refactor(vd960Loop): 算法回退到 DLD154V4B，四通道适配

- 用 DLD154V4B vd1_task/per_channel 替换 vds_task 复杂算法
- 移除 FUNCTION_B/二次判断/快速变化/多重确认等增强特性
- 保留平坦性离开算法 (CN200910309382)，每通道独立状态
- 灵敏度表改为 DLD154V4B 4级: {216,108,36,10} / {108,72,18,9}
- 清理废弃类型: FltHistoryManager, Loop_ACS_Info, StageRangeConfig 等
- 首次添加 vd960DBN 完整源码

vd960Loop/utilities/at32f421_freertos_demo/inc/cmcng.h

@@ -0,0 +1,99 @@
+/**
+  **************************************************************************
+  * @file     cmcng.h
+  * @version  v1.0
+  * @date     2025-09-08
+  * @brief    һЩ<D2BB><D0A9><EFBFBD><EFBFBD>
+  **************************************************************************
+  *                       Copyright notice & Disclaimer
+  *   *  Create 2025-09-08 by wangfq
+  *   *
+  **************************************************************************
+  */
+#ifndef __CMCNG_H__ 
+#define __CMCNG_H__
+#include <stdio.h>
+#include <stdint.h>
+
+#define     PRODUCT_MODEL                   "DLD960"
+#define     FIRMWARE_VER                     "1.00"
+#define     HARDWARE_VER                  "1.00"
+#define     FIRMWARE_VER_MAIN           0
+#define     FIRMWARE_VER_SUB            30
+#define     FIRMWARE_VER_SSUB           0
+#define     HARDWARE_VER_MAIN         1
+#define     HARDWARE_VER_SUB          0 
+#define     HARDWARE_VER_SSUB         0 
+
+
+#define     FUNCTION_A                  0x01    //  二次判断
+#define     FUNCTION_B                  0x02    //  二次判断增强条件判断
+#define     FUNCTION_C                  0x04    //
+#define     FUNCTION_D                  0x08    //
+
+
+#ifdef DEBUG
+#define PRINT(X...) printf(X)
+#else
+#define PRINT(X...)
+#endif
+
+#define       LOOP_CAPTURE_MAX      4           // 4 loop capture
+
+#define     CMD_DEV_Ver                         0x4A    // Version
+
+#define     CMD_DBN_SET_MCJQ_PARAM                0x63   // 设置 车检器多路参数
+#define     CMD_DBN_GET_MCJQ_PARAM                0x64   // 读取 车检器多路参数
+
+#define     CMD_DBN_DEV_RESET                    0x6D
+
+#define     CMD_DBN_LOOP_SAMPLE_PARAM            0x87
+#define     CMD_DBN_LOOP_BALANCE_PARAM           0x88
+#define     CMD_DBN_LOOP_RELEASE_PLANB           0x89
+#define     CMD_DBN_LOOP_SENS_LIST               0x8A
+#define     CMD_DBN_SET_CJQ_FACTORY              0x92
+
+#define CMD_SUB_SENS_REPORT             0xC0          //设备主动上报传感信息
+// #define CMD_REQUIRE_DEV_MAC_ADDR        0xC1
+// #define CMD_CHANGE_DEV_ADDR_BY_MAC      0xC2
+// #define CMD_SET_LED                     0xC3
+// #define CMD_SET_RELAY                   0xC4
+#define CMD_SENS_ACS_ENABLE             0xC5         // 设备主动上报  使能
+
+typedef enum
+{
+    SENS_NONE = 0,
+    SENS_SUB_INFO = 1,                  // 传感器设备信息
+    SENS_OBJ_DYNAMIC = 2,               // 动态目标类型
+    SENS_SOUTPUT_STATUS = 3,            // 当前开关量输出的状态
+    SENS_DETAIL_CNG = 4,                // 详细配置
+    SENS_LOOP_DYNAMIC = 5,              // 线圈动态信息
+    SENS_OBJ_BackGround = 6,             //
+    SENS_OBJ_INSIDE = 7,                 //
+    SENS_LOOP_TREND,
+    SENS_OBJ_DYNAMIC_SIMPLE,
+    SENS_OBJ_STATIC_XuJing,          //10, 0x0A
+    SENS_DOBULE_LOOP_ESTIMATE,       //0x0B, 线圈环境评估
+    SENS_MULTI_LOOP_DYNAMIC,        // 0x0C, 多路线圈环境动态信息
+} SUB_SENS_TYPE;        // 传感数据类型
+
+
+#define     BUFF_STACK_SIZE         64
+// USART1 
+#define USART1_RX_BUFFER_SIZE       BUFF_STACK_SIZE
+extern char usart1_rx_buffer[USART1_RX_BUFFER_SIZE];
+
+typedef struct _PKG_UART_
+{
+    uint8_t flag;
+    uint8_t offset;
+    uint8_t len;
+    uint8_t pkg[BUFF_STACK_SIZE];
+    uint32_t tick;
+}Pkg_Uart;
+extern Pkg_Uart g_pkg_uart_1;
+extern Pkg_Uart g_pkg_uart_report;
+
+void uart_report_packet_loop_acs(uint8_t flag);
+
+#endif