Исправлена обработка фронтов START/STOP в 166

Добавлены локальные копии команд и обновлены файлы прошивки. Сохранены анализ слабых мест START/STOP и тесты воспроизведения ошибки ограничения ЦАП проекта 167.

tests/test_dac167_limit.py

@@ -0,0 +1,105 @@
+"""Host-side reproduction of 167 DAC endpoint logic; no firmware changes.
+
+Run: py -3 -m unittest discover -s tests -p test_dac167_limit.py -v
+The source guard ties the model to the inspected C block. These tests reproduce
+the bug (passing means reproduced), not execution on a C2000 or physical DAC.
+"""
+import re
+import unittest
+from pathlib import Path
+
+
+SOURCE = Path(__file__).resolve().parents[2] / '167/Source/Internal/DAC.c'
+
+
+def endpoints(start, stop, corrected=False):
+    # Signed C2000 int subtraction must remain representable. Deliberately
+    # exclude inputs -32768..-32765, where subtracting 4 overflows signed int.
+    if not all(-32764 <= value <= 32767 for value in (start, stop)):
+        raise ValueError('Outside modeled, non-overflowing input range')
+    go = float(start - 4)
+    end = float(stop - 4)
+    if go < 0:
+        go = 0.0
+    if go > 5:
+        go = 5.0
+    if end > 16:
+        if corrected:
+            end = 16.0
+        else:
+            go = 16.0
+    if end <= go:
+        end = go + 1
+    return go, end
+
+
+def ramp_code(go, end, count, duration=6000):
+    # Source: LOAD_TIME=30, DAC_FREQ=200. int conversion truncates.
+    # Only selected exactly representable / far-from-boundary cases tested.
+    value = (end - go) / 16.0 * count + go / 16.0 * duration
+    if not -32768 <= value < 32768:
+        raise ValueError('C2000 int conversion out of range')
+    return int(value)
+
+
+class Dac167LimitTests(unittest.TestCase):
+    def test_source_matches_reproduced_block(self):
+        code = re.sub(r'\s+', '', SOURCE.read_bytes().decode('latin1'))
+        expected = '''dac_go=DAC_go-4; dac_stop=DAC_stop-4;
+            if(dac_go<0) dac_go=0;
+            if(dac_go>5) dac_go=5;
+            if(dac_stop>16) dac_go=16;
+            if(dac_stop<=dac_go) dac_stop=dac_go+1;'''
+        self.assertIn(re.sub(r'\s+', '', expected), code)
+
+    def test_defaults_and_threshold(self):
+        for stop, actual, fixed in [
+            (16, (2, 12), (2, 12)),
+            (19, (2, 15), (2, 15)),
+            (20, (2, 16), (2, 16)),
+            (21, (16, 17), (2, 16)),
+            (22, (16, 18), (2, 16)),
+            (30, (16, 26), (2, 16)),
+        ]:
+            with self.subTest(stop=stop):
+                self.assertEqual(endpoints(6, stop), actual)
+                self.assertEqual(endpoints(6, stop, True), fixed)
+
+    def test_start_limit_is_overwritten(self):
+        for start in (-100, 0, 4, 6, 9, 10, 20, 100, 32767):
+            with self.subTest(start=start):
+                self.assertEqual(endpoints(start, 21), (16, 17))
+                self.assertLessEqual(endpoints(start, 21, True)[0], 5)
+
+    def test_full_nonnegative_stop_range(self):
+        # 327,680 input pairs. Negative stop values do not trigger end > 16.
+        for start in (-100, 0, 4, 6, 8, 9, 10, 20, 100, 32767):
+            for stop in range(32768):
+                actual = endpoints(start, stop)
+                fixed = endpoints(start, stop, True)
+                self.assertEqual(actual != fixed, stop > 20,
+                                 (start, stop, actual, fixed))
+
+    def test_first_and_last_ramp_codes(self):
+        actual = endpoints(6, 21)
+        fixed = endpoints(6, 21, True)
+        self.assertEqual(ramp_code(*actual, 1), 6000)
+        self.assertEqual(ramp_code(*fixed, 1), 750)
+        self.assertEqual(ramp_code(*actual, 6000), 6375)
+        self.assertEqual(ramp_code(*fixed, 6000), 6000)
+
+    def test_low_stop_guard_is_unchanged(self):
+        self.assertEqual(endpoints(6, 4), (2, 3))
+        self.assertEqual(endpoints(6, 4), endpoints(6, 4, True))
+        self.assertEqual(endpoints(20, 0), (5, 6))
+
+    def test_model_rejects_signed_subtraction_overflow(self):
+        for value in range(-32768, -32764):
+            with self.assertRaises(ValueError):
+                endpoints(value, 21)
+            with self.assertRaises(ValueError):
+                endpoints(6, value)
+
+
+if __name__ == '__main__':
+    unittest.main(verbosity=2)