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