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:

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:

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:

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:

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

#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),
};

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