fix(spotlight): 优化PWM调光算法解决低亮度抖动

1. 修改PWM频率为4000Hz，与80MHz基准时钟形成整数倍关系(20000 ticks)，消除计算取整导致的物理层抖动。
2. 实现基于时间轴的渐变算法替代原有的步进累加逻辑，消除累积误差，确保渐变时长精确且不受系统负载影响。
3. 调整渐变刷新间隔为8ms，提升视觉平滑度。

.gitignore

@@ -4,7 +4,8 @@
 *.a
 *.so
 *.bin
-output
+output/ws63
+output/package
 libs_url
 open_source
 temp

application/ws63/user_main/spotlight/spotlight.h

@@ -147,7 +147,7 @@ typedef struct __attribute__((packed, aligned(1))) {
 
 
 // PWM频率和周期定义
-#define PWM_FREQUENCY  3000    // PWM频率 3KHz
+#define PWM_FREQUENCY  4000    // PWM频率 4KHz
 
 //渐变范围
 #define SMOOTH_TIME_MAX 30

application/ws63/user_main/spotlight/spotlight_main.c

@@ -106,17 +106,19 @@ typedef struct {
 static struct fade_ctx_t {
     struct{
         // 渐变控制参数
-        int32_t target_brightness;
-        int32_t target_cct;
-        int32_t current_brightness;
-        int32_t current_cct;
-        int32_t step_brightness;
-        int32_t step_cct;
+        int32_t start_brightness;   // 起始亮度
+        int32_t start_cct;          // 起始色温
+        int32_t target_brightness;  // 目标亮度
+        int32_t target_cct;         // 目标色温
+        int32_t current_brightness; // 当前亮度
+        int32_t current_cct;        // 当前色温
+        
         bool is_fading;
         bool fade_completed;
         bool is_closing_fade;       // 标记是否为关灯渐变
         uint16_t fade_time;         // s
-        uint32_t smooth_time_us;    // 渐变总时长(us)
+        uint32_t duration_ms;       // 渐变总时长(ms)
+        uint32_t start_time_ms;     // 渐变开始时间(ms)
         uint32_t update_interval;   // 更新间隔(us)
         volatile bool timer_active; // 渐变定时器是否允许自重启（竞态保护）
         // 打印限制器
@@ -197,6 +199,7 @@ static void *fade_task(const char *arg)
     unused(arg);
     e_printf("[fade_task] Task started\r\n");
     device_control_t device_control = {};
+    
     while (fade_ctx.task_running) {
         // 等待渐变信号
         if (osal_sem_down_timeout(&fade_ctx.sem, 100*1000) != OSAL_SUCCESS) {
@@ -207,37 +210,51 @@ static void *fade_task(const char *arg)
             continue;
         }
 
+        // 1. 获取当前时间
+        uint32_t now = uapi_systick_get_ms();
+        
+        // 2. 计算流逝时间
+        uint32_t elapsed = now - fade_ctx.start_time_ms;
+        
         // 使用打印限制器控制打印频率
         if (should_print(&fade_ctx.print_limiter)) {
-            e_printf("%s Brightness: curr:%d, target:%d, step:%d, cct:curr:%d, target:%d, step:%d, closing:%d\r\n", 
+            e_printf("%s Brightness: %d->%d, CCT: %d->%d, Progress: %d/%d ms\r\n", 
                      fade_ctx.print_limiter.prefix,
-                     fade_ctx.current_brightness, fade_ctx.target_brightness, fade_ctx.step_brightness,
-                     fade_ctx.current_cct, fade_ctx.target_cct, fade_ctx.step_cct, fade_ctx.is_closing_fade);
+                     fade_ctx.start_brightness, fade_ctx.target_brightness,
+                     fade_ctx.start_cct, fade_ctx.target_cct,
+                     elapsed, fade_ctx.duration_ms);
         }
 
-        // 检查是否达到目标值
-        bool brightness_reached = (fade_ctx.step_brightness > 0) ? 
-            (fade_ctx.current_brightness >= fade_ctx.target_brightness) :
-            (fade_ctx.current_brightness <= fade_ctx.target_brightness);
+        bool is_finished = false;
 
-        bool cct_reached = (fade_ctx.step_cct > 0) ?
-            (fade_ctx.current_cct >= fade_ctx.target_cct) :
-            (fade_ctx.current_cct <= fade_ctx.target_cct);
-        // 更新当前值
-        if (!brightness_reached) {
-            fade_ctx.current_brightness += fade_ctx.step_brightness;
-        }
-        if (!cct_reached) {
-            fade_ctx.current_cct += fade_ctx.step_cct;
+        // 3. 判断是否结束
+        if (elapsed >= fade_ctx.duration_ms) {
+            // 强制设为目标值，确保最终结果精确
+            fade_ctx.current_brightness = fade_ctx.target_brightness;
+            fade_ctx.current_cct = fade_ctx.target_cct;
+            is_finished = true;
+        } else {
+            // 4. 核心算法：计算当前应有的值 (线性插值)
+            // 公式：Val = Start + (Diff * Elapsed) / Duration
+            
+            int32_t diff_bri = fade_ctx.target_brightness - fade_ctx.start_brightness;
+            int32_t diff_cct = fade_ctx.target_cct - fade_ctx.start_cct;
+            
+            // 注意：运算顺序很重要，先乘后除以保留精度，但要防止溢出
+            // 使用 int64_t 避免乘法溢出
+            fade_ctx.current_brightness = fade_ctx.start_brightness + 
+                                          (int32_t)((int64_t)diff_bri * elapsed / fade_ctx.duration_ms);
+                                          
+            fade_ctx.current_cct = fade_ctx.start_cct + 
+                                   (int32_t)((int64_t)diff_cct * elapsed / fade_ctx.duration_ms);
         }
+
         // 达到目标，停止渐变
-        if (brightness_reached && cct_reached) {
+        if (is_finished) {
             e_printf("[fade_task] Fade completed, Final brightness: %d, CCT: %d, closing_fade: %d\r\n", 
                      fade_ctx.target_brightness, fade_ctx.target_cct, fade_ctx.is_closing_fade);
             fade_ctx.is_fading = false;
             fade_ctx.fade_completed = true;
-            fade_ctx.current_brightness = fade_ctx.target_brightness;
-            fade_ctx.current_cct = fade_ctx.target_cct;
             fade_ctx.timer_active = false; // 防止回调自重启
             uapi_timer_stop(fade_ctx.timer_handle);
         }
@@ -607,69 +624,37 @@ void update_pwm_output(bool on_state, uint16_t duty_cw_val, uint16_t duty_ww_val
 #define ABS(x) ((x) < 0 ? -(x) : (x))
 
 // 计算渐变步长
+// 计算渐变参数（时间轴模式初始化）
 static void calculate_fade_steps(struct fade_ctx_t *pfade_ctx)
 {
-    // 从g_device_control获取渐变时间
-    pfade_ctx->smooth_time_us = pfade_ctx->fade_time * 1000 * 1000;//s->us
-    e_printf("fade brightness:%d->%d, cct:%d->%d, time:%ds\r\n", 
-        pfade_ctx->current_brightness, pfade_ctx->target_brightness, pfade_ctx->current_cct, pfade_ctx->target_cct, pfade_ctx->fade_time);
-    // 计算亮度渐变步长
+    // 1. 记录锚点数据
+    pfade_ctx->start_time_ms = uapi_systick_get_ms();
+    pfade_ctx->duration_ms = pfade_ctx->fade_time * 1000; // s -> ms
+    
+    pfade_ctx->start_brightness = pfade_ctx->current_brightness;
+    pfade_ctx->start_cct = pfade_ctx->current_cct;
+    
+    e_printf("fade init: brightness %d->%d, cct %d->%d, duration %dms\r\n", 
+        pfade_ctx->start_brightness, pfade_ctx->target_brightness, 
+        pfade_ctx->start_cct, pfade_ctx->target_cct, 
+        pfade_ctx->duration_ms);
+
+    // 2. 特殊情况处理：无渐变时间或无变化
     int32_t brightness_diff = pfade_ctx->target_brightness - pfade_ctx->current_brightness;
     int32_t cct_diff = pfade_ctx->target_cct - pfade_ctx->current_cct;
     
-    // 计算需要的总步数（取亮度和色温中变化较大的那个）
-    uint32_t max_diff = (ABS(brightness_diff) > ABS(cct_diff)) ? ABS(brightness_diff) : ABS(cct_diff);
-    uint32_t min_steps = 0;
-    uint32_t available_interval = 0;
-    
-    // 如果变化太小或者不需要渐变，直接设置目标值
-    if (max_diff == 0 || pfade_ctx->smooth_time_us == 0) {
+    if ((brightness_diff == 0 && cct_diff == 0) || pfade_ctx->duration_ms == 0) {
         pfade_ctx->current_brightness = pfade_ctx->target_brightness;
         pfade_ctx->current_cct = pfade_ctx->target_cct;
-        pfade_ctx->step_brightness = 0;
-        pfade_ctx->step_cct = 0;
-        pfade_ctx->update_interval = FADE_INTERVAL_MIN;
-        goto lab_exit;
+        // 标记为瞬间完成，不启动定时器，但需要触发一次更新
+        // 这里通过设置极短时间来让task立即完成
+        pfade_ctx->duration_ms = 0;
     }
 
-    min_steps = max_diff;
-    
-    // 计算实际可用的时间间隔
-    available_interval = pfade_ctx->smooth_time_us / min_steps;
-    
-    // 如果时间间隔太小（小于允许的最小更新间隔），则增加步长
-    if (available_interval < FADE_INTERVAL_MIN) {
-        // 重新计算步长，确保在指定时间内完成
-        pfade_ctx->update_interval = FADE_INTERVAL_MIN;
-        int32_t actual_steps = pfade_ctx->smooth_time_us / pfade_ctx->update_interval;
-        
-        // 计算新的步长
-        pfade_ctx->step_brightness = brightness_diff / actual_steps;
-        pfade_ctx->step_cct = cct_diff / actual_steps;
-        
-        // 确保至少有一个最小步长
-        if (pfade_ctx->step_brightness == 0 && brightness_diff != 0) {
-            pfade_ctx->step_brightness = (brightness_diff > 0) ? 1 : -1;
-        }
-        if (pfade_ctx->step_cct == 0 && cct_diff != 0) {
-            pfade_ctx->step_cct = (cct_diff > 0) ? 1 : -1;
-        }
-    } else {
-        // 使用计算出的时间间隔
-        pfade_ctx->update_interval = available_interval;
-        pfade_ctx->step_brightness = (brightness_diff > 0) ? 1 : -1;
-        pfade_ctx->step_cct = (cct_diff > 0) ? 1 : -1;
-    }
-    // 如果亮度或色温没有变化，则步长为0
-    if (brightness_diff == 0) {
-        pfade_ctx->step_brightness = 0;
-    }
-    if (cct_diff == 0) {
-        pfade_ctx->step_cct = 0;
-    }
-lab_exit:
-    e_printf("fade max_diff:%d, fade time:%uus, Brightness: diff:%d, step:%d, CCT: diff:%d, step:%d, update_interval:%uus\r\n",
-            max_diff, pfade_ctx->smooth_time_us, brightness_diff, pfade_ctx->step_brightness, cct_diff, pfade_ctx->step_cct, pfade_ctx->update_interval);
+    // 3. 设置定时器刷新频率
+    // 固定使用较快的刷新率以保证平滑度，例如 10ms (100Hz)
+    // 如果系统负载高，可以适当降低，例如 20ms
+    pfade_ctx->update_interval = 8 * 1000; // 8ms in us
 }
 
 static void cancel_current_light_fade(void)

output/ws63-liteos-app-iot-check.json

@@ -0,0 +1 @@
+{"ver": 1, "app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hilink": "BEC62B3A1B90717BABD8C9AD15D3BE1560977111A022C59CEF399A97E8B1D1D2D981EE972F4C881D0D3D30D8165FA46BEB1F07B4B8F1AECEA4335DFC7388E1234641EDD1AF31DFEDB616EBF0A9900778C03C4467D3CBCD6540F51D66CBE0FF998506BA06448D8BEB6CDA8E9E79BE4C8BF15449A4DEFEB22F342B09F03683E17D699DA475D08A2F079EDA59B99A96CD0E468B089224120EE96B86A8BB4B250B35E0E8B8A1E77FE8A13F50CF8B018FA5A91475DDA932141DAF1F5C4D9C5D7F8DC8E3CB582D0DB0EA8823396BF6BC0A30D68B968BEE77AB6014036385A68BB35701D274404A9BFA24348E7321F63FEA98B7"}

output/ws63-liteos-hilink-check.json

@@ -0,0 +1 @@
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