wangfq
97a7fb2dba
现场金属板复测两现象: 1. 慢速抬板释放高度 V4B 仍比 PD132T 高一点(跟手速有关) — 根因: τ对齐用了近似口径 (α18 精确τ≈137ms vs PD132T α79@43.7ms 精确τ≈118ms, α=79时 T×256/α 高估19.6%) + V4B 3次确认30ms。修正: RELEASE_ALFA 18→21 (精确τ≈117ms)。 2. 定在HR0/2(释放高度一半)保持~1s V4B释放、PD132T不释放 — 根因: 双滤波进入瞬态假释放 (快滤波30ms确认进入, 慢滤波还悬在基线附近, 残余信号0.032%~0.044%时释放条件瞬时为真)。 修正: 进入确认瞬间 snap loop1_CAPVD_slow = loop1_CAPVD (进入线恒深于离开线, 释放条件结构性为假)。 验证: gcc单测 τ fast=30ms/slow=120ms, 释放时机差 200ms ✓ 仿真: 3s抬升高度差 +9mm→+3mm; 0.10%板HR0/2假释放消除 ✓ 文档: devlog V2.13 + technical-spec §4.3.3
73 lines
1.7 KiB
C
73 lines
1.7 KiB
C
/**
|
|
**************************************************************************
|
|
* @file cmcng.h
|
|
* @version v1.0
|
|
* @date 2025-09-08
|
|
* @brief һЩÅäÖÃ
|
|
**************************************************************************
|
|
* Copyright notice & Disclaimer
|
|
* * Create 2025-09-08 by wangfq
|
|
* *
|
|
**************************************************************************
|
|
*/
|
|
#ifndef __CMCNG_H__
|
|
#define __CMCNG_H__
|
|
|
|
#define PRODUCT_MODEL "DLD154"
|
|
#define FIRMWARE_VER "4.04"
|
|
#define HARDWARE_VER "3.00"
|
|
#define FIRMWARE_VER_MAIN 4
|
|
#define FIRMWARE_VER_SUB 4
|
|
#define HARDWARE_VER_MAIN 3
|
|
#define HARDWARE_VER_SUB 0
|
|
|
|
|
|
#include <stdio.h>
|
|
#include <stdint.h>
|
|
|
|
|
|
#ifdef DEBUG
|
|
#define PRINT(X...) printf(X)
|
|
#else
|
|
#define PRINT(X...)
|
|
#endif
|
|
|
|
|
|
|
|
typedef struct _LOOP_ACS_INFO
|
|
{
|
|
uint8_t flag_event;
|
|
uint8_t loop_num;
|
|
uint8_t freq_level;
|
|
uint8_t sensity;
|
|
uint8_t relay1_cng;
|
|
uint8_t relay1_state;
|
|
uint8_t relay2_cng;
|
|
uint8_t relay2_state;
|
|
uint8_t loop_state;
|
|
uint8_t output_mode;
|
|
uint8_t dir_mode;
|
|
uint8_t delay;
|
|
uint8_t car_state;
|
|
uint8_t direction;
|
|
uint8_t flag_loop_safe;
|
|
uint32_t loop_safe_counter;
|
|
uint8_t condition;
|
|
uint32_t frequent;
|
|
uint32_t loop_capvd;
|
|
int16_t variation;
|
|
uint32_t event_counter;
|
|
uint32_t report_counter;
|
|
} Loop_ACS_Info;
|
|
extern Loop_ACS_Info g_loop_acs_info;
|
|
|
|
|
|
extern uint8_t g_flag_output;
|
|
extern uint8_t g_flag_output2;
|
|
|
|
extern uint8_t g_input_div;
|
|
|
|
|
|
|
|
#endif
|