Import independent seat firmware source without build artifacts

2026-10-26 11:19:21 +08:00
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+---
+name: n7-seat-self-compose
+description: Implement and compile arbitrary Chinese or English N7 four-motor seat-action firmware requests for Classic CAN OTA with full source access.
+---
+
+# N7 Seat Self Compose
+
+Implement the user's request directly in the complete writable firmware task copy.
+Choose the design and edit any canonical source, driver, generator, build file, or
+other project file needed. For the supplied action runtime, edit the authoritative
+`firmware/application/ota_self_compose_plan.h`; never edit or depend on a prior
+`build/gcc/application_source` cache. The build helper generates a clean compiler
+source tree from the canonical firmware plus `third_party` before every build. The
+Base APIs are optional accelerators, not a required design.
+Do not create `plan.json` or a capabilities manifest. There is no second reviewer,
+server-side compiler, source audit, repair limit, or task timeout. The server publishes
+the exact firmware you compile.
+
+Read [references/base-action-api.md](references/base-action-api.md) when the request
+uses the supplied four-axis action runtime.
+
+## Hardware facts that must remain compatible
+
+- Motor 0, 前后: fixed range 480 Hall across 215.00 mm. Nearest to far moves backward.
+- Motor 1, 高度/坐盆: fixed range 373 Hall across 55.00 mm. Nearest to far moves upward.
+- Motor 2, 靠背: fixed range 917 Hall across 68.00 degrees. Nearest to far reclines downward.
+- Motor 3, 腿托: fixed range 647 Hall across 72.00 degrees. Nearest to far lifts upward.
+- Motor 3 always drives at 60% PWM. Other motors default to 80% and may use the
+  requested low 60%, medium 80%, high 95%, or custom duty.
+- Board-persisted Hall positions are the position source for every action. Persist
+  the updated current positions. Never replace the four fixed maximum Hall values.
+- Ordinary timed motion remains inside 5%..95% and reverses at either boundary while
+  its requested time continues. Cycle motion reverses at those boundaries. Absolute,
+  relative-distance, and relative-angle targets clamp to 5%..95% and stop at target.
+- After each real start or direction reversal, ignore stall detection for 2 seconds.
+  Then a continuous 1-second window with 0, 1, or 2 Hall rising edges is a stall;
+  3 or more edges is movement.
+
+Keep Classic CAN at 500 kbit/s and retain the App control/telemetry ABI: standard IDs
+`0x6A0`/`0x6A2`, `SEAT_INFO` opcode `0x60`, selectors 0 through 14, all four live
+position/range/flags responses, `TEST_START`, `TEST_STOP`, `SEAT_STOP`, status queries,
+and Enter Bootloader. Once START is accepted, the board completes the action itself.
+CAN silence, query failure, RX overflow, or Bus-Off must not end motion; explicit STOP,
+real driver faults, and Hall stall remain effective.
+Apply the same board-owned lifetime to the dedicated calibration/homing Base firmware:
+after `SEAT_CALIBRATE` or `SEAT_HOME` is accepted, it must complete without an App lease
+or heartbeat. CAN remains available only for position/status queries, explicit STOP and
+Enter Bootloader; silence or CAN faults never abort calibration/homing.
+
+## Compile your exact source
+
+Run:
+
+`sh .agents/skills/n7-seat-self-compose/scripts/build_firmware.sh`
+
+Inspect the real GCC output, edit whatever is necessary, and rerun the helper as many
+times as needed until it prints `N7_CODEX_FIRMWARE_BUILD_OK`. Finish only after that
+same helper has produced `codex-output/self-compose.raw.bin`. No server-side rebuild or
+source audit follows it.
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+interface:
+  display_name: "N7 Seat Self Compose"
+  short_description: "Build N7 CAN OTA firmware while preserving live seat telemetry"
+  default_prompt: "Use $n7-seat-self-compose to implement and compile this seat-motion request while preserving the immutable board CAN position telemetry contract."
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+# N7 board-side action API
+
+The macros below construct C steps in the authoritative
+`firmware/application/ota_self_compose_plan.h`. The build helper copies that file
+into a clean generated compiler tree on every build; do not edit or reuse
+`build/gcc/application_source`. The runtime reads the board's restored/live Hall
+position at each step. `mm_x100` and `degree_x100` are fixed point with two decimals.
+
+## Direction and range
+
+| Axis | Motor | Fixed Hall | Physical range | Toward far | Toward near |
+|---|---:|---:|---:|---|---|
+| 前后 | 0 | 480 | 215.00 mm | `OTA_SEAT_SLIDE_BACKWARD` | `OTA_SEAT_SLIDE_FORWARD` |
+| 高度/坐盆 | 1 | 373 | 55.00 mm | `OTA_SEAT_HEIGHT_UP` | `OTA_SEAT_HEIGHT_DOWN` |
+| 靠背 | 2 | 917 | 68.00° | `OTA_SEAT_BACKREST_RECLINE_DOWN` | `OTA_SEAT_BACKREST_RAISE` |
+| 腿托 | 3 | 647 | 72.00° | `OTA_SEAT_LEGREST_RAISE` | `OTA_SEAT_LEGREST_LOWER` |
+
+Nearest is position zero. Normal DIY Hall bounds are 24..456, 19..354, 46..871,
+and 33..614 for motors 0..3. Do not seek the physical 0%/100% endpoint from an
+ordinary DIY image. If board position is invalid, do not blind-move the mechanism.
+
+## Speed and stall
+
+- `OTA_SEAT_SPEED_LOW`: 60%
+- `OTA_SEAT_SPEED_MEDIUM`: 80%
+- `OTA_SEAT_SPEED_HIGH`: 95%
+- `OTA_SEAT_SPEED_DEFAULT`: 80%
+- `OTA_SEAT_SPEED_CUSTOM(n)`: custom 1%..95%
+
+Motor 3 ignores the duty argument and always uses 60%. After each actual PWM start
+or reversal, its Hall stall window starts only after 2 seconds. In the following
+continuous 1000 ms window, at most 2 rising edges is stall; at least 3 is movement.
+
+## Actions
+
+Timed motion:
+
+```c
+OTA_SEAT_SLIDE_FOR(direction, durationMs, duty, pauseMs)
+OTA_SEAT_HEIGHT_FOR(direction, durationMs, duty, pauseMs)
+OTA_SEAT_BACKREST_FOR(direction, durationMs, duty, pauseMs)
+OTA_SEAT_LEGREST_FOR(direction, durationMs, duty, pauseMs)
+```
+
+If a timed action reaches 5% or 95%, it reverses and continues the remaining time.
+
+Absolute board position:
+
+```c
+OTA_SEAT_SLIDE_TO(positionMmX100, duty, pauseMs)
+OTA_SEAT_HEIGHT_TO(positionMmX100, duty, pauseMs)
+OTA_SEAT_BACKREST_TO(angleDegX100, duty, pauseMs)
+OTA_SEAT_LEGREST_TO(angleDegX100, duty, pauseMs)
+```
+
+Relative distance/angle:
+
+```c
+OTA_SEAT_SLIDE_BY(direction, distanceMmX100, duty, pauseMs)
+OTA_SEAT_HEIGHT_BY(direction, distanceMmX100, duty, pauseMs)
+OTA_SEAT_BACKREST_BY(direction, angleDegX100, duty, pauseMs)
+OTA_SEAT_LEGREST_BY(direction, angleDegX100, duty, pauseMs)
+```
+
+Absolute and relative targets clamp to the axis's 5%..95% interval and stop there.
+
+Cycles:
+
+```c
+OTA_SEAT_SLIDE_CYCLE(firstDirection, cycles, duty, endpointPauseMs)
+OTA_SEAT_HEIGHT_CYCLE(firstDirection, cycles, duty, endpointPauseMs)
+OTA_SEAT_BACKREST_CYCLE(firstDirection, cycles, duty, endpointPauseMs)
+OTA_SEAT_LEGREST_CYCLE(firstDirection, cycles, duty, endpointPauseMs)
+```
+
+One cycle is two boundary legs. `cycles == 0` continues until explicit STOP or a
+user-requested program duration. The board owns execution after one `TEST_START`.
+
+## Required CAN position contract
+
+Retain the Base `SEAT_INFO` implementation at 500 kbit/s using request ID `0x6A0`
+and response ID `0x6A2`, DLC 8. Selectors 0..14 retain their existing job, four live
+position/range, four flags, four physical range, persistent state, and runtime-kind
+meanings. Continue servicing these queries and explicit STOP during every action,
+but never use communication activity as an action lease.
+
+## Minimal C plan
+
+```c
+#define OTA_SELF_COMPOSE_STEP_COUNT (2u)
+#define OTA_SELF_COMPOSE_PROGRAM_REPEAT (1u)
+#define OTA_SELF_COMPOSE_MAX_RUNTIME_MS (0ul)
+
+static const ota_self_compose_step_t otaSelfComposePlan[] =
+{
+    OTA_SEAT_HEIGHT_TO(3000ul, OTA_SEAT_SPEED_MEDIUM, 200ul),
+    OTA_SEAT_BACKREST_BY(OTA_SEAT_BACKREST_RECLINE_DOWN, 3000ul,
+                         OTA_SEAT_SPEED_CUSTOM(75u), 0ul),
+};
+```
@@ -0,0 +1,63 @@
+#!/bin/sh
+set -eu
+
+# This is the only firmware build entry point used by the composing Codex.
+# Codex may modify the complete writable task source; the service supplies
+# separate incremental build/output directories. Every compiler control is one.
+script_dir=$(CDPATH= cd -- "$(dirname -- "$0")" && pwd)
+workspace=$(CDPATH= cd -- "$script_dir/../../../.." && pwd)
+build_dir=${N7_CODEX_FIRMWARE_BUILD_DIR:?N7_CODEX_FIRMWARE_BUILD_DIR is required}
+output_dir=${N7_CODEX_FIRMWARE_OUTPUT_DIR:?N7_CODEX_FIRMWARE_OUTPUT_DIR is required}
+task_build_dir="$build_dir/task-workspace"
+generated_source="$build_dir/generated-application-source"
+build_cpu=${N7_BUILD_CPU:-0}
+
+report_failure() {
+    result=$?
+    trap - EXIT
+    if [ "$result" -ne 0 ]; then
+        echo "N7_CODEX_FIRMWARE_BUILD_FAILED exit=$result" >&2
+    fi
+    exit "$result"
+}
+trap report_failure EXIT
+
+export N7_BUILD_JOBS=1
+export CMAKE_BUILD_PARALLEL_LEVEL=1
+export MAKEFLAGS=-j1
+export NINJAFLAGS=-j1
+export OMP_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export RAYON_NUM_THREADS=1
+export GOMAXPROCS=1
+
+mkdir -p "$build_dir" "$output_dir"
+rm -rf "$generated_source"
+python3 "$workspace/tools/prepare_gcc_application_source.py" \
+    --source-root "$workspace/third_party/ZL-test-scripts" \
+    --project-root "$workspace" \
+    --output-root "$generated_source"
+test -s "$generated_source/src/main_cm0plus.c"
+test -s "$generated_source/src/ota_self_compose_plan.h"
+
+echo "N7_CODEX_FIRMWARE_BUILD_START cpu=1"
+taskset -c "$build_cpu" cmake \
+    -S "$workspace/firmware/gcc" -B "$task_build_dir" -G Ninja \
+    -DCMAKE_BUILD_TYPE=Debug \
+    -DCMAKE_TOOLCHAIN_FILE="$workspace/firmware/gcc/arm-none-eabi-toolchain.cmake" \
+    -DOTA_PROJECT_ROOT="$workspace" \
+    -DOTA_SDK_ROOT="$workspace/third_party/ZL-test-scripts/T2G_Sample_Driver_Library_7.9.0" \
+    -DOTA_SOURCE_ROOT="$workspace/third_party/ZL-test-scripts" \
+    -DOTA_GENERATED_SOURCE_ROOT="$generated_source" \
+    -DOTA_OUTPUT_DIR="$output_dir"
+taskset -c "$build_cpu" cmake --build "$task_build_dir" \
+    --target app_self_compose --parallel 1
+
+firmware="$output_dir/self-compose.raw.bin"
+test -s "$firmware"
+size=$(wc -c <"$firmware" | tr -d ' ')
+sha256=$(sha256sum "$firmware" | awk '{print $1}')
+echo "N7_CODEX_FIRMWARE_BUILD_OK cpu=1 bytes=$size sha256=$sha256"
+trap - EXIT