From 06bb64ad2650471e3de22d56742107d93c8bffd8 Mon Sep 17 00:00:00 2001 From: spdis Date: Sat, 4 Jul 2026 20:42:47 +0800 Subject: [PATCH] =?UTF-8?q?feat:=20=E6=96=91=E9=A9=AC=E7=BA=BF=E5=81=9C?= =?UTF-8?q?=E8=BD=A6LCD=E5=9B=BE=E7=89=87=E6=8F=90=E7=A4=BA=20+=20?= =?UTF-8?q?=E5=86=B7=E5=8D=B4=E6=9C=9Fbang-bang=E8=BD=AC=E5=90=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 斑马线Z_STOP期间LCD显示pedestrian_stop.png图片，不受showImg控制 - 进入/离开Z_STOP时清屏，仅状态切换时操作LCD，无每帧开销 - Z_COOLDOWN 3.3~5s内：一次方向锁定打满机会（偏差出现->打满->方向翻转/回正即退出） - Z_COOLDOWN 3.3~5s降速上限13，foresee缩短至24 - 程序退出前自动清屏 - CMake: OpenCV_DIR改为本地交叉编译4.13.0路径 - 主程序改名为smartcar_test --- CMakeLists.txt | 2 +- main/CMakeLists.txt | 9 +- src/camera.cpp | 284 +++++++++++++++++++++++++++++++++++--------- 3 files changed, 233 insertions(+), 62 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index df9e927..c9cf411 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -14,7 +14,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -Wall") project(smartcar_demo2 VERSION 0.1.0 LANGUAGES C CXX) # OpenCV 设备端路径 -set(OpenCV_DIR /home/ilikara/loongson/opencv-4.13.0/loongson/lib/cmake/opencv4) +set(OpenCV_DIR /home/spdis/loongson/opencv-4.13.0/loongson/lib/cmake/opencv4) find_package(OpenCV REQUIRED) include_directories(${OpenCV_INCLUDE_DIRS}) message(STATUS "OpenCV Include Directories: ${OpenCV_INCLUDE_DIRS}") diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt index 5aa5d3a..b2d0662 100644 --- a/main/CMakeLists.txt +++ b/main/CMakeLists.txt @@ -1,9 +1,12 @@ # 主程序 -add_executable(smartcar_demo1 main.cpp) -target_link_libraries(smartcar_demo1 common_lib ${OpenCV_LIBS}) +add_executable(smartcar_test main.cpp) +target_link_libraries(smartcar_test common_lib ${OpenCV_LIBS}) add_executable(lidar_test lidar_test.cpp) target_link_libraries(lidar_test common_lib) add_executable(remote_control remote_control.cpp) -target_link_libraries(remote_control common_lib) \ No newline at end of file +target_link_libraries(remote_control common_lib) + +add_executable(lcd_test lcd_test.cpp) +target_link_libraries(lcd_test common_lib ${OpenCV_LIBS}) \ No newline at end of file diff --git a/src/camera.cpp b/src/camera.cpp index f3ac3cf..bb3c894 100644 --- a/src/camera.cpp +++ b/src/camera.cpp @@ -25,6 +25,7 @@ #include "camera.h" #include "model_v10.hpp" #include "vl53l0x.h" +#include "font_bitmap.h" #include #include @@ -58,6 +59,8 @@ int screenWidth, screenHeight; // LCD 屏幕物理分辨率 (从 /dev/f int newWidth, newHeight; // 自适应显示分辨率 = 摄像头分辨率 × 缩放因子 int fb; // /dev/fb0 文件描述符 uint16_t *fb_buffer; // LCD 帧缓冲 mmap 地址 +static size_t g_fb_size = 0; // 帧缓冲字节数 +static cv::Mat g_stop_image; // 斑马线停车提示图片 PwmController servo(1, 0); // 舵机: pwmchip1/pwm0 // 巡线空间到显示空间的缩放因子 @@ -72,7 +75,7 @@ static constexpr int calc_scale = 2; // g_boxes: 检测结果缓冲区 (最多 16 个框) // g_box_count: 当前帧有效检测框数 // ═══════════════════════════════════════════════════════════ -static float g_thresh[4] = {0.80f, 0.75f, 0.80f, 0.82f}; +static float g_thresh[4] = {0.80f, 0.70f, 0.80f, 0.85f}; static DetectBoxV10 g_boxes[16]; static int g_box_count = 0; @@ -94,6 +97,9 @@ static int g_zc_min_cy = 120; // 初始设远 (120=从未检 enum ZState { Z_NORMAL, Z_STOP, Z_COOLDOWN }; static ZState g_zstate = Z_NORMAL; static time_t g_ztime = 0; +static bool g_bangbang_used = false; // 本轮 Z_COOLDOWN 打满机会是否已用 +static bool g_bangbang_active = false; // 是否处于打满->等回正序列中 +static int g_bangbang_dir = 0; // 锁定方向: +1=右满, -1=左满 // ═══════════════════════════════════════════════════════════ // 红绿灯状态机 @@ -212,6 +218,76 @@ static void play_zebra_audio() } +// ═══════════════════════════════════════════════════════════ +// LCD 中文文字渲染 +// +// 使用 src/font_bitmap.h 中嵌入的 16x16 字模 +// ═══════════════════════════════════════════════════════════ +static const uint8_t* find_glyph(uint32_t codepoint) +{ + for (int i = 0; i < FONT_GLYPH_COUNT; ++i) + if (FONT_GLYPHS[i].unicode == codepoint) return FONT_GLYPHS[i].bitmap; + return nullptr; +} + +static uint32_t utf8_decode(const char*& p) +{ + unsigned char c = static_cast(*p); + if (c == 0) return 0; + if ((c & 0x80) == 0) { ++p; return c; } + if ((c & 0xE0) == 0xC0) { + uint32_t v = c & 0x1F; ++p; + v = (v << 6) | (static_cast(*p++) & 0x3F); + return v; + } + if ((c & 0xF0) == 0xE0) { + uint32_t v = c & 0x0F; ++p; + v = (v << 6) | (static_cast(*p++) & 0x3F); + v = (v << 6) | (static_cast(*p++) & 0x3F); + return v; + } + if ((c & 0xF8) == 0xF0) { + uint32_t v = c & 0x07; ++p; + v = (v << 6) | (static_cast(*p++) & 0x3F); + v = (v << 6) | (static_cast(*p++) & 0x3F); + v = (v << 6) | (static_cast(*p++) & 0x3F); + return v; + } + ++p; + return '?'; +} + +static void lcd_draw_glyph(cv::Mat& img, int x0, int y0, const uint8_t* glyph, const cv::Scalar& color) +{ + for (int row = 0; row < FONT_SIZE; ++row) { + for (int col = 0; col < FONT_SIZE; ++col) { + if (glyph[row * FONT_SIZE + col] > 128) { + int px = x0 + col; + int py = y0 + row; + if (px >= 0 && px < img.cols && py >= 0 && py < img.rows) + img.at(py, px) = cv::Vec3b(static_cast(color[0]), + static_cast(color[1]), + static_cast(color[2])); + } + } + } +} + +static void lcd_draw_chinese_text(cv::Mat& img, const char* text, int x, int y, const cv::Scalar& color) +{ + const char* p = text; + int cx = x; + while (*p) { + uint32_t cp = utf8_decode(p); + const uint8_t* glyph = find_glyph(cp); + if (glyph) { + lcd_draw_glyph(img, cx, y, glyph, color); + cx += FONT_SIZE; + } + } +} + + // ═══════════════════════════════════════════════════════════ // CameraInit — 系统初始化 // @@ -240,12 +316,19 @@ int CameraInit(int camera_id) std::cerr << "无法获取帧缓冲区信息" << std::endl; close(fb); return -1; } screenWidth = vinfo.xres; screenHeight = vinfo.yres; - size_t fb_size = vinfo.yres_virtual * vinfo.xres_virtual * vinfo.bits_per_pixel / 8; - fb_buffer = (uint16_t *)mmap(NULL, fb_size, PROT_READ | PROT_WRITE, MAP_SHARED, fb, 0); + g_fb_size = vinfo.yres_virtual * vinfo.xres_virtual * vinfo.bits_per_pixel / 8; + fb_buffer = (uint16_t *)mmap(NULL, g_fb_size, PROT_READ | PROT_WRITE, MAP_SHARED, fb, 0); if (fb_buffer == MAP_FAILED) { std::cerr << "无法映射帧缓冲区到内存" << std::endl; close(fb); return -1; } + // 加载斑马线停车提示图片（与 LCD 同分辨率 160x128） + g_stop_image = cv::imread("./pedestrian_stop.png"); + if (!g_stop_image.empty()) + printf("[LCD] 已加载停车提示图片: %dx%d\n", g_stop_image.cols, g_stop_image.rows); + else + printf("[LCD] 警告: 未找到 ./pedestrian_stop.png\n"); + // ── 3. 摄像头初始化 ── // CONVERT_RGB=0: 让 V4L2 返回原始 MJPEG 字节流 (单通道) // 后续用 imdecode(IMREAD_REDUCED_COLOR_4) 做 1/4 解码 → 160×120 @@ -257,7 +340,7 @@ int CameraInit(int camera_id) cap.set(cv::CAP_PROP_CONVERT_RGB, 0); // 关键: 不让 V4L2 转 RGB if (!cap.isOpened()) { printf("无法打开摄像头\n"); - munmap(fb_buffer, fb_size); close(fb); return -1; + munmap(fb_buffer, g_fb_size); close(fb); return -1; } int camW = cap.get(cv::CAP_PROP_FRAME_WIDTH); @@ -305,16 +388,18 @@ int CameraInit(int camera_id) return 0; } +// 前置声明: LCD 辅助函数定义在后方 +static void lcd_clear_screen(); + // ═══════════════════════════════════════════════════════════ // cameraDeInit — 释放所有资源 // ═══════════════════════════════════════════════════════════ void cameraDeInit(void) { cap.release(); // 释放摄像头 - struct fb_var_screeninfo vinfo; - if (ioctl(fb, FBIOGET_VSCREENINFO, &vinfo) != -1) { - size_t fb_size = vinfo.yres_virtual * vinfo.xres_virtual * vinfo.bits_per_pixel / 8; - munmap(fb_buffer, fb_size); // 解除 LCD mmap + lcd_clear_screen(); // 程序退出前清屏 + if (fb_buffer && g_fb_size > 0) { + munmap(fb_buffer, g_fb_size); // 解除 LCD mmap } close(fb); // 关闭 LCD fd if (i2c_audio_fd >= 0) close(i2c_audio_fd); // 关闭 I2C 音频 @@ -685,8 +770,8 @@ hold_decay: // ═══════════════════════════════════════════════════════════ static bool cone_is_slow() { return g_cone_confirmed || - (g_cone_hold_ctr > 0 && g_cone_hold_ctr <= g_cfg.cone_hold_frames) || - (g_cone_return_ctr > 0 && g_cone_return_ctr <= g_cfg.cone_return_frames); + (g_cone_hold_ctr > 0 && g_cone_hold_ctr <= g_cfg.cone_hold_frames); + // (g_cone_return_ctr > 0 && g_cone_return_ctr <= g_cfg.cone_return_frames); } static void cone_detect_and_deform() @@ -760,7 +845,7 @@ static void cone_detect_and_deform() g_cone_frames, g_cone_confirmed, g_cone_hold_ctr, g_cone_return_ctr); } - // ── 3. 三阶段生命周期: 确认 → 保持衰减 → 回弹 ── + // ── 3. 两阶段生命周期: 确认 → 保持衰减 ── if (g_cone_confirmed) { g_cone_hold_ctr = 1; g_cone_return_ctr = 0; @@ -769,26 +854,26 @@ static void cone_detect_and_deform() if (cone_seen) { g_cone_hold_src_row = cone_row; g_cone_hold_src_col = cone_col; - double ms = mid_line_raw[cone_row]; - g_cone_return_dir = (cone_col < ms) ? -1.0 : 1.0; + // double ms = mid_line_raw[cone_row]; + // g_cone_return_dir = (cone_col < ms) ? -1.0 : 1.0; } } else if (g_cone_hold_ctr > 0 && g_cone_hold_ctr <= g_cfg.cone_hold_frames) { // 保持衰减阶段: 锥桶消失, 变形量逐帧衰减 g_cone_hold_ctr++; - if (g_cone_hold_ctr > g_cfg.cone_hold_frames) - g_cone_return_ctr = 1; // 保持结束 → 启动回弹 - } else if (g_cone_return_ctr > 0 && g_cone_return_ctr <= g_cfg.cone_return_frames) { + // if (g_cone_hold_ctr > g_cfg.cone_hold_frames) + // g_cone_return_ctr = 1; // 保持结束 → 启动回弹 + } /* else if (g_cone_return_ctr > 0 && g_cone_return_ctr <= g_cfg.cone_return_frames) { // 回弹阶段: 朝锥桶方向反推, 帮助车回到赛道中央 g_cone_return_ctr++; - } + } */ // 回弹结束 → 清零所有状态, 避免计数器卡死 - if (g_cone_return_ctr > g_cfg.cone_return_frames) { - printf("[CONE] ★ RETURN END\n"); - g_cone_hold_src_row = -1; - g_cone_hold_ctr = 0; - g_cone_return_ctr = 0; - } + // if (g_cone_return_ctr > g_cfg.cone_return_frames) { + // printf("[CONE] ★ RETURN END\n"); + // g_cone_hold_src_row = -1; + // g_cone_hold_ctr = 0; + // g_cone_return_ctr = 0; + // } // 生命周期诊断 (debug 模式下每 5 帧打印) // static int cone_ldbg = 0; @@ -818,9 +903,9 @@ static void cone_detect_and_deform() // 保持阶段衰减: 从 1.0 线性降到 0.0 double decay = g_cone_confirmed ? 1.0 : (1.0 - (double)g_cone_hold_ctr / g_cfg.cone_hold_frames); - // ── 4a. 避开阶段: 推离锥桶 (row 10 ~ 锥桶行) ── - if (g_cone_return_ctr == 0) { - for (int row = 10; row <= src_row; ++row) { + // ── 4a. 避开阶段: 推离锥桶 (row 10 ~ 底部, 确保前瞻行一定被覆盖) ── + // if (g_cone_return_ctr == 0) { + for (int row = 10; row < line_tracking_height; ++row) { // 斜坡: row=10 处 t=0(不推), 随行号增大 t→1(满推) double t = std::clamp(((row - 10) / rng), 0.0, 1.0); double push = t * g_cfg.cone_avoid_gain * half_w * dir * decay; @@ -829,31 +914,31 @@ static void cone_detect_and_deform() (double)right_line[row] - 2.0); mid_line[row] = (int)(nm + 0.5); } - } + // } // ── 4b. 回弹: 锥桶消失后朝锥桶方向反推 ── - if (g_cone_return_ctr > 0 && g_cone_return_ctr <= g_cfg.cone_return_frames) { - static int rdbg = 0; - if (++rdbg >= 10) { rdbg = 0; - printf("[CONE] return frame=%d dir=%.0f gain=%.1f\n", - g_cone_return_ctr, g_cone_return_dir, g_cfg.cone_return_gain); - } - int lt_h = line_tracking_height; - double ret_rng = rng * 1.2; // 回弹斜坡比避让略缓 - double ret_hw = half_w; - double ret_dir = g_cone_return_dir; // 与避让方向相反 - // 回弹衰减: 从 1.0 线性降到 0.0 - double ret_dec = 1.0 - (double)g_cone_return_ctr / g_cfg.cone_return_frames; - // 回弹覆盖全部有效行 (row 10 ~ lt_h-1), 不限于锥桶位置 - for (int row = 10; row < lt_h; ++row) { - double t = std::clamp((row - 10) / ret_rng, 0.0, 1.0); - double push = t * g_cfg.cone_return_gain * ret_hw * ret_dir * ret_dec; - double nm = std::clamp(mid_line[row] + push, - (double)left_line[row] + 2.0, - (double)right_line[row] - 2.0); - mid_line[row] = (int)(nm + 0.5); - } - } + // if (g_cone_return_ctr > 0 && g_cone_return_ctr <= g_cfg.cone_return_frames) { + // static int rdbg = 0; + // if (++rdbg >= 10) { rdbg = 0; + // printf("[CONE] return frame=%d dir=%.0f gain=%.1f\n", + // g_cone_return_ctr, g_cone_return_dir, g_cfg.cone_return_gain); + // } + // int lt_h = line_tracking_height; + // double ret_rng = rng * 1.2; // 回弹斜坡比避让略缓 + // double ret_hw = half_w; + // double ret_dir = g_cone_return_dir; // 与避让方向相反 + // // 回弹衰减: 从 1.0 线性降到 0.0 + // double ret_dec = 1.0 - (double)g_cone_return_ctr / g_cfg.cone_return_frames; + // // 回弹覆盖全部有效行 (row 10 ~ lt_h-1), 不限于锥桶位置 + // for (int row = 10; row < lt_h; ++row) { + // double t = std::clamp((row - 10) / ret_rng, 0.0, 1.0); + // double push = t * g_cfg.cone_return_gain * ret_hw * ret_dir * ret_dec; + // double nm = std::clamp(mid_line[row] + push, + // (double)left_line[row] + 2.0, + // (double)right_line[row] - 2.0); + // mid_line[row] = (int)(nm + 0.5); + // } + // } } @@ -900,11 +985,12 @@ static void detect_sharp_turn() static void steering_update() { if (!g_cfg.start) return; - // 斑马线起步后延迟1.5s, 再5s内缩短前瞻, 先走稳再改 + + // 斑马线起步后延迟2s, 再3s内缩短前瞻, 先走稳再改 double eff_foresee = g_cfg.foresee; if (g_zstate == Z_COOLDOWN && time(nullptr) - g_ztime >= 2 && time(nullptr) - g_ztime < 5) - eff_foresee = 35; + eff_foresee = 24; int check_row = (int)eff_foresee / calc_scale; if (check_row < 0 || check_row >= line_tracking_height) return; if (mid_line[check_row] == -1) return; // 丢线行 → 跳过 @@ -915,6 +1001,38 @@ static void steering_update() // 归一化到 [-1, 1], 供弯道减速使用 g_steer_deviation = deviation / (newWidth / 2.0); + // 斑马线冷却后 3.3~5 秒：一次机会，偏差出现->方向锁定打满->方向翻转/回正即退出 + if (g_zstate == Z_COOLDOWN) { + time_t elapsed = time(nullptr) - g_ztime; + if (elapsed >= 3.3 && elapsed < 5 && !g_bangbang_used) { + if (!g_bangbang_active) { + // 序列未开始，等偏差出现才启动 + if (std::abs(deviation) < g_cfg.deadband) { + g_steer_deviation = 0.0; + servo.setDutyCycle(1500000); + return; + } + g_bangbang_active = true; + g_bangbang_dir = (deviation > 0) ? 1 : -1; + } else { + // 序列已启动：检查方向是否翻转或回到死区 + bool same_dir = (deviation > 0 && g_bangbang_dir > 0) || + (deviation < 0 && g_bangbang_dir < 0); + if (!same_dir || std::abs(deviation) < g_cfg.deadband) { + // 方向翻转或回正 -> 机会用完，退出，后续走正常线性转向 + g_bangbang_active = false; + g_bangbang_used = true; + } else { + // 同方向，继续打满 + unsigned int duty = (g_bangbang_dir > 0) ? 1800000 : 1200000; + servo.setDutyCycle(duty); + g_steer_deviation = (g_bangbang_dir > 0) ? 1.0 : -1.0; + return; + } + } + } + } + if (std::abs(deviation) < g_cfg.deadband) { // 死区内 → 直行 servo.setDutyCycle(1500000); @@ -945,13 +1063,17 @@ static void steering_update() // 起步弹射: 启动/斑马线恢复后 1.5x 速度持续 0.5s 快速起步 // ═══════════════════════════════════════════════════════════ static struct timespec g_boost_end = {0, 0}; -static double g_boost_mul = 2.0; -static constexpr double BOOST_SECS = 0.7; +static double g_boost_mul = 1.0; +static constexpr double BOOST_SECS = 0.7; +static constexpr double BOOST_MUL = 1.6; +static constexpr double BOOST_GREEN_SECS = 0.2; +static constexpr double BOOST_GREEN_MUL = 2.0; -static void trigger_boost() +static void trigger_boost(double secs, double mul) { + g_boost_mul = mul; clock_gettime(CLOCK_MONOTONIC, &g_boost_end); - g_boost_end.tv_nsec += (long)(BOOST_SECS * 1e9); + g_boost_end.tv_nsec += (long)(secs * 1e9); if (g_boost_end.tv_nsec >= 1000000000L) { g_boost_end.tv_sec += 1; g_boost_end.tv_nsec -= 1000000000L; @@ -972,13 +1094,23 @@ static void motor_update(bool zebra_block, bool tl_block) // 起步弹射检测 static int prev_start = 0; static ZState prev_zstate = Z_NORMAL; - if (g_cfg.start && !prev_start) trigger_boost(); // 启动 - if (prev_zstate == Z_STOP && g_zstate == Z_COOLDOWN) trigger_boost(); // 斑马线起步 + static TLState prev_tlstate = TL_NORMAL; + if (g_cfg.start && !prev_start) trigger_boost(BOOST_SECS, BOOST_MUL); // 启动 + if (prev_zstate == Z_STOP && g_zstate == Z_COOLDOWN) trigger_boost(BOOST_SECS, BOOST_MUL); // 斑马线起步 + if (prev_tlstate == TL_WAIT_GREEN && g_tl_state == TL_NORMAL) trigger_boost(BOOST_GREEN_SECS, BOOST_GREEN_MUL); // 绿灯起步 prev_start = g_cfg.start; prev_zstate = g_zstate; + prev_tlstate = g_tl_state; double spd = target_speed * boost_factor(); + // 斑马线起步后 3.3~5s 降速走稳 + if (g_zstate == Z_COOLDOWN) { + time_t elapsed = time(nullptr) - g_ztime; + if (elapsed >= 3.3 && elapsed < 5) + spd = std::min(spd, 13.0); + } + // 弯道减速: 舵机偏差越大 → 速度越低 double curve = 1.0 - std::abs(g_steer_deviation) * g_cfg.curve_slope; if (curve < g_cfg.curve_min) curve = g_cfg.curve_min; @@ -1019,16 +1151,37 @@ static void motor_update(bool zebra_block, bool tl_block) // ═══════════════════════════════════════════════════════════ static cv::Mat lcd_fbImage, lcd_resized, lcd_colored; +static void lcd_clear_screen() +{ + if (fb_buffer && g_fb_size > 0) + std::memset(fb_buffer, 0, g_fb_size); +} + +static void lcd_show_stop_image() +{ + if (g_stop_image.empty() || !fb_buffer) return; + // 若图片尺寸与屏幕不一致则缩放 + cv::Mat display_img = g_stop_image; + if (display_img.cols != screenWidth || display_img.rows != screenHeight) + cv::resize(display_img, display_img, cv::Size(screenWidth, screenHeight)); + convertMatToRGB565(display_img, fb_buffer, screenWidth, screenHeight); +} + static void lcd_render() { + // 斑马线停车期间由 CameraHandler 单独控制清屏+图片, 此处不渲染 + if (g_zstate == Z_STOP) return; + // 每 10 帧刷新 LCD 开关, 避免每帧读文件 static int lcd_check = 0; if (--lcd_check < 0) { g_lcd_on = g_cfg.showImg; lcd_check = 10; } if (!g_lcd_on) return; - // 创建黑底画布, 赛道灰度图居中显示 + // 创建黑底画布 lcd_fbImage.create(screenHeight, screenWidth, CV_8UC3); lcd_fbImage.setTo(cv::Scalar(0, 0, 0)); + + // 赛道灰度图居中显示 cv::resize(track, lcd_resized, cv::Size(newWidth, newHeight)); cv::cvtColor(lcd_resized, lcd_colored, cv::COLOR_GRAY2BGR); @@ -1211,6 +1364,21 @@ int CameraHandler(void) clock_gettime(CLOCK_MONOTONIC, &ts[5]); // 9. LCD 渲染 + // 斑马线停车状态切换时清屏/显示提示图片，仅切换时操作，不每帧准备缓存 + static ZState prev_zstate = Z_NORMAL; + if (g_zstate == Z_STOP && prev_zstate != Z_STOP) { + lcd_clear_screen(); + lcd_show_stop_image(); + } else if (g_zstate != Z_STOP && prev_zstate == Z_STOP) { + lcd_clear_screen(); + } + // 进入 Z_COOLDOWN 时重置打满状态机 + if (g_zstate == Z_COOLDOWN && prev_zstate != Z_COOLDOWN) { + g_bangbang_used = false; + g_bangbang_active = false; + } + prev_zstate = g_zstate; + lcd_render(); // 10. FPS 日志