feat: harden seat intent and expand HIL coverage

firmware/t2g/Seat_Controller_demo/App/seat_motor_manager.c

@@ -915,14 +915,22 @@ bool SeatMotor_CalibrateRange(motor_mode_t mode,
                               uint32_t commandSequence)
 {
     motor_calibration_result_t result;
+    uint8_t dutyPercent;
 
     if((false == SeatMotor_ModeValid(mode)) || (0ul == legTimeoutMs))
     {
         return false;
     }
+    /* The connected four-axis bench needs the same verified loaded duty used
+     * by normal absolute moves and known-range homing.  The protocol minimum
+     * (50%) cannot reliably start M0/M1 at a loaded endpoint; using it makes
+     * the first quiet window look like an endpoint and invalidates an
+     * otherwise healthy calibration.  Hall endpoint, timeout and current
+     * protections remain active throughout both legs. */
+    dutyPercent = SeatMotor_DefaultDutyPercent(mode);
     if((false == SeatMotor_PrepareNewTask(mode, commandSequence)) ||
        (MOTOR_API_SUCCESS != Motor_SetFixedDutyPercent(
-                                mode, MOTOR_SPEED_MIN_DUTY_PERCENT)))
+                                mode, dutyPercent)))
     {
         SeatMotor_SetFailed(mode, SEAT_MOTOR_RESULT_CALIBRATION_FAILED);
         return false;