feat: harden seat intent and expand HIL coverage

platforms/t2g_seat_bench/calibration/seat.yaml

@@ -16,6 +16,7 @@ protocol:
   stop_all_motor_selector: 0
   home_known_range_opcode: 11
   home_known_range_key: 19282
+  home_known_range_timeout_s: 120
   normalized_position_max: 10000
   # A full M0 stroke takes more than the firmware's legacy 12 s default.
   # Always send this override with Opcode 1 so every calibrated axis has
@@ -28,7 +29,10 @@ protocol:
   default_duty_percent: 90
   timed_duty_level_scale: 10
   timed_duty_min_duration_ms: 300
-  timed_duty_max_duration_ms: 8000
+  # User-specified duration commands are bounded per axis below.  A long
+  # request is clamped, but reaching a proven endpoint before the timer ends
+  # is a successful completion rather than a motion error.
+  timed_duty_max_duration_ms: 30000
   increase_direction: 1
   decrease_direction: 2
 axes:
@@ -41,6 +45,7 @@ axes:
     default_max_hall_count: 480
     default_timeout_ms: 12000
     timed_duty_ms_per_pct: 120
+    max_user_timed_duration_ms: 30000
     max_uncalibrated_relative_pct: 15
     hardware_verified: true
   seat.set_cushion_tilt:
@@ -54,6 +59,7 @@ axes:
     default_max_hall_count: 374
     default_timeout_ms: 8000
     timed_duty_ms_per_pct: 80
+    max_user_timed_duration_ms: 20000
     max_uncalibrated_relative_pct: 15
     hardware_verified: true
   seat.set_backrest_recline:
@@ -66,6 +72,7 @@ axes:
     default_max_hall_count: 917
     default_timeout_ms: 12000
     timed_duty_ms_per_pct: 120
+    max_user_timed_duration_ms: 30000
     max_uncalibrated_relative_pct: 15
     hardware_verified: true
   seat.set_legrest_height:
@@ -78,5 +85,6 @@ axes:
     default_max_hall_count: 647
     default_timeout_ms: 10000
     timed_duty_ms_per_pct: 100
+    max_user_timed_duration_ms: 25000
     max_uncalibrated_relative_pct: 15
     hardware_verified: true