feat: update CAN integration and T2G seat firmware

config/environments/t2g_seat_bench.example.yaml

@@ -3,9 +3,11 @@ platform: t2g_seat_bench
 execution:
   mode: hil
   hardware_enabled_env: COGNITIVE_AGENT_HARDWARE_EXECUTION_ENABLED
+  approval_token_required_env: COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED
   approval_token_env: COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN
   allowed_domain: seat
-  allowed_target_zones: [front_left, front_right]
+  allowed_target_zones: [front_right]
+  allowed_seat_instances: [passenger]
   physical_target_alias: t2g_primary_seat
 can:
   backend: zlgcan
@@ -17,13 +19,16 @@ firmware:
   valid_profiles: [combined]
   topology: one_board_unified_seat_controller
   repository_project: firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.ewp
-  identity_request: {frame_id: 0x304, data_hex: "53 45 41 54 01 00 00 00"}
-  identity_response: {frame_id: 0x305, data_hex: "53 45 41 54 01 01 00 3F"}
+  repository_vendor_dependencies: [firmware/t2g/common, firmware/t2g/tviibh8m]
+  verification: passive_301_302_303_304_305_4FA_and_max_hall
+  expected_max_hall: [480, 374, 917, 647]
   auto_flash_enabled_env: COGNITIVE_AGENT_SEAT_AUTO_FLASH_ENABLED
+  auto_flash_default_when_hardware_enabled: true
   programmer: iar_cspy_cmsisdap
 safety:
   stop_all_on_motion_error: true
   require_physical_feedback: true
-  longitudinal_motor3_enabled: false
-  cushion_tilt_enabled: false
-  shared_physical_target: true
+  passenger_only: true
+  auto_home_enabled_env: COGNITIVE_AGENT_SEAT_AUTO_HOME_ENABLED
+  auto_home_default: false
+  home_timeout_seconds_env: COGNITIVE_AGENT_SEAT_HOME_TIMEOUT_S

config/modes/vehicles/denza_n7/calf_decompression_float.yaml

@@ -36,6 +36,6 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 92
+      position_pct: 100
       angle_deg: 167
     reason: 小腿解压悬浮模式腿托电机目标 72 度，按腾势 N7 显示夹角换算。

config/modes/vehicles/denza_n7/cruise_sofa.yaml

@@ -35,6 +35,6 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 49
+      position_pct: 53
       angle_deg: 133
     reason: 巡航沙发模式腿托电机目标 38 度，按腾势 N7 显示夹角换算。

config/modes/vehicles/denza_n7/electric_beach_chair.yaml

@@ -36,7 +36,7 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 55
+      position_pct: 60
       angle_deg: 138
     reason: 电感沙滩椅腿托电机目标 43 度，按腾势 N7 显示夹角换算。
   - domain: climate

config/modes/vehicles/denza_n7/leisure_lounger.yaml

@@ -35,7 +35,7 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 71
+      position_pct: 76
       angle_deg: 150
     reason: 休闲躺椅模式腿托电机目标 55 度，按腾势 N7 显示夹角换算。
   - domain: climate

config/modes/vehicles/denza_n7/meditation_space.yaml

@@ -36,7 +36,7 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 54
+      position_pct: 58
       angle_deg: 137
     reason: 冥想空间模式腿托电机目标 42 度，按腾势 N7 显示夹角换算。
   - domain: climate

config/modes/vehicles/denza_n7/nap.yaml

@@ -13,30 +13,30 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 0
+      position_pct: 100
     reason: 小憩模式水平电机目标 0mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 0
+      position_pct: 100
     reason: 小憩模式坐盆电机目标。
   - domain: seat
     capability: seat.set_backrest_recline
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 0
-      angle_deg: 95
+      position_pct: 81
+      angle_deg: 150
     reason: 小憩模式靠背电机目标 0 度，按腾势 N7 显示夹角换算。
   - domain: seat
     capability: seat.set_legrest_height
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 0
-      angle_deg: 95
+      position_pct: 94
+      angle_deg: 163
     reason: 小憩模式腿托电机目标 0 度，按腾势 N7 显示夹角换算。
   - domain: climate
     capability: climate.set_temperature

config/modes/vehicles/denza_n7/office.yaml

@@ -35,7 +35,7 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 19
+      position_pct: 21
       angle_deg: 110
     reason: 办公模式腿托电机目标 15 度，按腾势 N7 显示夹角换算。
   - domain: climate

config/modes/vehicles/denza_n7/queen_passenger_driving.yaml

@@ -36,7 +36,7 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 28
+      position_pct: 31
       angle_deg: 117
     reason: 女王副驾腿托电机目标 22 度，按腾势 N7 显示夹角换算。
   - domain: climate

config/modes/vehicles/denza_n7/zero_gravity.yaml

@@ -38,6 +38,6 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 87
+      position_pct: 94
       angle_deg: 163
     reason: 零重力模式腿托电机目标 68 度，按腾势 N7 显示夹角换算。

config/vehicles/denza_n7.yaml

@@ -27,16 +27,16 @@ seat:
         kind: included_angle
         zero_deg: 95
         max_deg: 163
-        provisional: true
+        provisional: false
     legrest_height:
       name: 腿托
       unit: degree
-      range: 78
+      range: 72
       reference_zero: retracted
       positive_direction: raise
       hall_total_pulses: 647
       display_angle:
         kind: included_angle
         zero_deg: 95
-        max_deg: 173
-        provisional: true
+        max_deg: 167
+        provisional: false