|
||
*================================================================*/
|
||
#define K1 8
|
||
#define K2 8
|
||
#define SLOPE_FLAT_THRESH 100
|
||
#define MIN_DELTA2 5
|
||
#define MIN_DELTA3 2
|
||
#define FLAT_CONFIRM_CNT 3
|
||
|
||
int32_t first_deriv, abs_fd, abs_sd, second_deriv;
|
||
|
||
first_deriv = (int32_t)loop1_CAPVD - g_prev_capvd;
|
||
second_deriv = first_deriv - g_prev_first_deriv;
|
||
abs_fd = (first_deriv >= 0) ? first_deriv : -first_deriv;
|
||
abs_sd = (second_deriv >= 0) ? second_deriv : -second_deriv;
|
||
|
||
if (g_exit_state == 0) {
|
||
if (abs_fd > g_max_slope) g_max_slope = abs_fd;
|
||
if (abs_sd > g_max_slope_rate) g_max_slope_rate = abs_sd;
|
||
if (abs_fd < SLOPE_FLAT_THRESH) {
|
||
g_slope_flat_cnt++;
|
||
if (g_slope_flat_cnt >= 3) {
|
||
g_delta2 = g_max_slope / K1;
|
||
g_delta3 = g_max_slope_rate / K2;
|
||
if (g_delta2 < MIN_DELTA2) g_delta2 = MIN_DELTA2;
|
||
if (g_delta3 < MIN_DELTA3) g_delta3 = MIN_DELTA3;
|
||
g_exit_state = 1;
|
||
g_flat_ok_cnt = 0;
|
||
}
|
||
} else {
|
||
g_slope_flat_cnt = 0;
|
||
}
|
||
} else {
|
||
int32_t dev = (int32_t)loop1_CAPVD - (int32_t)loop1_Origin;
|
||
int32_t cond1 = (dev >= 0) ? dev : -dev;
|
||
loop1_dlt_ORG = ((uint32_t)loop1_Origin * SensTable_1[loop1_SensLevel]) >> 16;
|
||
if (cond1 < (int32_t)loop1_dlt_ORG && abs_fd < (int32_t)g_delta2
|
||
&& abs_sd < (int32_t)g_delta3) {
|
||
g_flat_ok_cnt++;
|
||
if (g_flat_ok_cnt >= FLAT_CONFIRM_CNT) {
|
||
PRINT("Car_OFF_FLAT, CAPVD:%d Origin:%d d1:%d d2:%d d3:%d f':%d f'':%d\n",
|
||
loop1_CAPVD, loop1_Origin, loop1_dlt_ORG,
|
||
g_delta2, g_delta3, first_deriv, second_deriv);
|
||
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;
|
||
g_flat_ok_cnt = 0;
|
||
g_exit_state = 0;
|
||
}
|
||
} else {
|
||
g_flat_ok_cnt = 0;
|
||
}
|
||
}
|
||
g_prev_capvd = loop1_CAPVD;
|
||
g_prev_first_deriv = first_deriv;
|
||
#else
|
||
/*================================================================
|
||
* 有车状态 — 简单 cnt_release 防抖离开
|
||
*================================================================*/
|
||
loop1_dlt_ORG = ((uint32_t)loop1_Origin * SensTable_1[loop1_SensLevel]) >> 16;
|
||
|
||
if ((loop1_Origin - loop1_dlt_ORG) < loop1_CAPVD) {
|
||
loop1_cnt_release++;
|
||
if (loop1_cnt_release >= 3) {
|
||
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;
|
||
loop1_VD_HOLD = 0;
|
||
loop1_LC_HOLD = 0;
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
Hold_CNT = 0;
|
||
loop1_cnt_release = 0;
|
||
}
|
||
} else {
|
||
if (loop1_cnt_release > 0) loop1_cnt_release = 0;
|
||
}
|
||
#endif
|
||
}
|
||
}
|
||
|
||
/*===========================================================================
|
||
* loop_task_function — FreeRTOS 主任务（对齐 M1H main 循环）
|
||
*===========================================================================*/
|
||
void loop_task_function(void *pvParameters)
|
||
{
|
||
g_sys_freq = g_crm_clocks_freq_struct.sclk_freq;
|
||
|
||
INIT_VD();
|
||
|
||
while (1) {
|
||
if (loop1_LOOP_OK) {
|
||
/*--- 线圈重连 ---*/
|
||
if (!loop1_LOOP_OK0) {
|
||
loop1_LOOP_OK0 = 1;
|
||
g_disconnect_active = 0; // 重连，清除断开标记
|
||
loop1_CAPVD = 0; // 强制 IIR 从首个有效值重新收敛
|
||
}
|
||
|
||
if (loop1_CAP_OK) {
|
||
loop1_CAP_OK = 0;
|
||
|
||
/* 首次成功测量 → 标记线圈已连接 */
|
||
if (!g_loop_power_up_state) {
|
||
g_loop_power_up_state = 1;
|
||
}
|
||
|
||
/* 核心检测算法 */
|
||
vd1_task();
|
||
|
||
/* 拨码开关轮询 */
|
||
poll_sw_state();
|
||
}
|
||
} else {
|
||
/*--- 线圈断开 ---*/
|
||
/* 注意: 不清除 loop1_VD_FLAG，保留断开前的检测状态 */
|
||
RLY1_OFF;
|
||
RLY2_OFF;
|
||
|
||
/*
|
||
* 断开计数规则:
|
||
* - 从未连接过上电 (g_loop_power_up_state == 0): 不计入
|
||
* - g_disconnect_active == 0: 新的断开 → 计数+1
|
||
* - g_disconnect_active == 1: 同一次断开，不重复计数
|
||
*/
|
||
if (g_loop_power_up_state && !g_disconnect_active) {
|
||
g_disconnect_active = 1;
|
||
if (g_disconnect_count < 3) {
|
||
g_disconnect_count++;
|
||
}
|
||
g_fault_phase = 0;
|
||
g_fault_tick = 0;
|
||
}
|
||
|
||
vTaskDelay(150);
|
||
}
|
||
|
||
/*--- 调试输出（每 2 秒） ---*/
|
||
#ifdef DEBUG
|
||
{
|
||
static uint32_t _dbg_cnt = 0;
|
||
_dbg_cnt++;
|
||
if (_dbg_cnt >= 200) { // 200 × 10ms = 2s
|
||
_dbg_cnt = 0;
|
||
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);
|
||
}
|
||
}
|
||
#endif
|
||
|
||
vTaskDelay(10); // 10ms tick, M4 优化: 双路 IIR + 进入确认 + 斜率限幅
|
||
}
|
||
}
|