Tools: PID debug toolchain from V0.1.x bring-up

test_run.py: judged closed-loop test over COM5 (fixed sequence, J1~J4

obs_decode.py

@@ -0,0 +1,51 @@
+# -*- coding: utf-8 -*-
+"""Decode obs_samples.txt (openocd mrw words, V0.1.2 layout) into quantities."""
+import struct
+import sys
+
+
+def f(w):
+    return struct.unpack("<f", struct.pack("<i", int(w)))[0]
+
+
+def u8(word, byte):
+    return (int(word) >> (8 * byte)) & 0xFF
+
+
+path = sys.argv[1] if len(sys.argv) > 1 else "obs_samples.txt"
+rows = []
+for ln in open(path, encoding="utf-8"):
+    parts = ln.split()
+    if len(parts) != 11 or not parts[0].isdigit():
+        continue
+    v = parts
+    rows.append({
+        "t": int(v[0]) / 1000.0,
+        "stash_T": f(v[1]), "stash_I": f(v[2]), "fault": u8(v[3], 0),
+        "prev": f(v[4]), "integ": f(v[5]), "duty": u8(v[6], 1),
+        "ramp": f(v[7]), "tgt": f(v[8]), "en": u8(v[9], 0), "temp": f(v[10]),
+    })
+
+if not rows:
+    print("no rows")
+    sys.exit(1)
+
+t0 = rows[0]["t"]
+print(f"{'t':>7} {'temp':>7} {'tgt':>6} {'ramp':>7} {'duty%':>5} {'integ':>8} {'prev':>7} {'fl':>3} {'en'}")
+for r in rows:
+    print(f"{r['t']-t0:7.1f} {r['temp']:7.2f} {r['tgt']:6.1f} {r['ramp']:7.2f} "
+          f"{r['duty']*5:5d} {r['integ']:8.2f} {r['prev']:7.2f} {r['fault']:3d} {r['en']}")
+
+print("\n-- events (duty/fault/integ-zero 变化) --")
+last = None
+for r in rows:
+    key = (r["fault"], r["duty"], r["integ"] == 0.0)
+    if last is not None and key != last[0]:
+        print(f"t={r['t']-t0:7.1f}s fault={r['fault']} duty={r['duty']*5}% integ={r['integ']:.2f} "
+              f"temp={r['temp']:.2f}")
+    last = (key, r)
+n_fault = sum(1 for r in rows if r["fault"] > 0)
+temps = [r["temp"] for r in rows]
+ints = [r["integ"] for r in rows if r["en"]]
+print(f"\nsamples={len(rows)} fault_beats={n_fault} temp[{min(temps):.2f},{max(temps):.2f}] "
+      f"integ[{min(ints) if ints else 0:.1f},{max(ints) if ints else 0:.1f}] (en 段)")