优化上电复位到底检测与碰撞反弹判定：新增每秒高度采样日志、反弹300ms持续确认滤除急停抖动毛刺、上电先延时2秒等控制盒初始化、延时期间排除堵转判定并增加已位移前置条件；报错帧按错误码沿触发处理防停顿无限续期

Netlist_Queen_Post_V1.1_2026-09-04.tel

@@ -1,166 +0,0 @@
-$PACKAGES
-BUZ-TH_BD12.0-P7.60-D0.6-FD ! BUZ-TH_BD12.0-P7.60-D0.6-FD ! '2.7kHz' ; BUZZER 
-C0603 ! C0603 ! 100nF ; C1 C5 C9 C11 C14 C16 C17 C20 C22 C24 C29 C30 C31 C35 ,
-        C37 C38 C40 C43 C44 C45 C47 C48 C49 C52 
-C0603 ! C0603 ! 100pF ; C27 C28 C33 C34 C41 C42 C50 C51 
-C0603 ! C0603 ! 10uF ; C13 C15 C19 C21 C23 C25 C32 C36 C39 C46 
-C0603 ! C0603 ! 47pF ; C2 
-C0805 ! C0805 ! 100nF ; C8 
-C0805 ! C0805 ! 22uF ; C4 C10 C12 C18 
-C1206 ! C1206 ! '2.2uF' ; C7 
-CAP-TH_BD8.0-P3.50-D0.6-FD ! CAP-TH_BD8.0-P3.50-D0.6-FD ! 470uF ; C3 
-CAP-TH_BD8.0-P3.50-D0.6-FD ! CAP-TH_BD8.0-P3.50-D0.6-FD ! 47uF ; C6 
-,
-        CONN-TH_4P-P1.25_HCTL_HC-1.25-4A ! CONN-TH_4P-P1.25_HCTL_HC-1.25-4A ! '{Value}' ,
-        ; LED 
-,
-        CONN-TH_5P-P1.25_HCTL_HC-1.25-5A ! CONN-TH_5P-P1.25_HCTL_HC-1.25-5A ! '{Value}' ,
-        ; CN1 CN2 
-,
-        CONN-TH_5P-P1.25_HCTL_HC-1.25-5AW ! CONN-TH_5P-P1.25_HCTL_HC-1.25-5AW ! '{Value}' ,
-        ; CN4 CN5 CN6 CN7 
-,
-        CONN-TH_7P-P1.25_HCTL_HC-1.25-7A ! CONN-TH_7P-P1.25_HCTL_HC-1.25-7A ! '{Value}' ,
-        ; DEBUG 
-HDR-TH_2P-P2.54-V-M ! HDR-TH_2P-P2.54-V-M ! '{Value}' ; H1 H4 
-HDR-TH_6P-P2.54-V-M ! HDR-TH_6P-P2.54-V-M ! '{Value}' ; H2 H3 
-IND-SMD_L7.1-W6.6 ! IND-SMD_L7.1-W6.6 ! 47uH ; L1 
-LED0603-RD ! LED0603-RD ! '{Value}' ; GREEN RED 
-,
-        LQFP-48_L7.0-W7.0-P0.50-LS9.0-BL ! LQFP-48_L7.0-W7.0-P0.50-LS9.0-BL ! '{Value}' ,
-        ; U6 
-M3 ! M3 ! '{Value}' ; U8 U9 U10 U11 
-R0603 ! R0603 ! '1.5kΩ' ; R20 R22 
-R0603 ! R0603 ! '100Ω' ; R12 R13 R16 R17 R18 R19 R27 R28 
-R0603 ! R0603 ! '10kΩ' ; R10 R14 R29 
-R0603 ! R0603 ! '1kΩ' ; R9 R23 R26 
-R0603 ! R0603 ! '2.2kΩ' ; R3 R4 R21 R24 
-R0603 ! R0603 ! '20kΩ' ; R6 
-R0603 ! R0603 ! '22Ω' ; R1 
-R0603 ! R0603 ! '300kΩ' ; R2 
-R0603 ! R0603 ! '30mΩ' ; R5 
-R0603 ! R0603 ! '4.7kΩ' ; R15 
-R0603 ! R0603 ! '510Ω' ; R7 R8 
-R0805 ! R0805 ! '0Ω' ; R11 
-RJ45-TH_RJ48-56-10P10C_MZ ! RJ45-TH_RJ48-56-10P10C_MZ ! '{Value}' ; RJ1 RJ2 
-SMA_L4.3-W2.6-LS5.0-FD ! SMA_L4.3-W2.6-LS5.0-FD ! '{Value}' ; D1 
-SMA_L4.3-W2.6-LS5.2-RD ! SMA_L4.3-W2.6-LS5.2-RD ! '{Value}' ; D3 D5 
-SMA_L4.4-W2.6-LS5.0-BI ! SMA_L4.4-W2.6-LS5.0-BI ! '{Value}' ; D4 
-SOD-123FL_L2.7-W1.8-LS3.8-RD ! SOD-123FL_L2.7-W1.8-LS3.8-RD ! '{Value}' ; D2 
-SOD-323_L1.8-W1.3-LS2.5-RD ! SOD-323_L1.8-W1.3-LS2.5-RD ! '{Value}' ; D6 
-,
-        SOIC-8_L4.9-W3.9-P1.27-LS6.0-BL-EP ! SOIC-8_L4.9-W3.9-P1.27-LS6.0-BL-EP ! '{Value}' ,
-        ; U1 
-SOIC-8_L5.0-W4.0-P1.27-LS6.0-BL ! SOIC-8_L5.0-W4.0-P1.27-LS6.0-BL ! '{Value}' ,
-        ; U4 U7 U12 U13 
-,
-        SOT-23-3_L2.9-W1.3-P1.90-LS2.4-BR ! SOT-23-3_L2.9-W1.3-P1.90-LS2.4-BR ! '{Value}' ,
-        ; Q2 Q3 Q4 
-SOT-89_L4.5-W2.5-P1.50-LS4.2-BR ! SOT-89_L4.5-W2.5-P1.50-LS4.2-BR ! '{Value}' ,
-        ; U2 U3 
-,
-        SOT-89-3_L4.5-W2.5-P1.50-LS4.2-BR ! SOT-89-3_L4.5-W2.5-P1.50-LS4.2-BR ! '{Value}' ,
-        ; Q1 
-Test-Point-0.5mm ! Test-Point-0.5mm ! '{Value}' ; 12.8V 
-,
-        TSSOP-20_L6.5-W4.4-P0.65-LS6.4-BL ! TSSOP-20_L6.5-W4.4-P0.65-LS6.4-BL ! '{Value}' ,
-        ; U5 
-$A_PROPERTIES
-$NETS
-'+5V' ; RJ1.P6 RJ2.P6 
-'$1N110513' ; C1.2 R1.1 
-'$1N110514' ; C1.1 D1.2 L1.1 U1.1 
-'$1N110520' ; R1.2 U1.8 
-'$1N110523' ; C2.1 R2.1 R6.2 U1.5 
-'$1N116128' ; R15.1 U6.44 
-'$1N116244' ; C43.2 U6.22 
-'$1N125934' ; H3.6 U6.38 
-'$1N125936' ; H3.5 U6.39 
-'$1N125938' ; H3.4 U6.40 
-'$1N125940' ; H3.3 U6.41 
-'$1N125942' ; H3.2 U6.42 
-'$1N125944' ; H3.1 U6.43 
-'$1N126001' ; H2.2 U6.2 
-'$1N126003' ; H2.3 U6.3 
-'$1N126005' ; H2.4 U6.4 
-'$1N126007' ; H2.5 U6.5 
-'$1N126009' ; H2.6 U6.6 
-'$1N140888' ; CN6.2 R18.1 
-'$1N170439' ; BUZZER.2 D6.2 Q2.3 
-'$1N170441' ; Q2.1 R9.2 R10.2 
-'$1N170456' ; LED.4 R8.1 RED.2 
-'$1N170459' ; GREEN.2 LED.1 R7.1 
-'$1N170464' ; CN4.3 R16.1 
-'$1N170465' ; CN4.2 R12.1 
-'$1N170478' ; R14.1 U5.10 
-'$1N96636' ; CN5.3 R17.1 
-'$1N96637' ; CN5.2 R13.1 
-'$1N96922' ; CN6.3 R27.1 
-'$1N97208' ; CN7.3 R28.1 
-'$1N97209' ; CN7.2 R19.1 
-'AVCC_5V' ; C9.2 C10.2 C21.2 C22.1 C24.1 C25.1 C32.2 C35.1 C39.2 C40.1 C46.2 ,
-        C47.1 CN4.1 CN5.1 CN6.1 CN7.1 U2.2 U4.1 U4.7 U5.19 U7.1 U7.7 U12.1 ,
-        U12.7 U13.1 U13.7 
-'I2C_INT1' ; CN1.4 U6.10 
-'I2C_INT2' ; CN2.4 U6.11 
-'I2C_SCL' ; CN1.2 CN2.2 R4.1 U6.12 
-'I2C_SDA' ; CN1.3 CN2.3 R3.1 U6.13 
-'IO_BIT0' ; Q3.2 R20.1 R23.2 U6.25 
-'IO_BIT1' ; Q4.2 R22.1 R26.2 U6.26 
-'IO_DOUT1' ; U5.1 U6.21 
-'IO_DOUT2' ; U5.4 U6.19 
-'IO_DOUT3' ; U5.9 U6.14 
-'IO_DOUT4' ; U5.7 U6.16 
-'IO_SCLK1' ; U5.3 U6.20 
-'IO_SCLK2' ; U5.5 U6.18 
-'IO_SCLK3' ; U5.8 U6.15 
-'IO_SCLK4' ; U5.6 U6.17 
-'RJ45-RX' ; H2.1 RJ1.P3 RJ2.P3 U6.1 
-'RJ45-TX' ; RJ1.P5 RJ2.P5 
-'UART1_RXD' ; DEBUG.6 U6.32 
-'UART1_TXD' ; DEBUG.5 U6.33 
-'VCC_12V8' ; 12.8V.1 C2.2 C3.1 C4.2 C5.2 C13.2 C14.2 C15.2 C16.2 C19.2 C20.2 ,
-        D2.1 L1.2 Q1.3 R2.2 U2.3 U3.3 
-'VCC_3V3' ; C17.2 C18.2 C23.1 C29.2 C36.1 C37.2 C38.2 C49.2 C52.2 CN1.1 CN2.1 ,
-        DEBUG.7 Q1.2 Q3.1 Q4.1 R3.2 R4.2 R7.2 R8.2 R14.2 R15.2 R20.2 R22.2 ,
-        R29.1 U5.2 U6.9 U6.24 U6.36 U6.48 
-'VCC_5V' ; BUZZER.1 C11.2 C12.2 D6.1 R21.2 R24.2 U3.2 
-AGND ; C9.1 C10.1 C21.1 C22.2 C24.2 C25.2 C27.1 C28.1 C32.1 C33.2 C34.2 C35.2 ,
-        C39.1 C40.2 C41.1 C42.1 C46.1 C47.2 C50.2 C51.2 CN4.4 CN4.5 CN5.4 ,
-        CN5.5 CN6.4 CN6.5 CN7.4 CN7.5 R11.2 U4.2 U7.2 U12.2 U13.2 
-AINN1 ; C27.2 C30.1 R12.2 U4.3 
-AINN2 ; C28.2 C31.1 R13.2 U7.3 
-AINN3 ; C41.2 C44.1 R18.2 U12.3 
-AINN4 ; C42.2 C45.1 R19.2 U13.3 
-AINP1 ; C30.2 C33.1 R16.2 U4.4 
-AINP2 ; C31.2 C34.1 R17.2 U7.4 
-AINP3 ; C44.2 C50.1 R27.2 U12.4 
-AINP4 ; C45.2 C51.1 R28.2 U13.4 
-BIT0 ; H4.1 Q3.3 R21.1 RJ1.P8 RJ2.P8 
-BIT1 ; H4.2 Q4.3 R24.1 RJ1.P9 RJ2.P9 
-BIT2 ; RJ1.P7 RJ2.P7 
-BIT3 ; RJ1.P2 RJ2.P2 
-BUZZ ; R9.1 U6.28 
-DOUT1 ; U4.6 U5.20 
-DOUT2 ; U5.17 U7.6 
-DOUT3 ; U5.12 U12.6 
-DOUT4 ; U5.14 U13.6 
-GND ; C3.2 C4.1 C5.1 C6.2 C7.1 C8.1 C11.1 C12.1 C13.1 C14.1 C15.1 C16.1 C17.1 ,
-        C18.1 C19.1 C20.1 C23.2 C29.1 C36.2 C37.1 C38.1 C43.1 C48.1 C49.1 ,
-        C52.1 CN1.5 CN2.5 D1.1 D2.2 D4.1 DEBUG.1 H1.2 Q1.1 Q2.2 R6.1 R10.1 ,
-        R11.1 R23.1 R26.1 RJ1.P4 RJ1.P10 RJ2.P4 RJ2.P10 U1.4 U2.1 U3.1 U5.11 ,
-        U6.8 U6.23 U6.35 U6.47 U8.1 U9.1 U10.1 U11.1 
-GREEN ; GREEN.1 LED.2 U6.30 
-ILIM ; R5.2 U1.2 U1.9 
-NRST ; C48.2 DEBUG.2 H1.1 R29.2 U6.7 
-POWER ; C6.1 C7.2 C8.2 D3.1 D5.1 R5.1 U1.3 
-RED ; LED.3 RED.1 U6.29 
-SCLK1 ; U4.5 U5.18 
-SCLK2 ; U5.16 U7.5 
-SCLK3 ; U5.13 U12.5 
-SCLK4 ; U5.15 U13.5 
-SWCLK ; DEBUG.3 U6.37 
-SWDIO ; DEBUG.4 U6.34 
-VIN ; D3.2 D4.2 D5.2 RJ1.P1 RJ2.P1 
-$SCHEDULE
-$END

Project/HC32F460/MDK/HC32F460.uvoptx

@@ -145,7 +145,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S9 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO31 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -263,52 +263,47 @@
         <Ww>
           <count>21</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.aaa,0x0A</ItemText>
+          <ItemText>App.ADTrack.LeftUpVPT,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>22</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.bbb,0x0A</ItemText>
+          <ItemText>App.ADTrack.LeftLowVPT,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>23</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.ccc,0x0A</ItemText>
+          <ItemText>App.ADTrack.RightUpVPT,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>24</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.ddd,0x0A</ItemText>
+          <ItemText>App.ADTrack.RightLowVPT,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>25</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.ADTrack.LeftUpVPT,0x0A</ItemText>
+          <ItemText>App.ADTrack.Stop_VPT,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>26</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.ADTrack.LeftLowVPT,0x0A</ItemText>
+          <ItemText>App.MotorPara.Current_height,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>27</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.ADTrack.RightUpVPT,0x0A</ItemText>
+          <ItemText>App.RStatus</ItemText>
         </Ww>
         <Ww>
           <count>28</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.ADTrack.RightLowVPT,0x0A</ItemText>
+          <ItemText>App.MotorPara.Current_height,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>29</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.ADTrack.Stop_VPT,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>30</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>App.MotorPara.Current_height,0x0A</ItemText>
+          <ItemText>App.PwRstLastHeight,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <WatchWindow2>
@@ -389,7 +384,7 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
-        <aLwin>0</aLwin>
+        <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
@@ -430,7 +425,7 @@
         <EnableFlashSeq>1</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
-        <DbgClock>1000000</DbgClock>
+        <DbgClock>5000000</DbgClock>
       </DebugDescription>
     </TargetOption>
   </Target>

Project/HC32F460/MDK/HC32F460.uvprojx

@@ -338,7 +338,7 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls></MiscControls>
+              <MiscControls>--multibyte_chars</MiscControls>
               <Define>__DEBUG,HC32F460,USE_DEVICE_DRIVER_LIB,JEUA</Define>
               <Undefine></Undefine>
               <IncludePath>..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237;..\source\Module\dc_motor;..\source\Module\BeepAndLed</IncludePath>
@@ -1026,7 +1026,7 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls>--diag_suppress=186,66</MiscControls>
+              <MiscControls>--diag_suppress=186,66 --multibyte_chars</MiscControls>
               <Define>HC32F460,USE_DEVICE_DRIVER_LIB</Define>
               <Undefine></Undefine>
               <IncludePath>..\..\..\..\..\mcu\common;..\source;..\..\..\..\..\driver\inc;..\..\..\..\..\bsp\ev_hc32f460_lqfp100_v2</IncludePath>

Project/HC32F460/source/Module/dc_motor/dc_motor.c

@@ -343,7 +343,7 @@ void AdcLoopHander(void)
                     init_adc_val /= 2;                  /* 取平均值 */
                 }
             }
-            DCMOTOR_DBG_LOG("init_adc_val %d.\n", init_adc_val);
+            //DCMOTOR_DBG_LOG("init_adc_val %d.\n", init_adc_val);
             AdcInitSta = true;
         }
     }

Project/HC32F460/source/User/Inc/Debug.h

@@ -31,6 +31,11 @@ typedef struct{
 	DebugExec   DBGExec;
 }DBGFunType;
 
+/* 控制盒信息帧→复位→恢复 观测打印: ISR推事件, 主循环打印完整时间线(未知帧全记录用于捕捉过热报错) */
+void Uart3ErrLog_Push(uint8_t type, const uint8_t *pFrame, uint16_t height); /* type:0首次信息帧 1复位中回应 2复位完成 3未知帧 */
+void Uart3ErrLog_PushBottom(uint8_t type, uint16_t height); /* 上电复位到底判定事件(type:4堵转/5反弹, 8高度采样, 1ms例程调用) */
+void Uart3ErrLogLoopHandler(void);                      /* 主循环调用: 打印报错/复位事件 */
+
 void DebugUartIRQ(char Data);
 void DebugLoopHandler(void);
 void Dbg1msRoutine(void);
@@ -41,5 +46,9 @@ void Dbg1msRoutine(void);
 #define DBG_LOG_F(fmt,arg...)
 #define	DBG_ARRAY(ARRAY,SIZE)
 
+#define Uart3ErrLog_Push(type, pFrame, height)  (0)
+#define Uart3ErrLog_PushBottom(type, height)    (0)
+#define Uart3ErrLogLoopHandler()                (0)
+
 #endif
 #endif

Project/HC32F460/source/User/Inc/main.h

@@ -30,8 +30,11 @@
 
 #define		TRAVEL_TIME_MS	50000
 
-#define		PEAK						1200		//1200mm
-#define		VALLEY					720			//720mm
+#define	PEAK						1430		//最高高度mm
+#define	VALLEY					1000			//最低高度mm
+
+/*高度转应力表索引: 补偿表431点覆盖1000~1430mm(430个步进), h<1000时钳位到0防止越界*/
+#define	HEIGHT_TO_IDX(h)		((h) < 1000 ? 0 : ((h) - 1000))
 
 #define	BDC_STOP()			(SET_TWIN_BIT0(),SET_TWIN_BIT1())
 #define BDC_DOWN()				(SET_TWIN_BIT0(),CLR_TWIN_BIT1())
@@ -73,14 +76,15 @@ typedef struct{
 typedef struct{//电机参数
 	bool InitialFlag;//初始标志位
 	bool RestFlag;
+	bool OverheatFlag;//过热标志: 收到过热帧后置true, 持续下降触发控制盒复位
 	bool CaliFlag;
 	bool LoopOne;//循环一次标志位
-	int16_t Current_height;//当前高度mm
+	int16_t Current_height;//当前高度mm(控制盒上报1000~1430)
 	int16_t CaliNum;//标校数量
-	int32_t LU_HeightStress[488];//左上传感器对应高度应力
-	int32_t LL_HeightStress[488];//左下传感器对应高度应力
-	int32_t RU_HeightStress[488];//右上传感器对应高度应力
-	int32_t RL_HeightStress[488];//右上传感器对应高度应力
+	int32_t LU_HeightStress[431];//左上传感器对应高度应力
+	int32_t LL_HeightStress[431];//左下传感器对应高度应力
+	int32_t RU_HeightStress[431];//右上传感器对应高度应力
+	int32_t RL_HeightStress[431];//右下传感器对应高度应力
 }MotorPara_t;
 /*数据读取状态机*/
 typedef enum {
@@ -111,6 +115,7 @@ typedef enum {
 	APP_STATUS_WAIT_STEADY,
 	APP_STATUS_END_BEEP,
 	APP_STATUS_HEIGHT_CONTROL,
+	APP_STATUS_POWER_RESET,//上电复位流程: 下降触发控制盒复位, 复位完成后编码器基准一致再进入校准
 }AppStatus_m;
 
 typedef struct{
@@ -147,9 +152,30 @@ typedef struct {
 	uint32_t SlopeCollDelay1mSCnt;
 	uint32_t CailUp1mSCnt;
 	uint32_t HeightContRolCnt;
+	uint32_t RestStop1mSCnt;//复位停顿计时: 收到复位帧后先停止电机, 计时结束再下降触发复位
+	uint32_t PwRstStop1mSCnt;//上电复位到底停顿计时: 下降到底后先停止电机, 计时结束再继续下降触发复位
+	uint16_t PwRstNoChg1mSCnt;//上电复位下降中高度无变化计时: 持续1秒无变化判定到底
+	int16_t PwRstLastHeight;//上电复位下降中上一次高度值, 用于比较高度是否变化
+	int16_t PwRstRiseRef;//上电复位反弹判定参考高度: 只跟随下降/持平更新(只跟跌不跟涨), 高度较其反升>1cm判定碰撞
+	int16_t PwRstMinHeight;//上电复位下降过程历史最低高度: 确认到底仅限接近最低点, 停在高处=被障碍物/碰撞保护托住
+	bool PwRstHtSeen;//上电复位已收到首帧有效高度标志: 高度基准就绪后才启动到底检测(防止首帧误判反弹)
+	uint8_t PwRstReboundCnt;//上电复位连续反弹计数: 首次反弹停1秒恢复下降观察, 再次反弹才转点动(到底确认时清零)
+	uint16_t PwRstInch1mSCnt;//上电复位点动下降节奏计时: 反弹后改为脉冲式下降减小触底冲击
+	uint16_t PwRstInchLastHeight;//上电复位点动周期起点高度: 周期结束时比较判断该周期是否移动
+	uint8_t PwRstInchNoMvCnt;//上电复位点动无位移周期计数: 连续2个点动周期无位移判定到底
+	bool PwRstErrValid;//上电复位报错帧已处理标志: 同一报错码连发只停顿一次, 防止连发广播把停顿无限续期
+	uint16_t PwRstErrCode;//上电复位已处理的报错码(帧[2]<<8|帧[3]): 不同报错码视为新报错重新停顿
+	uint16_t PwRstSamp1mSCnt;//上电复位高度采样计时: 每秒打印一次当前高度, 展示下降全程高度曲线
+	uint16_t PwRstRiseCandCnt;//上电复位反弹候选持续计时: 反升>1cm持续300ms才确认反弹, 滤除瞬时抖动毛刺
+	int16_t PwRstRiseCandMax;//上电复位反弹候选期间最高高度: 确认时高度须仍接近最高点(未回落)
+	uint16_t PwRstStartDlyCnt;//上电复位开始前延时: 等电机控制盒自身初始化完成(整体断电再上电时控制盒未就绪, 立即下降会因状态切换抖动误触发碰撞保护)
+	bool PwRstMovedFlag;//上电复位已发生位移标志: 高度变化过(电机已响应下降指令)后才允许堵转到底判定, 防止延时/控制盒软启动期间高度停滞误判到底
 	uint8_t FeedDogDlyCnt;
 	
 	bool CaliZeroFlag;//校零标志位
+	bool PowerResetFlag;//上电复位流程标志: 上电复位中收到过复位帧, 收到高度帧(复位完成)后进入校准
+	bool PwRstBottomFlag;//上电复位最终到底标志: 点动下降中高度1秒无变化才确认, 之后点动下降触发复位帧
+	bool PwRstInchMode;//上电复位点动模式: 发生反弹后生效, 接近反弹高度时改脉冲式下降减小触底冲击
 	bool SideFlag;//侧压标志位
 	bool UpFlag;//上升标志位
 	bool DownFlag;//下降标志位

Project/HC32F460/source/User/Src/Debug.c

@@ -400,6 +400,259 @@ const DBGFunType DebugFun[DEBUG_CMD_CNT] = {
 	"wave",				DBGWave_on_off,
 };
 
+/*=========================================================================================
+* 函数名称: Uart3ErrLog_xxx
+* 功能描述: 控制盒报错(01 04)→复位→恢复 观测打印。接收中断中仅推事件入环形缓冲(不打印),
+*           由主循环Uart3ErrLogLoopHandler()统一打印, 完整呈现"触发报错→置复位标志→
+*           复位过程多包回应→复位完成恢复正常"的时间线。
+* 协议:     01 04 d2 d3 = 报错帧(d2/d3为错误码, 如过热); 01 01 h_hi h_lo = 高度帧(清除复位标志)
+*=========================================================================================*/
+#define U3ERR_EVT_MAX       16      /* 事件缓冲条数 */
+#define U3ERR_STATUS_NUM    13      /* 主状态机状态个数 */
+
+/* 事件类型 */
+#define U3ERR_T_FIRST       0       /* 首次信息帧(复位标志 0→1) */
+#define U3ERR_T_REPLY       1       /* 复位中回应信息帧(复位标志已置位) */
+#define U3ERR_T_DONE        2       /* 复位完成(收到高度帧, 复位标志 1→0) */
+#define U3ERR_T_UNKNOWN     3       /* 未知帧(非高度/信息帧, 用于捕捉过热等其它报错) */
+#define U3ERR_T_BOTTOM      4       /* 上电复位到底判定-堵转(下降中高度1秒无变化) */
+#define U3ERR_T_REBOUND     5       /* 上电复位到底判定-反弹(下降中高度不降反升, 触底震荡/碰撞反向) */
+#define U3ERR_T_TOUCH       7       /* 上电复位首次反弹-到底接触小反弹(停1秒恢复下降观察, 不转点动) */
+#define U3ERR_T_HTSAMP      8       /* 上电复位高度采样(每秒一条, 展示下降全程高度曲线) */
+
+typedef struct{
+	uint8_t  Type;              /* 事件类型 */
+	uint8_t  Bits;              /* BIT0/BIT1 输出电平(bit0/bit1) */
+	uint8_t  Status;            /* 事件时刻主状态机状态 */
+	uint8_t  Frame[4];          /* 原始4字节帧 */
+	uint16_t Height;            /* type2: 高度帧数值(mm); type4/5: 判定时刻高度 */
+	uint16_t Repeat;            /* 连发合并的重复包数(不含首包) */
+	uint32_t Tick;              /* 事件时刻(ms, 上电起) */
+}U3ErrEvt_t;
+
+/* 连发合并状态: 相同帧500ms内只计数不重复入队, 防止过热帧持续广播刷爆缓冲 */
+static uint8_t  m_U3ErrLastType = 0xFF;         /* 上一帧类型(0xFF=无) */
+static uint8_t  m_U3ErrLastFrame[4];            /* 上一帧内容 */
+static uint16_t m_U3ErrLastHeight = 0;          /* 上一帧高度(type2) */
+static uint32_t m_U3ErrLastTick = 0;            /* 上一帧时刻 */
+static uint32_t m_U3ErrFirstTick = 0;           /* 当前滞留帧的起始时刻(连发持续超5秒也强制落一条) */
+static uint16_t m_U3ErrRepeat = 0;              /* 上一帧已合并的重复包数 */
+
+static const char *m_U3ErrStatusName[U3ERR_STATUS_NUM] = {
+	"IDLE", "ON", "OFF", "START_BEEP", "MOTOR_INIT", "ZERO_MARKING",
+	"WAIT_MOTOR_INIT", "WAIT_MOTOR_CALI_UP", "WAIT_MOTOR_CALI_DOWN",
+	"WAIT_STEADY", "END_BEEP", "HEIGHT_CONTROL", "POWER_RESET"
+};
+
+static U3ErrEvt_t m_U3ErrEvt[U3ERR_EVT_MAX];    /* 事件环形缓冲 */
+static volatile uint16_t m_U3ErrWr = 0;         /* 写指针(中断) */
+static volatile uint16_t m_U3ErrRd = 0;         /* 读指针(主循环) */
+static volatile uint32_t m_U3ErrLostCnt = 0;    /* 缓冲满时丢弃条数 */
+
+/* 函数名称: Uart3ErrLog_Enqueue
+* 功能描述: 将事件落入队列(内部使用, 关中断保护) */
+static void Uart3ErrLog_Enqueue(uint8_t type, const uint8_t *pFrame, uint16_t height, uint32_t tick, uint16_t repeat)
+{
+	U3ErrEvt_t evt;
+	evt.Type   = type;
+	evt.Bits   = (uint8_t)((GET_BIT0_DOUT() ? 0x01u : 0u) | (GET_BIT1_DOUT() ? 0x02u : 0u));
+	evt.Status = (uint8_t)App.Status;
+	evt.Frame[0] = pFrame[0];
+	evt.Frame[1] = pFrame[1];
+	evt.Frame[2] = pFrame[2];
+	evt.Frame[3] = pFrame[3];
+	evt.Height = height;
+	evt.Repeat = repeat;
+	evt.Tick   = tick;
+
+	uint32_t primask = __get_PRIMASK();
+	__disable_irq();
+	uint16_t next = (uint16_t)((m_U3ErrWr + 1U) % U3ERR_EVT_MAX);
+	if(next != m_U3ErrRd){                  /* 未满则入队 */
+		m_U3ErrEvt[m_U3ErrWr] = evt;
+		m_U3ErrWr = next;
+	}
+	else{                                   /* 满则丢弃当前条并计数 */
+		m_U3ErrLostCnt++;
+	}
+	if(primask == 0U){
+		__enable_irq();
+	}
+}
+
+/* 函数名称: Uart3ErrLog_Push
+* 功能描述: 记录一条报错/复位事件(在USART3接收中断中调用)。相同帧500ms内连发只合并计数,
+*           由主循环在连发结束(超时)或出现新帧时落一条带"连发N包"的事件, 避免缓冲溢出 */
+void Uart3ErrLog_Push(uint8_t type, const uint8_t *pFrame, uint16_t height)
+{
+	uint32_t tick = SysTick_GetTick();
+	/* 连发合并: 与上一帧类型/内容相同且间隔<500ms(type2复位完成除外), 只计数 */
+	if((m_U3ErrLastType != 0xFF) && (type == m_U3ErrLastType) && (type != U3ERR_T_DONE) &&
+	   (pFrame[0] == m_U3ErrLastFrame[0]) && (pFrame[1] == m_U3ErrLastFrame[1]) &&
+	   (pFrame[2] == m_U3ErrLastFrame[2]) && (pFrame[3] == m_U3ErrLastFrame[3]) &&
+	   ((tick - m_U3ErrLastTick) < 500U))
+	{
+		m_U3ErrRepeat++;
+		m_U3ErrLastTick = tick;
+		return;
+	}
+	/* 与上一帧不同: 先把滞留的上一帧连同连发计数落队 */
+	if(m_U3ErrLastType != 0xFF){
+		Uart3ErrLog_Enqueue(m_U3ErrLastType, m_U3ErrLastFrame, m_U3ErrLastHeight, m_U3ErrLastTick, m_U3ErrRepeat);
+		m_U3ErrRepeat = 0;
+	}
+	/* 本帧记为新的滞留帧, 待其连发结束或下一帧到来时落队 */
+	m_U3ErrLastType  = type;
+	m_U3ErrLastFrame[0] = pFrame[0];
+	m_U3ErrLastFrame[1] = pFrame[1];
+	m_U3ErrLastFrame[2] = pFrame[2];
+	m_U3ErrLastFrame[3] = pFrame[3];
+	m_U3ErrLastHeight   = height;
+	m_U3ErrLastTick     = tick;
+	m_U3ErrFirstTick    = tick;
+}
+
+/* 函数名称: Uart3ErrLog_PushBottom
+* 功能描述: 记录上电复位"下降到底判定"事件(type:4堵转/5反弹, SysTick 1ms例程调用,
+*           立即落队不参与连发合并), 先落队滞留帧保证事件时间线顺序(临界区保护) */
+void Uart3ErrLog_PushBottom(uint8_t type, uint16_t height)
+{
+	uint8_t zero[4] = {0};
+	uint32_t primask = __get_PRIMASK();
+	__disable_irq();
+	if(m_U3ErrLastType != 0xFF){
+		Uart3ErrLog_Enqueue(m_U3ErrLastType, m_U3ErrLastFrame, m_U3ErrLastHeight, m_U3ErrLastTick, m_U3ErrRepeat);
+		m_U3ErrLastType = 0xFF;
+		m_U3ErrRepeat = 0;
+	}
+	Uart3ErrLog_Enqueue(type, zero, height, SysTick_GetTick(), 0);
+	if(primask == 0U){
+		__enable_irq();
+	}
+}
+
+/* 函数名称: Uart3ErrLog_BitsName
+* 功能描述: BIT0/BIT1输出电平转"升/降/停"描述(ASCII, 避免AC5源码集问题) */
+static const char *Uart3ErrLog_BitsName(uint8_t bits)
+{
+	if((bits & 0x01u) && (bits & 0x02u))  return "STOP";
+	if(bits & 0x02u)                      return "UP";
+	if(bits & 0x01u)                      return "DOWN";
+	return "?";
+}
+
+/* 函数名称: Uart3ErrLog_CodeName
+* 功能描述: 已知帧内容转义(发现新帧格式后在此扩充) */
+static const char *Uart3ErrLog_CodeName(const uint8_t *pFrame)
+{
+	if(pFrame[0] == 0x01 && pFrame[1] == 0x02 && pFrame[2] == 0x00 && pFrame[3] == 0x10)  return "(OVERHEAT)";
+	if(pFrame[0] == 0x01 && pFrame[1] == 0x02 && pFrame[2] == 0x40 && pFrame[3] == 0x00)  return "(E07)";
+	if(pFrame[0] == 0x01 && pFrame[1] == 0x02 && pFrame[2] == 0x00 && pFrame[3] == 0x08)  return "(E12)";
+	if(pFrame[0] == 0x01 && pFrame[1] == 0x02 && pFrame[2] == 0x02 && pFrame[3] == 0x00)  return "(E02)";
+	if(pFrame[2] == 0x01 && pFrame[3] == 0xAA)  return "(RESET)";
+	return "";
+}
+
+/* 函数名称: Uart3ErrLog_StatusName
+* 功能描述: 主状态机状态值转可读名 */
+static const char *Uart3ErrLog_StatusName(uint8_t status)
+{
+	if(status < U3ERR_STATUS_NUM){
+		return m_U3ErrStatusName[status];
+	}
+	return "?";
+}
+
+/* 函数名称: Uart3ErrLogLoopHandler
+* 功能描述: 主循环中调用, 打印报错→复位→恢复的完整事件时间线(连发帧合并为一条并显示包数) */
+void Uart3ErrLogLoopHandler(void)
+{
+	uint8_t cnt;
+	/* 滞留帧落队时机: ①连发结束(500ms无同帧, 含单帧情况) ②连发持续超5秒强制落一条
+	   (控制盒报错状态会持续广播报错帧, 若只等连发结束则期间日志完全静默, 看起来像没收到) */
+	if(m_U3ErrLastType != 0xFF){
+		uint32_t now = SysTick_GetTick();
+		if(((now - m_U3ErrLastTick) >= 500U) || ((now - m_U3ErrFirstTick) >= 5000U))
+		{
+			Uart3ErrLog_Enqueue(m_U3ErrLastType, m_U3ErrLastFrame, m_U3ErrLastHeight, m_U3ErrLastTick, m_U3ErrRepeat);
+			m_U3ErrLastType = 0xFF;
+			m_U3ErrRepeat = 0;
+		}
+	}
+	for(cnt = 0; cnt < 8U; cnt++){
+		char rep[20];
+		if(m_U3ErrRd == m_U3ErrWr){
+			break;
+		}
+		U3ErrEvt_t evt = m_U3ErrEvt[m_U3ErrRd];
+		m_U3ErrRd = (uint16_t)((m_U3ErrRd + 1U) % U3ERR_EVT_MAX);
+		uint32_t s  = evt.Tick / 1000U;
+		uint32_t ms = evt.Tick % 1000U;
+		if(evt.Repeat > 0U){
+			sprintf(rep, ",burst %u", evt.Repeat + 1U);
+		}
+		else{
+			rep[0] = '\0';
+		}
+		switch(evt.Type){
+			case U3ERR_T_FIRST:     /* 首次信息帧: 置复位标志 */
+				DBG_LOG("[T+%3u.%03us][%s|OUT:%s] INFO: code=0x%02X%02X%s -> SetRestFlag%s\r\n",
+						s, ms, Uart3ErrLog_StatusName(evt.Status),
+						Uart3ErrLog_BitsName(evt.Bits),
+						evt.Frame[2], evt.Frame[3],
+						Uart3ErrLog_CodeName(evt.Frame), rep);
+				break;
+			case U3ERR_T_REPLY:     /* 复位中回应信息帧 */
+				DBG_LOG("[T+%3u.%03us][%s|OUT:%s] INFO-REPLY: code=0x%02X%02X%s (RestFlag set%s)\r\n",
+						s, ms, Uart3ErrLog_StatusName(evt.Status),
+						Uart3ErrLog_BitsName(evt.Bits),
+						evt.Frame[2], evt.Frame[3],
+						Uart3ErrLog_CodeName(evt.Frame), rep);
+				break;
+			case U3ERR_T_DONE:      /* 复位完成: 收到高度帧 */
+				DBG_LOG("[T+%3u.%03us][%s|OUT:%s] Height=%dmm -> RestFlag cleared, normal\r\n",
+						s, ms, Uart3ErrLog_StatusName(evt.Status),
+						Uart3ErrLog_BitsName(evt.Bits), evt.Height);
+				break;
+			case U3ERR_T_UNKNOWN:   /* 未知帧: 过热等其它报错可能在此 */
+				DBG_LOG("[T+%3u.%03us][%s|OUT:%s] UNKNOWN: %02X %02X %02X %02X %s(ATTENTION)%s\r\n",
+						s, ms, Uart3ErrLog_StatusName(evt.Status),
+						Uart3ErrLog_BitsName(evt.Bits),
+						evt.Frame[0], evt.Frame[1], evt.Frame[2], evt.Frame[3],
+						Uart3ErrLog_CodeName(evt.Frame), rep);
+				break;
+			case U3ERR_T_BOTTOM:    /* 上电复位: 高度2秒无变化判定到底(堵转), 停顿后持续下降触发复位 */
+				DBG_LOG("[T+%3u.%03us][%s|OUT:%s] BOTTOM-STALL: Height=%dmm no-change 2s\r\n",
+						s, ms, Uart3ErrLog_StatusName(evt.Status),
+						Uart3ErrLog_BitsName(evt.Bits), evt.Height);
+				break;
+			case U3ERR_T_REBOUND:   /* 上电复位: 再次反弹判定碰撞震荡(触底震荡/碰撞反向), 转点动下降 */
+				DBG_LOG("[T+%3u.%03us][%s|OUT:%s] BOTTOM-REBOUND: Height=%dmm collision, switch to inching\r\n",
+						s, ms, Uart3ErrLog_StatusName(evt.Status),
+						Uart3ErrLog_BitsName(evt.Bits), evt.Height);
+				break;
+			case U3ERR_T_TOUCH:     /* 上电复位: 首次反弹(到底接触小反弹), 停1秒恢复下降观察不转点动 */
+				DBG_LOG("[T+%3u.%03us][%s|OUT:%s] BOTTOM-TOUCH: Height=%dmm rising, pause 1s then keep descending\r\n",
+						s, ms, Uart3ErrLog_StatusName(evt.Status),
+						Uart3ErrLog_BitsName(evt.Bits), evt.Height);
+				break;
+			case U3ERR_T_HTSAMP:    /* 上电复位: 高度采样(每秒), 展示下降全程高度曲线 */
+				DBG_LOG("[T+%3u.%03us][%s|OUT:%s] HEIGHT-SAMP: %dmm\r\n",
+						s, ms, Uart3ErrLog_StatusName(evt.Status),
+						Uart3ErrLog_BitsName(evt.Bits), evt.Height);
+				break;
+			default:
+				break;
+		}
+	}
+	if((m_U3ErrRd == m_U3ErrWr) && (m_U3ErrLostCnt > 0U)){  /* 缓冲曾溢出 */
+		uint32_t tick = SysTick_GetTick();
+		DBG_LOG("[T+%3u.%03us] NOTE: ErrLog buf overflow, lost %u events\r\n",
+				tick / 1000U, tick % 1000U, m_U3ErrLostCnt);
+		m_U3ErrLostCnt = 0;
+	}
+}
+
 #endif
 
 

Project/HC32F460/source/User/Src/main.c

@@ -43,7 +43,7 @@ void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD)
 //	}
 	if(App.MotorPara.CaliFlag == true)
 	{
-		AD = AD + App.MotorPara.LU_HeightStress[(App.MotorPara.Current_height)-725];
+		AD = AD + App.MotorPara.LU_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)];
 		for(int i = OSC_CNT-1; i > 0; i--)
 		{
 			App.LeftUpCS1237_TrendArray[i] = App.LeftUpCS1237_TrendArray[i - 1];
@@ -68,7 +68,7 @@ void LEFTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 //	}
 	if(App.MotorPara.CaliFlag == true)
 	{
-		AD = AD + App.MotorPara.LL_HeightStress[(App.MotorPara.Current_height)-725];
+		AD = AD + App.MotorPara.LL_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)];
 		for(int i = OSC_CNT-1; i > 0; i--)
 		{
 			App.LeftLowCS1237_TrendArray[i] = App.LeftLowCS1237_TrendArray[i - 1];
@@ -94,7 +94,7 @@ void RIGHTUP_CS1237AinADataProcessCallBack(int32_t AD)
 //	}
 	if(App.MotorPara.CaliFlag == true)
 	{
-		AD = AD + App.MotorPara.RU_HeightStress[(App.MotorPara.Current_height)-725];
+		AD = AD + App.MotorPara.RU_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)];
 		for(int i = OSC_CNT-1; i > 0; i--)
 		{
 			App.RightUpCS1237_TrendArray[i] = App.RightUpCS1237_TrendArray[i - 1];
@@ -120,7 +120,7 @@ void RIGHTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 //	}
 	if(App.MotorPara.CaliFlag == true)
 	{
-		AD = AD + App.MotorPara.RL_HeightStress[(App.MotorPara.Current_height)-725];
+		AD = AD + App.MotorPara.RL_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)];
 		for(int i = OSC_CNT-1; i > 0; i--)
 		{
 			App.RightLowCS1237_TrendArray[i] = App.RightLowCS1237_TrendArray[i - 1];
@@ -331,7 +331,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				{
 //					if(App.CaliZeroFlag == true)//判断是否校零
 					{
-						if(App.MotorPara.Current_height < 1195)
+						if(App.MotorPara.Current_height < 1425)
 						{
 							BDC_UP();
 							App.CaliZeroFlag = false;
@@ -353,7 +353,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				{
 //					if(App.CaliZeroFlag == true)//判断是否校零
 					{
-						if(App.MotorPara.Current_height > 725)
+						if(App.MotorPara.Current_height > 1005)
 						{
 							BDC_DOWN();
 							App.CaliZeroFlag = false;
@@ -379,7 +379,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				{
 //					if(App.CaliZeroFlag == true)//判断是否校零
 					{
-						if(App.MotorPara.Current_height < 1195)
+						if(App.MotorPara.Current_height < 1425)
 						{
 							BDC_UP();
 							App.CaliZeroFlag = false;
@@ -401,7 +401,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				{
 //					if(App.CaliZeroFlag == true)//判断是否校零
 					{
-						if(App.MotorPara.Current_height > 725)
+						if(App.MotorPara.Current_height > 1005)
 						{
 							BDC_DOWN();
 							App.CaliZeroFlag = false;					
@@ -443,7 +443,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						&& (abs(Oll_diff3) > abs(Orl_diff3) * SHIELD_VPT)
 						)
 						{
-							if(App.MotorPara.Current_height < 1195)
+							if(App.MotorPara.Current_height < 1425)
 							{
 								BDC_UP();
 								App.CaliZeroFlag = false;
@@ -483,7 +483,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						&& (abs(Oll_diff3) > abs(Orl_diff3) * SHIELD_VPT)
 						)
 						{
-							if(App.MotorPara.Current_height > 725)
+							if(App.MotorPara.Current_height > 1005)
 							{
 									BDC_DOWN();
 									App.CaliZeroFlag = false;
@@ -526,7 +526,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						&& (abs(Orl_diff3) > abs(Oll_diff3) * SHIELD_VPT)
 						)
 						{
-							if(App.MotorPara.Current_height < 1195)
+							if(App.MotorPara.Current_height < 1425)
 							{
 								BDC_UP();
 								App.CaliZeroFlag = false;
@@ -565,7 +565,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						&& (abs(Orl_diff3) > abs(Oll_diff3) * SHIELD_VPT)
 						)
 						{
-							if(App.MotorPara.Current_height > 725)
+							if(App.MotorPara.Current_height > 1005)
 							{
 								BDC_DOWN();		
 								App.CaliZeroFlag = false;
@@ -602,8 +602,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
 			&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
 			&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3)))
-			|| App.MotorPara.Current_height >= 1195
-			|| App.MotorPara.Current_height <= 725
+			|| App.MotorPara.Current_height >= 1425
+			|| App.MotorPara.Current_height <= 1005
 			)
 			{
 				BDC_STOP();
@@ -647,8 +647,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
 			&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
 			&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3)))
-			|| App.MotorPara.Current_height >= 1195
-			|| App.MotorPara.Current_height <= 725
+			|| App.MotorPara.Current_height >= 1425
+			|| App.MotorPara.Current_height <= 1005
 			)
 			{
 				BDC_STOP();
@@ -695,8 +695,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
 			&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
 			&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3)))
-			|| App.MotorPara.Current_height >= 1195
-			|| App.MotorPara.Current_height <= 725
+			|| App.MotorPara.Current_height >= 1425
+			|| App.MotorPara.Current_height <= 1005
 			)
 			{
 				BDC_STOP();
@@ -740,8 +740,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
 			&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
 			&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3)))
-			|| App.MotorPara.Current_height >= 1195
-			|| App.MotorPara.Current_height <= 725
+			|| App.MotorPara.Current_height >= 1425
+			|| App.MotorPara.Current_height <= 1005
 			)
 			{
 				BDC_STOP();
@@ -804,8 +804,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 	{
 		if(App.StopFlag == true 
 		&& App.StopCollDelay1mSCnt <= 0 
-		&& App.MotorPara.Current_height <= 1195
-		&& App.MotorPara.Current_height >= 725){
+		&& App.MotorPara.Current_height <= 1425
+		&& App.MotorPara.Current_height >= 1005){
 			App.ADTrack.LeftUp_Org_AdZero = lu_ad[0];
 			App.ADTrack.LeftLow_Org_AdZero = ll_ad[0];
 			App.ADTrack.RightUp_Org_AdZero = ru_ad[0];
@@ -973,34 +973,59 @@ static void AppLoopHandler(void)
 			LED_RED_ON();
 			LED_GREEN_OFF();
 			Beeper_Start(200,200,2);
-			App.TD1mSDelayCnt = 1000;
-			App.Status = APP_STATUS_MOTOR_INIT;
+			App.TD1mSDelayCnt = 60000;//上电复位触发超时: 1分钟无复位帧返回则转异常状态
+			App.PwRstNoChg1mSCnt = 0;//清到底检测计数
+			App.PwRstLastHeight = App.MotorPara.Current_height;//记录初始高度用于到底检测
+			App.PwRstRiseRef = App.MotorPara.Current_height;//反弹判定参考高度初始化(只跟跌不跟涨)
+			App.PwRstHtSeen = false;//高度基准未就绪, 收到首帧有效高度后再初始化参考值并启动到底检测
+			App.PwRstReboundCnt = 0;//清连续反弹计数
+			App.PwRstMinHeight = 1430;//历史最低高度初始化为量程上限, 收到首帧有效高度时精确初始化
+			App.PwRstBottomFlag = false;
+			App.PwRstInchMode = false;
+			App.PwRstInch1mSCnt = 0;
+			App.PwRstInchNoMvCnt = 0;
+			App.PwRstErrValid = false;//清报错码处理标志, 上电后首个报错码触发一次停顿
+			App.PwRstErrCode = 0;
+			App.PwRstSamp1mSCnt = 0;//清高度采样计时
+			App.PwRstRiseCandCnt = 0;//清反弹候选计时
+			App.PwRstRiseCandMax = 0;//清反弹候选最高点
+			App.PwRstStartDlyCnt = 2000;//上电先延时2秒: 整体断电再上电时控制盒自身初始化未完成, 立即下降会因状态切换抖动误触发碰撞保护
+			App.PwRstMovedFlag = false;//未发生位移: 延时/控制盒软启动期间高度停滞不判堵转到底
+			App.Status = APP_STATUS_POWER_RESET;//上电先走复位流程, 保证换控制盒后高度基准一致, 再进入校准
 		break;}
 
-		case APP_STATUS_MOTOR_INIT:{
-			if(App.TD1mSDelayCnt <= 0)
-			{
-				BDC_UP();
-				Ddl_Delay1ms(1000);
-				BDC_DOWN();
-				App.DownFlag = true;
-				App.StopFlag = false;
-				App.Status = APP_STATUS_WAIT_MOTOR_INIT;
-				App.TD1mSDelayCnt = TRAVEL_TIME_MS;
-			}
-		break;}
-		
-		case APP_STATUS_WAIT_MOTOR_INIT:{
-			if(App.TD1mSDelayCnt <= 0)
-			{
+		case APP_STATUS_POWER_RESET:{
+			/* 上电复位流程: 不判断高度一直下降(换控制盒后编码器可能错位, 高度信息不可信)。
+			   到底检测(1ms例程): 反弹(高度较参考点反升>1cm, 控制盒碰撞保护主动反向)首次只
+			   停1秒恢复下降观察(常规到底接触的小反弹会自行稳定), 再次反弹才判定碰撞转点动
+			   下降(模拟手按, 每1000ms降200ms停800ms)一点点挪, 连续2个点动周期无位移才最终
+			   确认到底且需接近历史最低点(停在高处=被障碍物/碰撞保护托住, 转点动试探; 全程
+			   未反弹则高度2秒无变化确认)→停1秒→持续下降触发控制盒发复位
+			   帧(01 04)→停2s→再下降→控制盒完成复位发高度帧(编码器基准重置, 高度一致)→直接
+			   记录零点开始校准(去掉起步动作)。到底确认时清反弹计数, 确认后的下压反弹只停
+			   1秒继续下压不转点动。
+				   1分钟无复位帧返回则转异常状态(下降/点动有位移时自动刷新超时, 恢复流程不被打断) */
+			if(App.PwRstStartDlyCnt > 0)
+			{	//上电延时2秒: 等电机控制盒自身初始化完成再开始下降(延时期间控制盒发出的
+				//首帧高度帧同步把高度基准就绪), 避免控制盒未就绪时收到下降指令产生状态切换抖动
 				BDC_STOP();
-				App.StopFlag = true;
-				App.DownFlag = false;
-				App.UpFlag = false;
-				App.Status = APP_STATUS_IDLE;
-			}
-			if(App.MotorPara.Current_height <= 722 && App.MotorPara.Current_height >= 720)
+			break;}
+			if(App.MotorPara.RestFlag == true)
+			{   //收到复位帧: 复位流程进行中
+				App.PowerResetFlag = true;
+				if(App.RestStop1mSCnt > 0)
 				{
+					BDC_STOP();//复位停顿: 先停止电机, 让控制盒进入复位流程
+				}
+				else
+				{
+					BDC_DOWN();//停顿结束: 下降完成复位, 收到高度帧后RestFlag清除
+				}
+				App.TD1mSDelayCnt = 60000;//复位进行中, 刷新1分钟超时
+			}
+			else if(App.PowerResetFlag == true)
+			{   //复位完成(收到高度帧, 复位标志清除): 车已在底部, 直接记录零点开始校准
+				App.PowerResetFlag = false;
 				BDC_STOP();
 				App.StopFlag = true;
 				App.DownFlag = false;
@@ -1009,20 +1034,57 @@ static void AppLoopHandler(void)
 				App.TD1mSDelayCnt = 1500;
 				App.Status = APP_STATUS_ZERO_MARKING;
 			}
+			else if(App.TD1mSDelayCnt <= 0)
+			{   //1分钟无复位帧返回: 转异常状态(停机待机)
+				BDC_STOP();
+				App.StopFlag = true;
+				App.DownFlag = false;
+				App.UpFlag = false;
+				App.Status = APP_STATUS_IDLE;
+			}
+			else if(App.PwRstStop1mSCnt > 0)
+			{   //停顿: 反弹后或最终确认到底后先停止电机片刻(让控制盒碰撞保护状态稳定)
+				BDC_STOP();
+			}
+			else if(App.PwRstBottomFlag == true)
+			{   //最终确认到底: 和正常到底复位流程一样, 持续下降触发控制盒复位帧
+				//若再次触发碰撞保护(高度反升), 1ms例程会重新停1秒转点动
+				BDC_DOWN();
+			}
+			else if(App.PwRstInchMode == true)
+			{   //点动下降(发生反弹后, 确认到底前): 模拟手按节奏(每1000ms降200ms停800ms),
+				//一点点往下挪, 冲击小不触发碰撞保护
+				if(App.PwRstInch1mSCnt < 200)
+				{
+					BDC_DOWN();
+				}
+				else
+				{
+					BDC_STOP();
+					if(App.PwRstInch1mSCnt >= 1000)
+					{
+						App.PwRstInch1mSCnt = 0;
+					}
+				}
+			}
+			else
+			{	//下降中(未触发过反弹): 到底检测在App1mSRoutine(真实1ms)
+				BDC_DOWN();//一直下降, 直到确认到底
+			}
 		break;}
 		
-		case APP_STATUS_ZERO_MARKING:{
+		case APP_STATUS_ZERO_MARKING:{//上电复位完成后直接进入此状态记录零点(起步动作已去掉)
 			if(App.TD1mSDelayCnt <= 0)
 			{				
 				App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0];
 				App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0];
 				App.ADTrack.RightUp_Org_AdZero = App.RightUpCS1237_TrendArray[0];
 				App.ADTrack.RightLow_Org_AdZero = App.RightLowCS1237_TrendArray[0];
-				DBG_LOG("Frist Pack Data LeftUp Zero AD: %08d\tLeftUp Zero AD: %08d\tRightUp Zero AD: %08d\tRightLow Zero AD: %08d\r\n", 
-				App.ADTrack.LeftUp_Org_AdZero, 
-				App.ADTrack.LeftLow_Org_AdZero,
-				App.ADTrack.RightUp_Org_AdZero,
-				App.ADTrack.RightLow_Org_AdZero);
+//				DBG_LOG("Frist Pack Data LeftUp Zero AD: %08d\tLeftUp Zero AD: %08d\tRightUp Zero AD: %08d\tRightLow Zero AD: %08d\r\n", 
+//				App.ADTrack.LeftUp_Org_AdZero, 
+//				App.ADTrack.LeftLow_Org_AdZero,
+//				App.ADTrack.RightUp_Org_AdZero,
+//				App.ADTrack.RightLow_Org_AdZero);
 				App.Status = APP_STATUS_WAIT_MOTOR_CALI_UP;
 				App.MotorPara.InitialFlag = true;
 				App.MotorPara.CaliNum = 0;
@@ -1036,7 +1098,7 @@ static void AppLoopHandler(void)
 		break;}
 				
 		case APP_STATUS_WAIT_MOTOR_CALI_UP:{
-			if(App.MotorPara.Current_height >= 1200 && App.CailUp1mSCnt >= 17000)
+			if(App.MotorPara.Current_height >= 1430 && App.CailUp1mSCnt >= 17000)
 			{
 				App.CailUp1mSCnt = 0;
 				BDC_STOP();
@@ -1049,7 +1111,7 @@ static void AppLoopHandler(void)
 				App.Status = APP_STATUS_WAIT_MOTOR_CALI_DOWN;
 				BDC_DOWN();
 			}
-			else if(App.MotorPara.CaliNum >= 480 && App.MotorPara.LoopOne == true)
+			else if(App.MotorPara.CaliNum >= 410 && App.MotorPara.LoopOne == true)
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -1058,14 +1120,14 @@ static void AppLoopHandler(void)
 				App.MotorPara.LoopOne = false;
 				App.MotorPara.InitialFlag = false;
 				App.MotorPara.CaliFlag = true;
-				DBG_LOG("===================LU Data monitoring====================\r\n");
-				weightedMovingAverageWithEnhance(App.MotorPara.LU_HeightStress,480,7,380,480,4,0);
-				DBG_LOG("===================LL Data monitoring====================\r\n");
-				weightedMovingAverageWithEnhance(App.MotorPara.LL_HeightStress,480,7,380,480,4,0);
-				DBG_LOG("===================RU Data monitoring====================\r\n");
-				weightedMovingAverageWithEnhance(App.MotorPara.RU_HeightStress,480,7,380,480,4,0);
-				DBG_LOG("===================RL Data monitoring====================\r\n");
-				weightedMovingAverageWithEnhance(App.MotorPara.RL_HeightStress,480,7,380,480,4,0);
+//				DBG_LOG("===================LU Data monitoring====================\r\n");
+				weightedMovingAverageWithEnhance(App.MotorPara.LU_HeightStress,431,7,341,430,4,0);
+			//	DBG_LOG("===================LL Data monitoring====================\r\n");
+				weightedMovingAverageWithEnhance(App.MotorPara.LL_HeightStress,431,7,341,430,4,0);
+		//		DBG_LOG("===================RU Data monitoring====================\r\n");
+				weightedMovingAverageWithEnhance(App.MotorPara.RU_HeightStress,431,7,341,430,4,0);
+		//		DBG_LOG("===================RL Data monitoring====================\r\n");
+				weightedMovingAverageWithEnhance(App.MotorPara.RL_HeightStress,431,7,341,430,4,0);
 				DBG_LOG("Motor Cali Ok\r\n");
 				App.TD1mSDelayCnt = 1000;
 				App.Status = APP_STATUS_WAIT_STEADY;
@@ -1073,7 +1135,7 @@ static void AppLoopHandler(void)
 		break;}
 		
 		case APP_STATUS_WAIT_MOTOR_CALI_DOWN:{ 
-			if(App.MotorPara.Current_height <= 725)
+			if(App.MotorPara.Current_height <= 1005)
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -1087,7 +1149,7 @@ static void AppLoopHandler(void)
 				BDC_UP();
 				App.CailUp1mSCnt = 0;
 			}
-			else if(App.MotorPara.CaliNum >= 480  && App.MotorPara.LoopOne == true)
+			else if(App.MotorPara.CaliNum >= 410  && App.MotorPara.LoopOne == true)
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -1096,14 +1158,14 @@ static void AppLoopHandler(void)
 				App.MotorPara.LoopOne = false;
 				App.MotorPara.InitialFlag = false;
 				App.MotorPara.CaliFlag = true;
-				DBG_LOG("===================LU Data monitoring====================\r\n");
-				weightedMovingAverageWithEnhance(App.MotorPara.LU_HeightStress,480,7,380,480,4,0);
-				DBG_LOG("===================LL Data monitoring====================\r\n");
-				weightedMovingAverageWithEnhance(App.MotorPara.LL_HeightStress,480,7,380,480,4,0);
-				DBG_LOG("===================RU Data monitoring====================\r\n");
-				weightedMovingAverageWithEnhance(App.MotorPara.RU_HeightStress,480,7,380,480,4,0);
-				DBG_LOG("===================RL Data monitoring====================\r\n");
-				weightedMovingAverageWithEnhance(App.MotorPara.RL_HeightStress,480,7,380,480,4,0);
+				//DBG_LOG("===================LU Data monitoring====================\r\n");
+				weightedMovingAverageWithEnhance(App.MotorPara.LU_HeightStress,431,7,341,430,4,0);
+		//		DBG_LOG("===================LL Data monitoring====================\r\n");
+				weightedMovingAverageWithEnhance(App.MotorPara.LL_HeightStress,431,7,341,430,4,0);
+			//	DBG_LOG("===================RU Data monitoring====================\r\n");
+				weightedMovingAverageWithEnhance(App.MotorPara.RU_HeightStress,431,7,341,430,4,0);
+			//	DBG_LOG("===================RL Data monitoring====================\r\n");
+				weightedMovingAverageWithEnhance(App.MotorPara.RL_HeightStress,431,7,341,430,4,0);
 				DBG_LOG("Motor Cali Ok\r\n");
 				App.TD1mSDelayCnt = 1000;
 				App.Status = APP_STATUS_WAIT_STEADY;
@@ -1132,7 +1194,26 @@ static void AppLoopHandler(void)
 		break;}
 		
 		case APP_STATUS_HEIGHT_CONTROL:{
-			if(App.MotorPara.Current_height <= 725 
+		if(App.MotorPara.OverheatFlag == true)
+		{
+			if(App.MotorPara.Current_height <= 1005)
+			{
+				BDC_DOWN();//过热+低位: 继续下降触发控制盒复位(SupportControlHandle在<=1005时不执行BDC_DOWN)
+			}
+			//过热+高位(>1005): 由SupportControlHandle根据传感器正常判断下降
+		}
+		else if(App.MotorPara.RestFlag == true)
+		{
+			if(App.RestStop1mSCnt > 0)
+			{
+				BDC_STOP();//复位停顿: 先停止电机, 让控制盒进入复位流程
+			}
+			else
+			{
+				BDC_DOWN();//停顿结束: 再次下降, 触发控制盒完成复位(收到高度帧后RestFlag清除)
+			}
+		}
+		else if(App.MotorPara.Current_height <= 1005 
 			&& App.MotorPara.RestFlag == false 
 			&& App.HeightContRolCnt >= 500
 			&& GET_BIT0_DOUT() == 1 
@@ -1143,7 +1224,7 @@ static void AppLoopHandler(void)
 				Ddl_Delay1ms(500);
 				BDC_STOP();
 			}
-			else if(App.MotorPara.Current_height >= 1195
+			else if(App.MotorPara.Current_height >= 1425
 				&& App.MotorPara.RestFlag == false 
 				&& App.HeightContRolCnt >= 500
 				&& GET_BIT0_DOUT() == 1 
@@ -1167,6 +1248,20 @@ static void App1mSRoutine(void)
 		App.Uart1Delay1mSCnt--;
 	if(App.Uart3RxTimeOut1mSCnt > 0)
 		App.Uart3RxTimeOut1mSCnt--;
+	if(App.RestStop1mSCnt > 0)
+		App.RestStop1mSCnt--;
+	if(App.PwRstStartDlyCnt > 0)
+		App.PwRstStartDlyCnt--;//上电复位开始前延时(等控制盒初始化)
+	if(App.PwRstStop1mSCnt > 0)
+	{
+		App.PwRstStop1mSCnt--;
+		if(App.PwRstStop1mSCnt == 0)
+		{	//停顿结束: 反弹参考点重置为当前高度, 避免停顿中控制盒抬升高度导致恢复下降后立即误判反弹
+			App.PwRstRiseRef = App.MotorPara.Current_height;
+			App.PwRstRiseCandCnt = 0;//清反弹候选(停顿期间残留计时, 防止恢复后快速误确认)
+			App.PwRstRiseCandMax = App.MotorPara.Current_height;
+		}
+	}
 	if(App.StopCollDelay1mSCnt > 0)
 		App.StopCollDelay1mSCnt--;
 	if(App.RunCollDelay1mSCnt > 0)
@@ -1179,7 +1274,7 @@ static void App1mSRoutine(void)
 		App.CentCollDelay1mSCnt--;
 	if(App.MotorPara.InitialFlag == true)
 		App.CailUp1mSCnt++;
-	if((App.MotorPara.Current_height < 725 || App.MotorPara.Current_height > 1195))
+	if((App.MotorPara.Current_height < 1005 || App.MotorPara.Current_height > 1425))
 	{
 		App.HeightContRolCnt++;
 	}
@@ -1187,6 +1282,177 @@ static void App1mSRoutine(void)
 	{
 		App.HeightContRolCnt = 0;
 	}
+	if(App.Status == APP_STATUS_POWER_RESET && App.PwRstHtSeen == true)
+	{	//上电复位高度采样: 每秒记录一次当前高度(覆盖停顿/点动/复位全程), 打印完整下降曲线,
+		//直观展示控制盒上报高度的变化趋势, 用于排查反弹是物理现象还是逻辑误判
+		if(++App.PwRstSamp1mSCnt >= 1000)
+		{
+			App.PwRstSamp1mSCnt = 0;
+			Uart3ErrLog_PushBottom(8, (uint16_t)App.MotorPara.Current_height);
+		}
+	}
+	if(App.Status == APP_STATUS_POWER_RESET
+		&& App.MotorPara.RestFlag == false		//复位进行中不检测
+		&& App.PowerResetFlag == false			//复位完成不检测
+		&& App.PwRstStop1mSCnt == 0				//停顿中不检测
+		&& App.PwRstStartDlyCnt == 0			//上电延时中不检测(车静止高度不变, 会误判堵转到底)
+		&& App.PwRstHtSeen == true)				//未收到首帧有效高度不检测(高度基准未就绪)
+	{	//上电复位下降中: 到底检测(真实1ms计时, 主循环频率不定不能在此计数)
+		//控制盒换新后缓存高度偏大(1000+), 到995本该减速仍全速下降, 硬触底产生震荡,
+		//控制盒碰撞保护主动控制电机反向。策略: 首次反弹(高度较参考点反升>1cm)只停1秒
+		//恢复下降观察(常规到底接触的小反弹会自行稳定, 接着2秒堵转确认走正常流程),
+		//再次反弹才判定硬触底震荡碰撞转点动下降(模拟手按, 约1秒一次短脉冲), 连续2个
+		//点动周期无位移判定到底, 之后和正常到底复位流程一样: 停1秒→下降触发复位帧
+		//→停2s→下降→收到高度帧复位完成。到底确认时清反弹计数, 确认后下压的反弹同样
+		//只停1秒继续下压, 不会转点动
+		//未反弹时堵转判定为高度2秒无变化(碰撞悬停时高度会冻结1~2秒, 尽量避开误判)
+		//下降/点动有位移时刷新上电复位1分钟超时, 恢复流程不因总时长过长被停机
+		//历史最低高度参考: 确认到底必须接近最低点, 停在高处=被障碍物/碰撞保护托住, 转点动试探
+		if(App.MotorPara.Current_height < App.PwRstMinHeight)
+		{	//记录本次复位下降过程的历史最低高度(到底只可能是最低点)
+			App.PwRstMinHeight = App.MotorPara.Current_height;
+		}
+		if(App.MotorPara.Current_height > App.PwRstRiseRef + 10)
+		{	//高度较参考点反升>1cm: 碰撞反弹候选(300ms持续确认, 滤除瞬时抖动毛刺)
+			//启动/急停时机械抖动造成的高度毛刺只持续1~2帧, 直接判定会把正常高度误判为反弹
+			//参考点只跟跌不跟涨, 高度帧逐帧上升可跨帧累计检出, 不受帧率影响
+			App.PwRstNoChg1mSCnt = 0;
+			if(App.PwRstRiseCandCnt == 0)
+			{
+				App.PwRstRiseCandMax = App.MotorPara.Current_height;//新候选起点: 重置最高点
+			}
+			if(App.MotorPara.Current_height > App.PwRstRiseCandMax)
+			{
+				App.PwRstRiseCandMax = App.MotorPara.Current_height;//跟踪候选期间最高点
+			}
+			if(App.PwRstRiseCandCnt < 300)
+			{
+				App.PwRstRiseCandCnt++;//候选持续计时(封顶300ms)
+			}
+			if(App.PwRstRiseCandCnt >= 300
+				&& App.MotorPara.Current_height >= App.PwRstRiseCandMax - 2)
+			{	//反升持续300ms且高度未回落(仍接近候选期最高点): 确认真实反弹(控制盒碰撞保护反向)
+				App.PwRstRiseCandCnt = 0;
+				App.PwRstLastHeight = App.MotorPara.Current_height;
+				App.PwRstRiseRef = App.MotorPara.Current_height;//参考点重置, 停顿结束恢复下降后重新判定
+				App.PwRstStop1mSCnt = 1000;//先停1秒, 等控制盒碰撞保护状态稳定
+				if(App.PwRstInchMode == true)
+				{	//点动中再反弹: 重置点动周期, 停1秒后继续点动
+					App.PwRstInchLastHeight = App.MotorPara.Current_height;//点动周期起点高度
+					App.PwRstInchNoMvCnt = 0;
+					Uart3ErrLog_PushBottom(5, (uint16_t)App.MotorPara.Current_height);//打印反弹判定事件
+				}
+				else if(App.PwRstReboundCnt == 0)
+				{	//首次反弹: 常规到底接触的小反弹, 停1秒恢复下降观察, 不转点动
+					App.PwRstReboundCnt = 1;
+					Uart3ErrLog_PushBottom(7, (uint16_t)App.MotorPara.Current_height);//打印首次反弹观察事件
+				}
+				else
+				{	//再次反弹: 确认硬触底震荡碰撞, 转点动模式(作废之前的到底确认重新确认)
+					App.PwRstReboundCnt = 0;
+					App.PwRstInchMode = true;//之后一律点动下降
+					App.PwRstBottomFlag = false;//之前确认的到底作废, 重新点动确认
+					App.PwRstInchLastHeight = App.MotorPara.Current_height;//点动周期起点高度
+					App.PwRstInchNoMvCnt = 0;
+					Uart3ErrLog_PushBottom(5, (uint16_t)App.MotorPara.Current_height);//打印反弹判定事件
+				}
+			}
+		}
+		else
+		{
+			if(App.PwRstRiseCandCnt > 0)
+			{	//反升未持续300ms(瞬时毛刺/急停抖动回归): 取消候选, 参考点重置为当前高度
+				//(低毛刺帧已把参考点拉低, 不重置的话回归后的正常高度会反复进入候选)
+				App.PwRstRiseCandCnt = 0;
+				App.PwRstRiseCandMax = App.MotorPara.Current_height;
+				App.PwRstRiseRef = App.MotorPara.Current_height;
+			}
+			if(App.PwRstBottomFlag == true)
+			{	//到底已确认: 不再做到底检测, 持续下降直到收到复位帧(否则会反复触发堵转停顿)
+				App.PwRstNoChg1mSCnt = 0;
+				App.PwRstLastHeight = App.MotorPara.Current_height;
+			}
+			else if(App.PwRstInchMode == true)
+			{	//点动模式: 每个点动周期(1s)末尾比较该周期是否移动, 连续2周期无位移判定到底
+				if(App.PwRstInch1mSCnt == 999)
+				{
+					if(App.MotorPara.Current_height == App.PwRstInchLastHeight)
+					{
+						if(++App.PwRstInchNoMvCnt >= 2)
+						{
+							if(App.MotorPara.Current_height > App.PwRstMinHeight + 5)
+							{	//点动无位移但停在高于历史最低点: 被障碍物/碰撞保护托住, 不是到底, 继续点动试探
+								App.PwRstInchNoMvCnt = 0;
+							}
+							else
+							{	//连续2个点动周期无位移且接近历史最低点: 确认到底, 之后走正常到底复位流程
+								App.PwRstBottomFlag = true;
+								App.PwRstReboundCnt = 0;//到底已确认, 清反弹计数(后续下压反弹只停1秒继续压)
+								App.PwRstInchNoMvCnt = 0;
+								App.PwRstStop1mSCnt = 1000;//停1秒后下降触发复位
+								Uart3ErrLog_PushBottom(4, (uint16_t)App.MotorPara.Current_height);//打印到底确认事件
+							}
+						}
+					}
+					else
+					{
+						App.PwRstInchNoMvCnt = 0;
+						App.PwRstInchLastHeight = App.MotorPara.Current_height;
+						App.TD1mSDelayCnt = 60000;//点动脉冲有位移: 刷新上电复位超时
+					}
+				}
+				if(App.MotorPara.Current_height <= App.PwRstRiseRef)
+				{
+					App.PwRstRiseRef = App.MotorPara.Current_height;//点动脉冲下降时参考点跟随(只跟跌不跟涨)
+				}
+			}
+			else
+			{
+				if(App.MotorPara.Current_height <= App.PwRstRiseRef)
+				{
+					App.PwRstRiseRef = App.MotorPara.Current_height;//下降/持平: 参考点跟随(只跟跌不跟涨)
+				}
+				if(App.MotorPara.Current_height != App.PwRstLastHeight)
+				{	//高度变化: 电机已响应下降指令, 标记已位移(此后高度稳定才可能是堵转到底)
+					App.PwRstMovedFlag = true;
+					App.PwRstNoChg1mSCnt = 0;
+					App.PwRstLastHeight = App.MotorPara.Current_height;
+					App.TD1mSDelayCnt = 60000;//高度在变(下降/反弹中): 刷新上电复位超时
+				}
+				else if(App.PwRstMovedFlag == true)
+				{	//高度稳定且已发生过位移: 才允许堵转到底判定
+					if(++App.PwRstNoChg1mSCnt >= 2000)
+					{
+						if(App.MotorPara.Current_height > App.PwRstMinHeight + 5)
+						{	//高度2秒无变化但停在高于历史最低点: 碰撞后控制盒把车托在障碍物上, 不是到底,
+							//转点动模式一点点试探下行
+							App.PwRstReboundCnt = 0;
+							App.PwRstInchMode = true;
+							App.PwRstInchLastHeight = App.MotorPara.Current_height;//点动周期起点高度
+							App.PwRstInchNoMvCnt = 0;
+							App.PwRstNoChg1mSCnt = 0;
+							App.PwRstStop1mSCnt = 1000;//先停1秒再开始点动
+							Uart3ErrLog_PushBottom(5, (uint16_t)App.MotorPara.Current_height);//打印碰撞托住转点动事件
+						}
+						else
+						{	//2秒无高度变化且接近历史最低点: 确认到底(未触发过反弹时的堵转判定)
+							App.PwRstBottomFlag = true;
+							App.PwRstReboundCnt = 0;//到底已确认, 清反弹计数(后续下压反弹只停1秒继续压)
+							App.PwRstNoChg1mSCnt = 0;
+							App.PwRstStop1mSCnt = 1000;//停1秒后下降触发复位
+							Uart3ErrLog_PushBottom(4, (uint16_t)App.MotorPara.Current_height);//打印到底确认事件
+						}
+					}
+				}
+				else
+				{	//高度稳定但电机从未响应(上电延时后控制盒软启动中): 不累积堵转计时
+					App.PwRstNoChg1mSCnt = 0;
+				}
+			}
+		}
+	}
+	if(App.PwRstInch1mSCnt < 1000)
+		App.PwRstInch1mSCnt++;
 	App.FeedDogDlyCnt++;
 }
 void FeedDogHandler(void)
@@ -1206,6 +1472,7 @@ int main(void)
 		FeedDogHandler();
 #endif
 		DebugLoopHandler();
+		Uart3ErrLogLoopHandler(); //打印控制盒报错→复位→恢复事件时间线
 		#if(USE_CS1237_LEFTUP == 1)
 		LEFTUP_CS1237DataLoopCollect();
 		#endif
@@ -1301,31 +1568,80 @@ void Usart3RxIrqCallback(void)
 		{
 			if(App.RxUart3Data.RxBuff[0] == 0x01 && App.RxUart3Data.RxBuff[1] == 0x04)
 			{
+				uint8_t firstErr = (App.MotorPara.RestFlag == false) ? 0 : 1;   //0:首次信息帧 1:复位中回应
 				App.MotorPara.RestFlag = true;
+				App.MotorPara.OverheatFlag = false;//收到复位帧, 过热状态解除
+				if(firstErr == 0)
+				{
+					App.RestStop1mSCnt = 2000;//首次收到复位帧: 启动停顿计时, 先停止电机让控制盒进入复位流程, 计时结束再下降触发复位
+				}
+				Uart3ErrLog_Push(firstErr, App.RxUart3Data.RxBuff, 0);//打印复位帧事件(0:首次触发 1:复位中回应)
 			}
 			else if(App.RxUart3Data.RxBuff[0] == 0x01 && App.RxUart3Data.RxBuff[1] == 0x01)
 			{
-				App.MotorPara.RestFlag = false;
 				int16_t h = ((App.RxUart3Data.RxBuff[2]<<8) & 0xff00) + (App.RxUart3Data.RxBuff[3] & 0x00ff);
-				if(h >=720 && h <= 1208)
+				if(App.MotorPara.RestFlag == true)
+				{
+					Uart3ErrLog_Push(2, App.RxUart3Data.RxBuff, (uint16_t)h);//打印复位完成事件(收到高度帧)
+				}
+				App.MotorPara.RestFlag = false;
+				App.MotorPara.OverheatFlag = false;//收到高度帧, 确认复位完成
+				if(h >= 990 && h <= 1430)
 				{
 					App.MotorPara.Current_height = h;
+					if(App.Status == APP_STATUS_POWER_RESET && App.PwRstHtSeen == false)
+					{	//上电复位中首次收到有效高度帧: 高度基准就绪, 以首帧高度初始化到底检测参考值
+						//(此前Current_height为0, 若用入口时的0做参考, 首帧会被误判为碰撞反弹)
+						App.PwRstHtSeen = true;
+						App.PwRstLastHeight = h;
+						App.PwRstRiseRef = h;
+						App.PwRstMinHeight = h;
 					}
-				if(App.MotorPara.InitialFlag == true && h >=720 && h <= 1200)
+				}
+				if(App.MotorPara.InitialFlag == true && h >= 1000 && h <= 1430)
 				{//缓存每个高度点对于零点应力的差值，对不同高度点的应力进行补偿
-					if(App.MotorPara.LU_HeightStress[(App.MotorPara.Current_height)-720] == 0
-					|| App.MotorPara.LL_HeightStress[(App.MotorPara.Current_height)-720] == 0
-					|| App.MotorPara.RU_HeightStress[(App.MotorPara.Current_height)-720] == 0
-					|| App.MotorPara.RL_HeightStress[(App.MotorPara.Current_height)-720] == 0)
+					if(App.MotorPara.LU_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)] == 0
+					|| App.MotorPara.LL_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)] == 0
+					|| App.MotorPara.RU_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)] == 0
+					|| App.MotorPara.RL_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)] == 0)
 					{
 						App.MotorPara.CaliNum++;
 					}
-					App.MotorPara.LU_HeightStress[(App.MotorPara.Current_height)-720] = App.ADTrack.LeftUp_Org_AdZero - App.LeftUpCS1237_TrendArray[0];
-					App.MotorPara.LL_HeightStress[(App.MotorPara.Current_height)-720] = App.ADTrack.LeftLow_Org_AdZero - App.LeftLowCS1237_TrendArray[0];
-					App.MotorPara.RU_HeightStress[(App.MotorPara.Current_height)-720] = App.ADTrack.RightUp_Org_AdZero - App.RightUpCS1237_TrendArray[0];
-					App.MotorPara.RL_HeightStress[(App.MotorPara.Current_height)-720] = App.ADTrack.RightLow_Org_AdZero - App.RightLowCS1237_TrendArray[0];
+					App.MotorPara.LU_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)] = App.ADTrack.LeftUp_Org_AdZero - App.LeftUpCS1237_TrendArray[0];
+					App.MotorPara.LL_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)] = App.ADTrack.LeftLow_Org_AdZero - App.LeftLowCS1237_TrendArray[0];
+					App.MotorPara.RU_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)] = App.ADTrack.RightUp_Org_AdZero - App.RightUpCS1237_TrendArray[0];
+					App.MotorPara.RL_HeightStress[HEIGHT_TO_IDX(App.MotorPara.Current_height)] = App.ADTrack.RightLow_Org_AdZero - App.RightLowCS1237_TrendArray[0];
 				}
 			}
+			else
+			{   //未知帧(帧头非01 04/01 01): 过热等其它报错可能是任意组合, 全部记录供分析
+				/* 报错帧(01 02 xx xx): 置OverheatFlag, HEIGHT_CONTROL跳过限位纠偏, 由SupportControlHandle判断下降触发控制盒复位
+				   已知报错帧: 01 02 00 10(过热) 01 02 40 00(E07) 01 02 00 08(E12) 01 02 02 00(E02) */
+				if(App.RxUart3Data.RxBuff[0] == 0x01 && App.RxUart3Data.RxBuff[1] == 0x02)
+				{
+					uint16_t errCode = ((uint16_t)App.RxUart3Data.RxBuff[2] << 8) | App.RxUart3Data.RxBuff[3];
+					App.MotorPara.OverheatFlag = true;
+					if(App.Status == APP_STATUS_POWER_RESET && App.MotorPara.RestFlag == false
+						&& (App.PwRstErrValid == false || App.PwRstErrCode != errCode))
+					{	//上电复位中收到报错帧: 退出点动流程, 置到底标志关掉到底检测, 先停1秒再
+						//长按下降(持续下降)等复位帧。同一报错码连发只处理一次(沿触发): 控制盒报错
+						//状态会持续广播报错帧, 若每帧都重启1秒停顿则停顿被无限续期, 长按下降永远
+						//无法执行, 复位帧永远等不到; 不同报错码视为新报错重新停顿一次
+						App.PwRstErrValid = true;
+						App.PwRstErrCode = errCode;
+						App.PwRstInchMode = false;
+						App.PwRstBottomFlag = true;
+						App.PwRstInch1mSCnt = 0;
+						App.PwRstInchNoMvCnt = 0;
+						App.PwRstNoChg1mSCnt = 0;
+						App.PwRstStop1mSCnt = 1000;//先停1秒再继续下降触发复位
+						App.PwRstLastHeight = App.MotorPara.Current_height;
+						App.PwRstRiseRef = App.MotorPara.Current_height;//参考点重置, 长按下降中再反弹仍可检出
+						App.PwRstReboundCnt = 0;//清反弹计数, 长按下降中反弹只停1秒继续压不转点动
+					}
+				}
+				Uart3ErrLog_Push(3, App.RxUart3Data.RxBuff, 0);//打印未知帧事件(过热帧01 02 00 10, E07帧01 02 40 00等)
+			}
 			memset(App.RxUart3Data.RxBuff, 0, sizeof(App.RxUart3Data.RxBuff));
 			App.RxUart3Data.RxLen = 0;
 			App.Uart3RxTimeOut1mSCnt = 0;