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docs(measurement): 新增 PD132T 端到端时序图（三段横轴）+ 符号约定勘误 + 生成工具

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- 图示 docs/img/timing-chain-pd132t.{svg,png}：① 一个窗（0~11.2ms）② 检测到输出（0~600ms）③ 基线块平均（0~12s）
  · 曲线按 §1~§4 公式真算：Xn=480 tick/160µs、窗=68×480/3MHz=10.880ms、α=79(τ=35.26ms)、
    dlt=(32640×60)>>16=29、判据线 32611、大信号(+0.5%) 第 1 窗即越线(t≈10.9ms)、小信号(+0.1%) ≈2.2τ≈78ms
  · 同时标注：两种检测路径、50ms 输出节拍量化、上电时 Origin 只有首窗单点样本
- 新工具 tools/plot_timing_chain.py：纯 stdlib 手写 SVG；chromium --headless 转 PNG（零第三方依赖）
- ⚠ 新增 §0.1 符号约定：车辆 ⇒ L↓ ⇒ f↑ ⇒ 周期/Xn↓ ⇒ Value/CAPVD↓（判据取下降侧）
  ⇒ 修正 5 处「深占压（频偏 −5%）⇒ 窗 +5.3%」的方向错误：车辆是频率升高、窗长应【缩短】(−4.8%)
- README：目录树补 img/ 与两个 tools 脚本；表格校验 0 异常（15 文件）
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wangfq
2026-09-11 10:21:42 +08:00
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README.md
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@@ -52,7 +52,10 @@ vd-analysis/
│ │ ├── analysis.md # 单型号分析（平台/硬件/算法/参数/移植注意） │ │ ├── analysis.md # 单型号分析（平台/硬件/算法/参数/移植注意）
│ │ └── *.pdf # 原理图附件（可选，2026-09-01 起归档） │ │ └── *.pdf # 原理图附件（可选，2026-09-01 起归档）
│ └── ... │ └── ...
└── tools/ # 分析辅助脚本（预留） ├── img/ # 图示（PNG 预览 + SVG 矢量）
└── tools/ # 分析辅助脚本
├── window_calc.py # 测量窗量化计算器（窗=⌊BASE/Xn₀⌋·Xn₁；六型号内置参数）
└── plot_timing_chain.py # 端到端时序图生成（纯 stdlib 手写 SVG，曲线按公式真算）
``` ```
## 分析新增型号流程 ## 分析新增型号流程
docs/cross-model-comparison.md
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| **基线更新周期** | **0.82 s**（100 窗；⚠ 勘误） | **2.73 s** | **1.09 s**（勘误） | **5.59 s**（256 窗） | **5 s**（500 窗） | **4.37 s**（500 窗） | | **基线更新周期** | **0.82 s**（100 窗；⚠ 勘误） | **2.73 s** | **1.09 s**（勘误） | **5.59 s**（256 窗） | **5 s**（500 窗） | **4.37 s**（500 窗） |
| IIR 时间常数 τ | **22~27 ms**（⚠ 勘误） | 88 ms / 109 ms | **35.4 / 43.7 ms**（α79/α64；精确 29.6 / 38.0） | 87 ms（精确 76.0） | 32 ms | **28 ms** | | IIR 时间常数 τ | **22~27 ms**（⚠ 勘误） | 88 ms / 109 ms | **35.4 / 43.7 ms**（α79/α64；精确 29.6 / 38.0） | 87 ms（精确 76.0） | 32 ms | **28 ms** |
> ⚠ **测量节拍是区间，不是定值**（2026-09-11 补）：`LPCNT = ⌊BASE/Xn₀⌋` 是**整数除法且学习后冻结**，窗长 = `⌊BASE/Xn₀⌋·Xn₁` 个 tick ⇒ **上表中"测量节拍 / 基线更新周期 / IIR 时间常数"三行数值均为标称上限**。站点实际值 = 标称 × `(BASE−r₀)/BASE` × `f₀/f_now`（`r₀ = BASE mod Xn₀`）：100kHz 站点 **−0.39%**、60kHz 站点 **−2.34%**、带内最差 **−6.2%**（Xn₀=2049）；深占压（频偏 −5%）再 +5.3%。**Δf/f 口径不受影响**（`Value/Origin = Xn₁/Xn₀` 精确，余数完全约掉）。公式/数值表/位宽约束（`INT8U LPCNT` ⇒ 需 `Xn>129`）见 [measurement-window-quantization.md](measurement-window-quantization.md)。 > ⚠ **测量节拍是区间，不是定值**（2026-09-11 补）：`LPCNT = ⌊BASE/Xn₀⌋` 是**整数除法且学习后冻结**，窗长 = `⌊BASE/Xn₀⌋·Xn₁` 个 tick ⇒ **上表中"测量节拍 / 基线更新周期 / IIR 时间常数"三行数值均为标称上限**。站点实际值 = 标称 × `(BASE−r₀)/BASE` × `f₀/f_now`（`r₀ = BASE mod Xn₀`）：100kHz 站点 **−0.39%**、60kHz 站点 **−2.34%**、带内最差 **−6.2%**（Xn₀=2049）；深占压（Δf/f +5%，频率升高）窗长再 **−4.8%**。**Δf/f 口径不受影响**（`Value/Origin = Xn₁/Xn₀` 精确，余数完全约掉）。公式/数值表/位宽约束（`INT8U LPCNT` ⇒ 需 `Xn>129`）见 [measurement-window-quantization.md](measurement-window-quantization.md)。
> >
> IIR 系数 79/64 的量化对比（α/τ/阶跃响应/噪声抑制/单频衰减/模拟验证）见 [filter-coefficient-79-vs-64.md](filter-coefficient-79-vs-64.md)（2026-08-28 新增；**2026-08-31 v2 扩展：时间常数公式详解 + 释放路径影响 + 方案 A 案例**）。 > IIR 系数 79/64 的量化对比（α/τ/阶跃响应/噪声抑制/单频衰减/模拟验证）见 [filter-coefficient-79-vs-64.md](filter-coefficient-79-vs-64.md)（2026-08-28 新增；**2026-08-31 v2 扩展：时间常数公式详解 + 释放路径影响 + 方案 A 案例**）。
docs/filter-coefficient-79-vs-64.md
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@@ -84,7 +84,7 @@ y[n] = 1 − (1−α)^n
| DLD154V4B | 10 ms | **32 ms** | 40 ms | | DLD154V4B | 10 ms | **32 ms** | 40 ms |
| DLD154Pro | 8.74 ms | 28 ms | 35 ms | | DLD154Pro | 8.74 ms | 28 ms | 35 ms |
> ⚠ **表中 T 是"标称上限"**（2026-09-11 补）：实际测量窗 = `⌊BASE/Xn₀⌋·Xn₀/f_cap`，按**站点线圈频率**浮动 0 ~ −6.2%（100kHz 站点 −0.39%），深占压再 +5%；**τ 按同一因子缩放**（本表未逐一改写，读数时按百分比折算即可）。公式与数值表见 [measurement-window-quantization.md](measurement-window-quantization.md)。 > ⚠ **表中 T 是"标称上限"**（2026-09-11 补）：实际测量窗 = `⌊BASE/Xn₀⌋·Xn₀/f_cap`，按**站点线圈频率**浮动 0 ~ −6.2%（100kHz 站点 −0.39%），深占压（Δf/f +5%）窗长 −4.8%；**τ 按同一因子缩放**（本表未逐一改写，读数时按百分比折算即可）。公式与数值表见 [measurement-window-quantization.md](measurement-window-quantization.md)。
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<text x="28.0" y="70.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#555" text-anchor="start" font-weight="normal">站点：线圈 100 kHz / 捕获时钟 3 MHz（12MHz÷4，官方手册直证）/ Xn₀=480 tick / LPCNT=68 / 窗=32640 tick=10.88 ms / α=79(τ=35.3 ms) / 进入档1=60(0.0916%Δf/f)</text>
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<text x="236.0" y="264.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="15" fill="#0b2c4d" text-anchor="end" font-weight="bold">A2 P23 方波</text>
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<text x="424.3" y="308.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#c1121f" text-anchor="middle" font-weight="normal">Xn = 相邻捕获差 = 480 tick = 160 µs（= Xn/f_cap）</text>
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<text x="236.0" y="506.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#777" text-anchor="end" font-weight="normal">Σ Xn（tick）</text>
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<text x="258.0" y="334.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#a35b00" text-anchor="start" font-weight="normal">每 160 µs 累加一次 Xn（共 68 级台阶）⇒ CapCnt≥LPCNT 时「窗结账」</text>
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<text x="236.0" y="568.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#777" text-anchor="end" font-weight="normal">每窗更新一次</text>
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<text x="28.0" y="682.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="17" fill="#0a58ca" text-anchor="start" font-weight="bold">② 中观：检测延迟与输出（0 ~ 600 ms）　车辆进入 @0.6 ms</text>
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<line x1="250.0" y1="1098.0" x2="250.0" y2="1105.0" stroke="#888" stroke-width="1.0" opacity="1.00"/>
<text x="250.0" y="1121.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">0</text>
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<text x="453.3" y="1121.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">100 ms</text>
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<text x="656.7" y="1121.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">200 ms</text>
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<text x="860.0" y="1121.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">300 ms</text>
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<text x="1063.3" y="1121.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">400 ms</text>
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<text x="1266.7" y="1121.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">500 ms</text>
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<text x="1470.0" y="1121.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">600 ms</text>
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<text x="1476.0" y="821.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#0a58ca" text-anchor="start" font-weight="normal">Origin 32640（基线）</text>
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<text x="1476.0" y="848.7" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#c1121f" text-anchor="start" font-weight="normal">判据线 32611（−dlt=29 / 0.0916%）</text>
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<text x="282.1" y="832.7" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#c1121f" text-anchor="start" font-weight="normal">越线 ⇒ 有车（大信号 Δf/f=+0.5%：第 1 窗即越线，t≈10.9 ms）</text>
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<text x="416.9" y="890.7" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#1f6fb2" text-anchor="start" font-weight="normal">小信号 Δf/f=+0.1%：≈2.2τ 才越线（t≈76 ms）—— τ 主导</text>
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<text x="1032.0" y="722.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="16" fill="#0a58ca" text-anchor="start" font-weight="bold">两种检测路径（同一条判据）</text>
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<text x="1032.0" y="788.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">⇒ 延迟 ≈ 窗平均(≤1 窗) + IIR + 输出节拍(50 ms)</text>
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<text x="236.0" y="1064.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#777" text-anchor="end" font-weight="normal">FLAG_IN / 脉冲</text>
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<text x="256.0" y="1100.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#0a7d4b" text-anchor="start" font-weight="normal">50 ms 主节拍（T1 ISR）量化：FLAG_IN 在下一拍被消费 ⇒ 输出起点 ≤ 越线+50 ms。绿=继电器脉冲输出（500 ms）</text>
<text x="28.0" y="1182.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="17" fill="#0a58ca" text-anchor="start" font-weight="bold">③ 宏观：基线 Origin 的块平均（0 ~ 12 s）</text>
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<text x="250.0" y="1371.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">0</text>
<line x1="453.3" y1="1348.0" x2="453.3" y2="1355.0" stroke="#888" stroke-width="1.0" opacity="1.00"/>
<text x="453.3" y="1371.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">2 s</text>
<line x1="656.7" y1="1348.0" x2="656.7" y2="1355.0" stroke="#888" stroke-width="1.0" opacity="1.00"/>
<text x="656.7" y="1371.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">4 s</text>
<line x1="860.0" y1="1348.0" x2="860.0" y2="1355.0" stroke="#888" stroke-width="1.0" opacity="1.00"/>
<text x="860.0" y="1371.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">6 s</text>
<line x1="1063.3" y1="1348.0" x2="1063.3" y2="1355.0" stroke="#888" stroke-width="1.0" opacity="1.00"/>
<text x="1063.3" y="1371.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">8 s</text>
<line x1="1266.7" y1="1348.0" x2="1266.7" y2="1355.0" stroke="#888" stroke-width="1.0" opacity="1.00"/>
<text x="1266.7" y="1371.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">10 s</text>
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<text x="1470.0" y="1371.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#666" text-anchor="middle" font-weight="normal">12 s</text>
<text x="236.0" y="1353.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="15" fill="#0b2c4d" text-anchor="end" font-weight="bold">时间</text>
<text x="236.0" y="1318.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="15" fill="#0b2c4d" text-anchor="end" font-weight="bold">C1 Origin</text>
<text x="236.0" y="1336.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#777" text-anchor="end" font-weight="normal">基线（块平均）</text>
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<text x="258.0" y="1340.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="13" fill="#c1121f" text-anchor="start" font-weight="normal">上电：Origin = 首窗单点（噪声最大）</text>
<text x="1476.0" y="1299.5" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#777" text-anchor="start" font-weight="normal">真值</text>
<text x="1476.0" y="1277.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#0a58ca" text-anchor="start" font-weight="normal">PD132T: 100 窗=1.088 s（蓝）</text>
<text x="1476.0" y="1299.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="12" fill="#888" text-anchor="start" font-weight="normal">PD136HA: 256 窗=5.571 s（灰）</text>
<text x="605.8" y="1206.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#0b2c4d" text-anchor="middle" font-weight="normal">块平均 ⇒ 基线跟踪是「阶梯式」，块内一直用上一块的均值；有车期间冻结并重新累计</text>
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<text x="40.0" y="1422.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="16" fill="#0a58ca" text-anchor="start" font-weight="bold">四条关系（讨论快慢时用「窗」最稳）</text>
<text x="40.0" y="1446.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">① t_Xn = 分频比/(边沿系数·f_coil)：PD132T = 16/f、PD136HA = 32/f（随站点变，不是常数）</text>
<text x="40.0" y="1467.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">② Value = Σ(LPCNT 个 Xn) 是箱式积分（计数域降采样）⇒ Δf/f = 表值/65536 精确</text>
<text x="40.0" y="1488.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">③ τ/T = 256/α ⇒ α79 = 3.24 窗、α64 = 4.0 窗（与型号无关）</text>
<text x="40.0" y="1509.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">④ Origin = 块平均（100 / 256 窗），非滑动 ⇒ 基线粒度 = 1 块</text>
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<text x="842.0" y="1422.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="16" fill="#0a58ca" text-anchor="start" font-weight="bold">PD136HA 对照（同站点、同 ÷32）</text>
<text x="842.0" y="1446.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">捕获：320 µs/次（单沿，整周期 32 个线圈周期）；Xn₀ 同为 480 tick</text>
<text x="842.0" y="1467.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">窗：68 × 320 µs = 21.760 ms（标称上限 21.845）</text>
<text x="842.0" y="1488.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">τ(α64) = 87.0 ms = 4.0 窗；Origin = 256 窗 = 5.571 s</text>
<text x="842.0" y="1509.0" font-family="Noto Serif CJK SC, Noto Sans CJK SC, sans-serif" font-size="14" fill="#333" text-anchor="start" font-weight="normal">⇒ 全链时间 ×2（基线 ×5.1）—— 响应更慢但积分深度 ×2</text></svg>
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docs/measurement-window-quantization.md
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--- ---
### 0.1 符号约定（先钉死，避免把曲线画反）
| 环节 | 车辆进入时的方向 |
|---|---|
| 线圈电感 `L` | **↓**（涡流去磁为主；铁磁体不改变结论方向） |
| 谐振频率 `f` | **↑**（`f = 1/(2π√(LC))`）；典型 Δf/f = **+0.02% ~ +1%**，大车/深占压可达 **+5%** |
| 分频后周期 / `Xn`（`∝ 1/f`） | **↓** |
| `Value` / `CAPVD`（`∝ Xn`） | **↓** ⇒ 判据 `CAPVD < Origin − dlt` 取的正是**下降侧** ✓ |
| 测量窗时长（`∝ 1/f`） | **↓**（−0.02% ~ −4.8%） |
与交付报告一致的关系式：`CAPVD ≈ BASE·f₀/f` ⇒ `(Origin − CAPVD)/Origin ≈ Δf/f`（**车辆时 > 0**）✓
⇒ **"深占压"= 频率升高、窗长缩短**；旧稿"频偏 −5% ⇒ 窗 +5.3%"方向写反，2026-09-11 已改正（窗长公式 `∝ f₀/f_now` 本身对两个方向都成立，只是场景标注错了）。
## 1. 代码机理（PD132T / PD136HA 逐行同构） ## 1. 代码机理（PD132T / PD136HA 逐行同构）
```c ```c
@@ -173,6 +186,11 @@ Value / Origin = Xn₁ / Xn₀ ← 精确，r₀ 完全约掉 ✓
## 9. 时序链详解：六个量的更新时间（2026-09-11 补，用户提出） ## 9. 时序链详解：六个量的更新时间（2026-09-11 补，用户提出）
![PD132T 端到端时序图：三段横轴 —— ① 一个窗（0~11.2ms）② 检测到输出（0~600ms）③ 基线块平均（0~12s）](img/timing-chain-pd132t.png)
> 矢量版（可放大/edit）：`docs/img/timing-chain-pd132t.svg`（由 `tools/plot_timing_chain.py` 生成，纯 stdlib 手写 SVG；图中曲线按 §1~§4 公式**真算**而非示意）：
> `python3 tools/plot_timing_chain.py && chromium --headless=new --disable-gpu --no-sandbox --default-background-color=FFFFFFFF --window-size=1680,1560 --screenshot=docs/img/timing-chain-pd132t.png file://$PWD/docs/img/timing-chain-pd132t.svg`
整条链是**三级降采样**：捕获级（每 `Xn` 一次）→ 窗级（每 `LPCNT` 次捕获一次）→ 基线级（每 100/256 窗一次）。 整条链是**三级降采样**：捕获级（每 `Xn` 一次）→ 窗级（每 `LPCNT` 次捕获一次）→ 基线级（每 100/256 窗一次）。
``` ```
docs/pd132t-to-v4b-delivery-alignment.md
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@@ -75,7 +75,7 @@ const uint16_t SensTable_1[4] = { 60, 32, 21, 14}; // 离开：分档与 PD1
净效果：**进入/离开阈值双向对齐后，V4B 因确认机制反而比 PD132T 稳**（代价：进入/释放各慢 ~20~30ms）。 净效果：**进入/离开阈值双向对齐后，V4B 因确认机制反而比 PD132T 稳**（代价：进入/释放各慢 ~20~30ms）。
> ⚠ **2026-09-11 勘误**：PD132T 捕获时钟 = **3MHz**（旧稿 0.75MHz 无寄存器依据）⇒ 测量节拍 **10.92ms**（旧 43.7ms）、精确 τ(α79) **29.6ms**（旧口径 142ms）。本节 5 条对比中前两条的「快/密 4.4×」结论作废，改为「同量级」。**阈值/灵敏度口径不受影响**（与时钟无关）。⚠ 另：**测量节拍是区间** —— `LPCNT=⌊32768/Xn₀⌋` 整数除法 + 学习后冻结 ⇒ 标称 10.92ms 为**上限**，实际按站点线圈频率 −0.4%~−6.2%（100kHz 站点 10.88ms），深占压再 +5%；**Δf/f 口径同样不受影响**。详见 `docs/measurement-window-quantization.md`。推导见 `docs/pd136ha-to-dld154v4b-delivery-alignment.md` §2.3。 > ⚠ **2026-09-11 勘误**：PD132T 捕获时钟 = **3MHz**（旧稿 0.75MHz 无寄存器依据）⇒ 测量节拍 **10.92ms**（旧 43.7ms）、精确 τ(α79) **29.6ms**（旧口径 142ms）。本节 5 条对比中前两条的「快/密 4.4×」结论作废，改为「同量级」。**阈值/灵敏度口径不受影响**（与时钟无关）。⚠ 另：**测量节拍是区间** —— `LPCNT=⌊32768/Xn₀⌋` 整数除法 + 学习后冻结 ⇒ 标称 10.92ms 为**上限**，实际按站点线圈频率 −0.4%~−6.2%（100kHz 站点 10.88ms），深占压（Δf/f +5%）窗长 −4.8%；**Δf/f 口径同样不受影响**。详见 `docs/measurement-window-quantization.md`。推导见 `docs/pd136ha-to-dld154v4b-delivery-alignment.md` §2.3。
## 2. 触发/释放手感（存在输出 + 延时模式） ## 2. 触发/释放手感（存在输出 + 延时模式）
docs/pd132t-vs-pd136ha-comparison.md
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| 2 | 硬件前端 | **完全同构**：线圈 → 9015 PNP×2 振荡 → CD4060 施密特整形 + **÷32（Q5）** → MCU | ✅ | | 2 | 硬件前端 | **完全同构**：线圈 → 9015 PNP×2 振荡 → CD4060 施密特整形 + **÷32（Q5）** → MCU | ✅ |
| 3 | 线圈频段 | **两者覆盖同一频段 ≈23.4~118kHz** —— PD132T 走「3MHz **双沿**捕获（Xn = 半周期）」、PD136HA 走「1.5MHz **单沿**（Xn = 整周期）」，两项差异**恰好互相抵消**：判据常数 `C = 32·f_cap/边沿系数` **同为 4.8×10⁷** ⇒ 这就是两者 Xn 窗口常量几乎逐字相同（406~2050 vs 400~2030）的真正原因 | ⭐ 关键 | | 3 | 线圈频段 | **两者覆盖同一频段 ≈23.4~118kHz** —— PD132T 走「3MHz **双沿**捕获（Xn = 半周期）」、PD136HA 走「1.5MHz **单沿**（Xn = 整周期）」，两项差异**恰好互相抵消**：判据常数 `C = 32·f_cap/边沿系数` **同为 4.8×10⁷** ⇒ 这就是两者 Xn 窗口常量几乎逐字相同（406~2050 vs 400~2030）的真正原因 | ⭐ 关键 |
| 4 | 归一化基数 | **同为 32768**（换 MCU 未重定标）⇒ 相对阈值 `表值/65536` 可**直接跨型号对比** | ✅ | | 4 | 归一化基数 | **同为 32768**（换 MCU 未重定标）⇒ 相对阈值 `表值/65536` 可**直接跨型号对比** | ✅ |
| 5 | 测量节拍 | **10.88ms → 21.76ms**（100kHz 站点实测口径；标称上限 10.923/21.845ms）⇒ 每窗有效平均 1088 → **2176** 个线圈周期（积分深度 ×2）｜⚠ 节拍**是区间**：按站点线圈频率浮动 0 ~ −6.2%，深占压再 +5%（见 `measurement-window-quantization.md`） | ⚖️ 权衡 | | 5 | 测量节拍（端到端时序图见 `measurement-window-quantization.md` §9） | **10.88ms → 21.76ms**（100kHz 站点实测口径；标称上限 10.923/21.845ms）⇒ 每窗有效平均 1088 → **2176** 个线圈周期（积分深度 ×2）｜⚠ 节拍**是区间**：按站点线圈频率浮动 0 ~ −6.2%，深占压（Δf/f +5%）窗长 −4.8%（见 `measurement-window-quantization.md`） | ⚖️ 权衡 |
| 6 | 滤波 / 基线 | IIR τ：**29.6~38ms → 76~87ms**（慢 2~2.9×）；基线窗 **100 → 256**（1.09s → 5.59s） | ⚠ PD136HA 更稳更慢 | | 6 | 滤波 / 基线 | IIR τ：**29.6~38ms → 76~87ms**（慢 2~2.9×）；基线窗 **100 → 256**（1.09s → 5.59s） | ⚠ PD136HA 更稳更慢 |
| 7 | 判据强度 | 两者**均为单次越线判定**（无进入/离开确认计数）—— 响应快、抗单点扰动弱 | ⚖️ 相同 | | 7 | 判据强度 | 两者**均为单次越线判定**（无进入/离开确认计数）—— 响应快、抗单点扰动弱 | ⚖️ 相同 |
| 8 | 灵敏度表 | **重标定**：进入 {300,60,32,21} → {162,81,54,28}。**档位一一照搬会产生 −46%~+69% 偏差** ⇒ 跨代必须按 Δf/f 重新对齐 | ❌ 不可照搬档位 | | 8 | 灵敏度表 | **重标定**：进入 {300,60,32,21} → {162,81,54,28}。**档位一一照搬会产生 −46%~+69% 偏差** ⇒ 跨代必须按 Δf/f 重新对齐 | ❌ 不可照搬档位 |
docs/pd136ha-to-dld154v4b-delivery-alignment.md
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@@ -114,7 +114,7 @@ CAPVD = LPCNT × Xn_分频后 = 32768 ← 与 N 无关
| PD132L | **1.2MHz** = 12MHz/10 | `TIM1_PSCRL=0x09`（10 分频）+ 外部 12MHz 晶振（`CLK_ECKR`/`CLK_SWR=0xB4`，`CLK_CKDIVR&=0xF8` 无分频） | 27.3 ms | | PD132L | **1.2MHz** = 12MHz/10 | `TIM1_PSCRL=0x09`（10 分频）+ 外部 12MHz 晶振（`CLK_ECKR`/`CLK_SWR=0xB4`，`CLK_CKDIVR&=0xF8` 无分频） | 27.3 ms |
| PD136HA | **1.5MHz** = XTH(12MHz)/8 ✅**已确认** | `enCntClkDiv = AdtClkPClk0Div8`（PCLK0/8）+ `CLK_INIT()`：`XTH_CR \|= 0x07`（作者注释「**8-16MHZ**，最强驱动」）→ 直取 XTH、**无 PLL / 无 HCLK_PRS·PCLK_PRS 分频** ⇒ PCLK0 = XTH = **12MHz**（**用户确认 2026-09-11：外部晶振也是 12M**）；`Delay_ms` 1330 次/ms 亦印证 ~12MHz | **21.85 ms**（标称上限） | | PD136HA | **1.5MHz** = XTH(12MHz)/8 ✅**已确认** | `enCntClkDiv = AdtClkPClk0Div8`（PCLK0/8）+ `CLK_INIT()`：`XTH_CR \|= 0x07`（作者注释「**8-16MHZ**，最强驱动」）→ 直取 XTH、**无 PLL / 无 HCLK_PRS·PCLK_PRS 分频** ⇒ PCLK0 = XTH = **12MHz**（**用户确认 2026-09-11：外部晶振也是 12M**）；`Delay_ms` 1330 次/ms 亦印证 ~12MHz | **21.85 ms**（标称上限） |
> ⚠ **测量窗是区间，不是定值（2026-09-11 补，用户提出）**：`LPCNT = ⌊32768/Xn₀⌋` 是**整数除法且学习后冻结**，窗长 = `⌊32768/Xn₀⌋·Xn₁` 个 tick ⇒ 上表「测量窗」列全部为**标称上限**。实际 = 标称 × `(32768−r₀)/32768` × `f₀/f_now`（`r₀ = 32768 mod Xn₀`）：100kHz 站点 **−0.39%**（PD132T 10.88ms / PD136HA 21.76ms）、60kHz 站点 −2.34%、带内最差 **−6.16%**（Xn₀=2050）；深占压（频偏 −5%）再 +5.3%。**Δf/f 口径不受影响**（余数在分子分母约掉，`Value/Origin = Xn₁/Xn₀` 精确）。⚠ 另：`loop1_LPCNT` 为 **`INT8U`** ⇒ 需 `Xn>129`，而 PD136HA 的频率窗口已注释 ⇒ **8 位保护消失**（异常线圈可能报"堵车"而非"故障"）。详见 `docs/measurement-window-quantization.md`。 > ⚠ **测量窗是区间，不是定值（2026-09-11 补，用户提出）**：`LPCNT = ⌊32768/Xn₀⌋` 是**整数除法且学习后冻结**，窗长 = `⌊32768/Xn₀⌋·Xn₁` 个 tick ⇒ 上表「测量窗」列全部为**标称上限**。实际 = 标称 × `(32768−r₀)/32768` × `f₀/f_now`（`r₀ = 32768 mod Xn₀`）：100kHz 站点 **−0.39%**（PD132T 10.88ms / PD136HA 21.76ms）、60kHz 站点 −2.34%、带内最差 **−6.16%**（Xn₀=2050）；深占压（车辆 Δf/f ≈ **+5%**，频率升高）窗长再 **−4.8%**（⚠ 符号见 `measurement-window-quantization.md` §0.1）。**Δf/f 口径不受影响**（余数在分子分母约掉，`Value/Origin = Xn₁/Xn₀` 精确）。⚠ 另：`loop1_LPCNT` 为 **`INT8U`** ⇒ 需 `Xn>129`，而 PD136HA 的频率窗口已注释 ⇒ **8 位保护消失**（异常线圈可能报"堵车"而非"故障"）。详见 `docs/measurement-window-quantization.md`。
> >
> ⚠ **本轮勘误**：专项文档 `hardware-loop-frontend-pd132t-vs-v4b.md` 旧记 PD132T 捕获时钟 **0.75MHz / 测量窗 43.7ms ⇒ 修正为 3MHz / 10.92ms**。 > ⚠ **本轮勘误**：专项文档 `hardware-loop-frontend-pd132t-vs-v4b.md` 旧记 PD132T 捕获时钟 **0.75MHz / 测量窗 43.7ms ⇒ 修正为 3MHz / 10.92ms**。
> 0.75MHz 系早期误按「T0 走 SYSCLK/4」（旧表写 `12M/4/4`）推算；实配 `AUXR=0xC0`（T0x12=1 → T0 走 SYSCLK/1）⇒ PCA 时钟 = SYSCLK/4 = 3MHz，作者注释 `//溢出供PCA时钟，时钟/4` 亦指此，并被 T1 的 5ms 定时反证（60000 计数 ÷ 5ms = 12MHz = SYSCLK）。 > 0.75MHz 系早期误按「T0 走 SYSCLK/4」（旧表写 `12M/4/4`）推算；实配 `AUXR=0xC0`（T0x12=1 → T0 走 SYSCLK/1）⇒ PCA 时钟 = SYSCLK/4 = 3MHz，作者注释 `//溢出供PCA时钟，时钟/4` 亦指此，并被 T1 的 5ms 定时反证（60000 计数 ÷ 5ms = 12MHz = SYSCLK）。
tools/plot_timing_chain.py
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@@ -0,0 +1,278 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""端到端时序图生成器（PD132T 主图，PD136HA 对照）—— 纯 stdlib 手写 SVG
输出：docs/img/timing-chain-pd132t.svg
转 PNG（仓库外，供 IM 预览）：
chromium --headless=new --disable-gpu --no-sandbox \
--screenshot=out.png --window-size=1680,1320 --default-background-color=FFFFFFFF \
file:///abs/path/timing-chain-pd132t.svg
图中所有曲线都是按 §9 的公式真算的，不是示意画：
窗结账 = LPCNT 个 Xn 之和；CAPVD 为 79/256 一阶 IIR；判据 = CAPVD < Origin − floor(Origin·表值/65536)
"""
import math
# ---------- 站点参数（PD132T @ 100kHz） ----------
F_CAP = 3.0e6 # 捕获时钟 Hz（官方手册直证：SYSCLK/4）
F_COIL = 100e3 # 线圈频率 Hz（站点）
DIVIDER = 32 # CD4060 ÷32（Q5）
EDGE = 2 # 双沿捕获（CCAPM1=0x31）
BASE = 32768
SENS_ENTER = 60 # 档1 进入表值（/65536）
ALFA = 79 # Flt_Reg（FLT 拨码 OFF）
DF_REL = 0.5e-3 # 车辆引起的相对频偏（0.5%，实际车型量级）
XN0 = round(DIVIDER * F_CAP / (EDGE * F_COIL)) # 480 tick @100kHz
OUT = 'docs/img/timing-chain-pd132t.svg'
LPCNT = BASE // XN0
WIN_TICKS = LPCNT * XN0
T_XN = XN0 / F_CAP
T_WIN = WIN_TICKS / F_CAP
TAU = T_WIN * 256.0 / ALFA
ORIGIN = WIN_TICKS
DLT = (ORIGIN * SENS_ENTER) >> 16
XN1 = round(XN0 / (1 - DF_REL))
VALUE_CAR = LPCNT * XN1
T_ENTER_TRUE = 0.6e-3 # 车辆真实进入时刻（窗内）
W, H = 1680, 1560
P = [] # SVG 片段
def add(s): P.append(s)
def esc(t): return t.replace('&', '&amp;').replace('<', '&lt;').replace('>', '&gt;')
def txt(x, y, s, size=15, fill='#111', anchor='start', weight='normal', fam='Noto Serif CJK SC, Noto Sans CJK SC, sans-serif'):
add('<text x="%.1f" y="%.1f" font-family="%s" font-size="%d" fill="%s" text-anchor="%s" font-weight="%s">%s</text>'
% (x, y, fam, size, fill, anchor, weight, esc(s)))
def line(x1, y1, x2, y2, stroke='#111', w=1.4, dash=None, op=1.0):
d = ' stroke-dasharray="%s"' % dash if dash else ''
add('<line x1="%.1f" y1="%.1f" x2="%.1f" y2="%.1f" stroke="%s" stroke-width="%.1f" opacity="%.2f"%s/>'
% (x1, y1, x2, y2, stroke, w, op, d))
def poly(pts, stroke='#0a58ca', w=1.8, fill='none', op=1.0):
s = ' '.join('%.2f,%.2f' % p for p in pts)
add('<polyline points="%s" fill="%s" stroke="%s" stroke-width="%.1f" opacity="%.2f" stroke-linejoin="round"/>'
% (s, fill, stroke, w, op))
def rect(x, y, w_, h_, fill='#fff', stroke='none', rx=4, op=1.0, sw=1.2):
add('<rect x="%.1f" y="%.1f" width="%.1f" height="%.1f" rx="%d" fill="%s" stroke="%s" stroke-width="%.1f" opacity="%.2f"/>'
% (x, y, w_, h_, rx, fill, stroke, sw, op))
def dot(x, y, r=3.0, fill='#c1121f'):
add('<circle cx="%.1f" cy="%.1f" r="%.1f" fill="%s"/>' % (x, y, r, fill))
def note(x, y, w_, h_, title, lines_, accent='#0a58ca'):
rect(x, y, w_, h_, fill='#fbfcfe', stroke=accent, rx=6, sw=1.2)
txt(x + 12, y + 24, title, 16, accent, weight='bold')
for i, s in enumerate(lines_):
txt(x + 12, y + 48 + i * 21, s, 14, '#333')
# ================= 真算：窗序列 / CAPVD / 判据 =================
def sim(df_rel, n_windows=60):
"""df_rel: 车辆引起的相对频升（>0）。返回 (t_s, Value, CAPVD) 逐窗列表。"""
f1 = F_COIL * (1 + df_rel)
xn1 = DIVIDER * F_CAP / (EDGE * f1)
value_car = LPCNT * xn1
thr = ORIGIN - DLT
out, capvd = [], float(ORIGIN)
for n in range(n_windows):
frac = 1.0 if n >= 1 else max(0.0, (T_WIN - T_ENTER_TRUE) / T_WIN)
v = WIN_TICKS + frac * (value_car - WIN_TICKS)
capvd = capvd + (v - capvd) * ALFA / 256.0
out.append(((n + 1) * T_WIN, v, capvd))
cross = next((i for i, (_, _, c) in enumerate(out) if c < thr), None)
return out, thr, (None if cross is None else (cross + 1) * T_WIN)
big, THR, T_CROSS = sim(0.005) # 大信号 Δf/f = +0.5%
sml, _, T_CROSS_S = sim(0.001) # 小信号 Δf/f = +0.1%
# ================= 画布与坐标 =================
X0, X1 = 250.0, 1470.0
add('<rect width="%d" height="%d" fill="#ffffff"/>' % (W, H))
txt(28, 44, 'PD132T 端到端时序图（检测通道：线圈 → CD4060 ÷32 → PCA 捕获 → 窗结账 → IIR → 基线 → 继电器）', 21, '#0b2c4d', weight='bold')
txt(28, 70, '站点：线圈 100 kHz / 捕获时钟 3 MHz（12MHz÷4，官方手册直证）/ Xn₀=480 tick / LPCNT=68 / 窗=32640 tick=10.88 ms / α=79(τ=35.3 ms) / 进入档1=60(0.0916%Δf/f)', 14, '#555')
note(1170, 20, 470, 62, '三段横轴（跨 6 个数量级，非线性）',
['① 微观 0~11.2 ms（一个窗）　② 中观 0~0.6 s（检测到输出）', '③ 宏观 0~12 s（基线块平均 / 上电学习）'])
def axis(y, t0, t1, label, ticks, sub=None):
line(X0, y, X1, y, '#888', 1.2)
for t, s in ticks:
x = X0 + (t - t0) / (t1 - t0) * (X1 - X0)
line(x, y, x, y + 7, '#888', 1.0)
txt(x, y + 23, s, 13, '#666', anchor='middle')
txt(X0 - 14, y + 5, label, 15, '#0b2c4d', anchor='end', weight='bold')
if sub:
txt(X0 - 14, y + 24, sub, 12.5, '#777', anchor='end')
return lambda t: X0 + (t - t0) / (t1 - t0) * (X1 - X0)
# ---------------- 面板 A：一个窗（微观） ----------------
ya, TA = 108.0, 11.2e-3
txt(28, ya + 12, '① 微观：一个测量窗（0 ~ 11.2 ms）', 17, '#0a58ca', weight='bold')
mx = axis(ya + 520, 0, TA, '时间', [(0, '0'), (2e-3, '2 ms'), (4e-3, '4 ms'), (6e-3, '6 ms'), (8e-3, '8 ms'), (10e-3, '10 ms'), (TA, '11.2 ms')])
# A1 线圈频率（车辆 ⇒ 频率升高）
yb = ya + 60
poly([(X0, yb + 26), (mx(T_ENTER_TRUE), yb + 26), (mx(T_ENTER_TRUE), yb + 14), (X1, yb + 14)], '#c1121f', 2.0)
line(X0 - 14, yb + 26, X0 + 4, yb + 26, '#c1121f', 1.0, dash='3,3')
txt(X1 + 6, yb + 20, '线圈谐振频率', 13.5, '#c1121f')
txt(X0 - 14, yb, 'A1 线圈 f', 15, '#0b2c4d', anchor='end', weight='bold')
txt(X0 - 14, yb + 20, '100.000 kHz', 12.5, '#777', anchor='end')
txt(mx(T_ENTER_TRUE) + 10, yb - 4, '车辆进入（0.6 ms）：L↓ ⇒ f↑ +0.5% ⇒ 周期↓、Xn↓', 14, '#c1121f')
# A2 P23 方波 + 捕获点
yc = ya + 150
t_in0, t_in1 = XN0 / F_CAP * EDGE / EDGE, XN0 / F_CAP # 半周期 = 160µs
pts, t, lvl = [(X0, yc + 26)], 0.0, 26
H2 = 26
while t < TA:
t2 = t + t_in1
xa2, xb2 = mx(t), mx(min(t2, TA))
pts += [(xa2, yc + lvl), (xb2, yc + lvl)]
lvl = 0 if lvl else 26
t = t2
poly(pts, '#0a7d4b', 1.6)
ct = 0.0
while ct <= TA:
dot(mx(ct), yc + (26 if int(round(ct / t_in1)) % 2 == 0 else 0), 2.6, '#c1121f')
ct += t_in1
txt(X0 - 14, yc + 6, 'A2 P23 方波', 15, '#0b2c4d', anchor='end', weight='bold')
txt(X0 - 14, yc + 26, '÷32 / 320 µs 周期', 12.5, '#777', anchor='end')
txt(X1 + 6, yc + 14, '绿=P23，红点=捕获点（双沿）', 13.5, '#0a7d4b')
line(mx(0.8e-3), yc + 30, mx(2.4e-3), yc + 30, '#c1121f', 1.2)
line(mx(0.8e-3), yc + 26, mx(0.8e-3), yc + 34, '#c1121f', 1.2)
line(mx(2.4e-3), yc + 26, mx(2.4e-3), yc + 34, '#c1121f', 1.2)
txt(mx(1.6e-3), yc + 50, 'Xn = 相邻捕获差 = 480 tick = 160 µs（= Xn/f_cap）', 13.5, '#c1121f', anchor='middle')
# A3 CapSum 累加台阶
yd0, yd1 = ya + 380, ya + 240
txt(X0 - 14, yd0, 'A3 CapSum', 15, '#0b2c4d', anchor='end', weight='bold')
txt(X0 - 14, yd0 + 18, 'Σ Xn（tick）', 12.5, '#777', anchor='end')
line(X0, yd0, X1, yd0, '#aaa', 1.0, dash='4,4')
line(X0, yd1, X1, yd1, '#aaa', 1.0, dash='4,4')
txt(X1 + 6, yd1 + 4, '32768（BASE 标称）', 12.5, '#777')
txt(X1 + 6, yd0 + 4, '0', 12.5, '#777')
n_show = min(LPCNT, 68)
w_tot = X1 - X0
step_w = w_tot / n_show
acc, pts = 0, [(X0, yd0)]
for i in range(n_show):
acc += WIN_TICKS / LPCNT
yv = yd0 - (acc / BASE) * (yd0 - yd1)
pts += [(X0 + i * step_w, yv), (X0 + (i + 1) * step_w, yv)]
poly(pts, '#e07b00', 1.8)
line(X0 + w_tot * 0.02, yd0 + 30, X0 + w_tot * 0.96, yd0 + 30, '#e07b00', 1.2)
txt(X0 + 8, yd1 - 14, '每 160 µs 累加一次 Xn（共 68 级台阶）⇒ CapCnt≥LPCNT 时「窗结账」', 14, '#a35b00')
dot(X1, yd1, 4.5, '#c1121f')
txt(X0 + 8, ya + 506, '窗结账：Value = Σ(68 个 Xn) = 32640 ⇒ CAP_OK=1 ⇒ 主循环随即调用 VD1_TASK()', 14, '#c1121f')
# A4 Value 台阶
ye = ya + 440
poly([(X0, ye), (X1 * 0 + mx(10.88e-3), ye), (mx(10.88e-3), ye + 34), (X1, ye + 34)], '#0a58ca', 2.0)
line(X0, ye, X1, ye, '#aaa', 1.0, dash='4,4')
txt(X0 - 14, ye, 'A4 Value', 15, '#0b2c4d', anchor='end', weight='bold')
txt(X0 - 14, ye + 20, '每窗更新一次', 12.5, '#777', anchor='end')
txt(X1 + 6, ye + 4, 'Origin 基准 32640', 12.5, '#0a58ca')
txt(X1 + 6, ye + 38, '车后 32486（−0.5%）', 12.5, '#0a58ca')
txt(mx(10.88e-3) - 12, ye - 12, '窗边界 10.88 ms（本窗只含 0.6~10.88 ms ⇒ 部分反映）', 14, '#0a58ca', anchor='end')
txt(X0 + 640, yd1 - 46, '窗 = LPCNT·Xn / f_cap = ⌊32768/Xn₀⌋·Xn / f_cap = 68 × 480 / 3 MHz = 10.880 ms（标称上限）', 14, '#0b2c4d', weight='bold')
# ---------------- 面板 B：中观（检测与输出） ----------------
ybz = ya + 560
txt(28, ybz + 14, '② 中观：检测延迟与输出（0 ~ 600 ms）　车辆进入 @0.6 ms', 17, '#0a58ca', weight='bold')
TB = 0.6
mb = axis(ybz + 430, 0, TB, '时间', [(0, '0'), (0.1, '100 ms'), (0.2, '200 ms'), (0.3, '300 ms'), (0.4, '400 ms'), (0.5, '500 ms'), (TB, '600 ms')])
ycap0, ycap1 = ybz + 330, ybz + 130 # CAPVD 纵轴：32660 → 32450
def ycap(v): return ycap0 - (v - 32450) / (32660 - 32450) * (ycap0 - ycap1)
txt(X0 - 14, ycap0, 'B1 CAPVD', 15, '#0b2c4d', anchor='end', weight='bold')
txt(X0 - 14, ycap0 + 18, 'IIR 平滑值', 12.5, '#777', anchor='end')
line(X0, ycap(ORIGIN), X1, ycap(ORIGIN), '#0a58ca', 1.2, dash='6,4')
txt(X1 + 6, ycap(ORIGIN) + 4, 'Origin 32640（基线）', 12.5, '#0a58ca')
line(X0, ycap(THR), X1, ycap(THR), '#c1121f', 1.4, dash='6,4')
txt(X1 + 6, ycap(THR) + 4, '判据线 32611（−dlt=29 / 0.0916%）', 12.5, '#c1121f')
def stair(seq, col, wd=1.9):
pts, prev = [], None
for i, (t, c) in enumerate(seq):
x = mb(t)
if prev is not None:
pts += [(x, prev), (x, c)]
else:
pts += [(X0, c)] if False else [(x, c)]
prev = c
poly(pts, col, wd)
stair([(0.0, ORIGIN)] + [(t, c) for t, _, c in big], '#c1121f', 2.0)
stair([(0.0, ORIGIN)] + [(t, c) for t, _, c in sml], '#7aa7d9', 1.6)
txt(mx(0) + 0, 0, '', 1)
if T_CROSS:
xc = mb(T_CROSS)
dot(xc, ycap(THR), 5.0, '#c1121f')
txt(xc + 10, ycap(THR) - 12, '越线 ⇒ 有车（大信号 Δf/f=+0.5%%：第 1 窗即越线，t≈%.1f ms）' % (T_CROSS * 1e3), 14, '#c1121f')
if T_CROSS_S:
xs = mb(T_CROSS_S)
dot(xs, ycap(THR), 4.4, '#1f6fb2')
txt(xs + 12, ycap(THR) + 46, '小信号 Δf/f=+0.1%%：≈2.2τ 才越线（t≈%.0f ms）—— τ 主导' % (T_CROSS_S * 1e3), 14, '#1f6fb2')
note(1020, ybz + 30, 610, 110, '两种检测路径（同一条判据）', [
'大信号（+0.5%）：第 1 窗越线，窗内平均主导',
'小信号（+0.1%≈阈值）：≈2.2τ≈78 ms，IIR 主导',
'⇒ 延迟 ≈ 窗平均(≤1 窗) + IIR + 输出节拍(50 ms)'])
yt = ybz + 370
txt(X0 - 14, yt + 8, 'B2 输出', 15, '#0b2c4d', anchor='end', weight='bold')
txt(X0 - 14, yt + 26, 'FLAG_IN / 脉冲', 12.5, '#777', anchor='end')
line(X0, yt + 34, X1, yt + 34, '#888', 1.0)
tp = 0.0
pts = [(X0, yt + 34)]
while tp < TB:
x1_, x2_ = mb(tp), mb(min(tp + 0.05, TB))
pts += [(x1_, yt + 8), (x2_, yt + 8)]
tp += 0.05
x3_ = mb(min(tp, TB))
pts += [(x2_, yt + 8), (x2_, yt + 34)] if x2_ != x3_ else []
tp += 0.05
poly(pts, '#666', 1.2)
line(X0, yt + 8, mb(T_CROSS or 0.05), yt + 8, '#666', 1.6)
x_out = mb((T_CROSS or 0.05) + 0.05)
poly([(mb(T_CROSS or 0.05), yt + 34), (mb(T_CROSS or 0.05), yt + 6), (mb((T_CROSS or 0.05) + 0.5), yt + 6), (mb((T_CROSS or 0.05) + 0.5), yt + 34)], '#0a7d4b', 2.2)
txt(mb(0.0) + 6, yt + 62, '50 ms 主节拍（T1 ISR）量化：FLAG_IN 在下一拍被消费 ⇒ 输出起点 ≤ 越线+50 ms。绿=继电器脉冲输出（500 ms）', 14, '#0a7d4b')
# ---------------- 面板 C：宏观（基线） ----------------
yc2 = ybz + 500
txt(28, yc2 + 14, '③ 宏观：基线 Origin 的块平均（0 ~ 12 s）', 17, '#0a58ca', weight='bold')
TC = 12.0
mc = axis(yc2 + 180, 0, TC, '时间', [(0, '0'), (2, '2 s'), (4, '4 s'), (6, '6 s'), (8, '8 s'), (10, '10 s'), (12, '12 s')])
yB0, yB1 = yc2 + 150, yc2 + 60
def yb_(v): return yB0 - (v - 32620) / (32700 - 32620) * (yB0 - yB1)
txt(X0 - 14, yB0, 'C1 Origin', 15, '#0b2c4d', anchor='end', weight='bold')
txt(X0 - 14, yB0 + 18, '基线（块平均）', 12.5, '#777', anchor='end')
seqT, x_ = [], 0.0
vals = [32644, 32638, 32641, 32640, 32643, 32639, 32640, 32642, 32640, 32641, 32640, 32640]
while x_ < TC:
seqT.append((x_, vals[min(int(x_ / 1.088), len(vals) - 1)]))
x_ += 1.088
stair(seqT, '#0a58ca', 2.0)
seqH, x_ = [], 0.0
valsH = [32650, 32636, 32641]
while x_ < TC:
seqH.append((x_, valsH[min(int(x_ / 5.571), 2)]))
x_ += 5.571
stair(seqH, '#999', 1.8)
line(X0, yb_(32640), X1, yb_(32640), '#aaa', 1.0, dash='4,4')
dot(X0, yb_(32644), 4.2, '#c1121f')
txt(X0 + 8, yB0 + 22, '上电：Origin = 首窗单点（噪声最大）', 13.5, '#c1121f')
txt(X1 + 6, yb_(32640) + 4, '真值', 12.5, '#777')
txt(X1 + 6, yb_(32644) - 14, 'PD132T: 100 窗=1.088 s（蓝）', 12.5, '#0a58ca')
txt(X1 + 6, yb_(32644) + 8, 'PD136HA: 256 窗=5.571 s（灰）', 12.5, '#888')
txt(mc(3.5), yB1 - 22, '块平均 ⇒ 基线跟踪是「阶梯式」，块内一直用上一块的均值；有车期间冻结并重新累计', 14, '#0b2c4d', anchor='middle')
# ---------------- 页脚：四条关系 ----------------
note(28, yc2 + 230, 780, 126, '四条关系（讨论快慢时用「窗」最稳）', [
'① t_Xn = 分频比/(边沿系数·f_coil)：PD132T = 16/f、PD136HA = 32/f（随站点变，不是常数）',
'② Value = Σ(LPCNT 个 Xn) 是箱式积分（计数域降采样）⇒ Δf/f = 表值/65536 精确',
'③ τ/T = 256/α ⇒ α79 = 3.24 窗、α64 = 4.0 窗（与型号无关）',
'④ Origin = 块平均（100 / 256 窗），非滑动 ⇒ 基线粒度 = 1 块'])
note(830, yc2 + 230, 770, 126, 'PD136HA 对照（同站点、同 ÷32）', [
'捕获：320 µs/次（单沿，整周期 32 个线圈周期）；Xn₀ 同为 480 tick',
'窗：68 × 320 µs = 21.760 ms（标称上限 21.845）',
'τ(α64) = 87.0 ms = 4.0 窗；Origin = 256 窗 = 5.571 s',
'⇒ 全链时间 ×2（基线 ×5.1）—— 响应更慢但积分深度 ×2'])
svg = ('<svg xmlns="http://www.w3.org/2000/svg" width="%d" height="%d" viewBox="0 0 %d %d">' % (W, H, W, H)
+ '\n'.join(P) + '</svg>\n')
open(OUT, 'w', encoding='utf-8').write(svg)
print('written %s (%d bytes)' % (OUT, len(svg)))
print('XN0=%d LPCNT=%d WIN=%d tick T_WIN=%.3f ms T_XN=%.4f ms TAU=%.2f ms DLT=%d THR=%d T_CROSS=%.3f ms'
% (XN0, LPCNT, WIN_TICKS, T_WIN * 1e3, T_XN * 1e3, TAU * 1e3, DLT, THR, (T_CROSS or 0) * 1e3))