fix：resident 字段修复（误伤了，重新放开）

feat：增加防抖功能。

src/radar_manager.cpp

@@ -24,6 +24,8 @@ RadarManager::RadarManager()
     , _stablePresence(false)
     , _presenceCnt(0)
     , _lastRawPresence(false)
+    , _motionCnt(0)
+    , _lastRawMotion(false)
 {
     memset(&_currentFrame, 0, sizeof(_currentFrame));
     memset(&_data, 0, sizeof(_data));
@@ -241,7 +243,13 @@ void RadarManager::_processCompleteFrame() {
         _extractHeartRate(_currentFrame);
         break;
     case CTRL_FALL:
+#if RADAR_TYPE == RADAR_TYPE_AFD1
         _extractFall(_currentFrame);    // AFD1 专用跌倒
+#else
+        // ABD1 不会发 0x83 帧, 若收到可能是干扰, 直接丢弃
+        (void)_currentFrame;
+#endif
+        break;
         break;
     case CTRL_SLEEP:
         _extractSleep(_currentFrame);
@@ -282,7 +290,8 @@ void RadarManager::_extractPresence(const RadarFrame& frame) {
     // cmd 0x01 (len=1): 运动状态/体动 (值越大越活跃)
     else if (frame.command == 0x01 && frame.data_length >= 1) {
         _data.body       = raw;
-        _data.motion     = (raw >= 1);
+        bool rawMotion   = (raw >= 1);
+        _filterMotion(rawMotion);  // 3 帧防抖
         _data.radarValid = true;
         _data.lastUpdate = millis();
         _notifyUpdate();
@@ -297,14 +306,16 @@ void RadarManager::_extractPresence(const RadarFrame& frame) {
     // cmd 0x04 (len=2): [0]=presence [1]=motion
     else if (frame.command == 0x04 && frame.data_length >= 2) {
         rawPresence = (frame.data[0] != 0);
-        _data.motion = (frame.data[1] == 0);
+        bool rawMotion = (frame.data[1] == 0);
+        _filterMotion(rawMotion);  // 3 帧防抖
         _data.radarValid = true;
         _data.lastUpdate = millis();
     }
     // cmd 0x05 (len=6): 完整包
     else if (frame.command == 0x05 && frame.data_length >= 6) {
         rawPresence = (frame.data[0] != 0);
-        _data.motion     = (frame.data[1] == 0);
+        bool rawMotion = (frame.data[1] == 0);
+        _filterMotion(rawMotion);  // 3 帧防抖
         _data.distance   = ((uint16_t)frame.data[2] << 8) | frame.data[3];
         _data.body       = frame.data[4];
         _data.radarValid = true;
@@ -386,10 +397,33 @@ void RadarManager::_extractSleep(const RadarFrame& frame) {
     }
 
     if (frame.data_length >= 4) {
+#if RADAR_TYPE == RADAR_TYPE_AFD1
+        // AFD1 协议: data[3] 低 2 位 = 跌倒/驻留
         _data.fall     = (frame.data[3] & 0x01) != 0;
         _data.resident = (frame.data[3] & 0x02) != 0;
         _data.lastUpdate = millis();
         _notifyUpdate();
+#else
+        // ABD1 协议: data[3] bit0 是睡眠状态标志 (不是跌倒), bit1 才是驻留
+        // 之前误把 bit0 当 fall 触发误报, 现只取 resident
+        _data.resident = (frame.data[3] & 0x02) != 0;
+        _data.lastUpdate = millis();
+        _notifyUpdate();
+#endif
+    }
+}
+
+// 运动状态防抖: 连续 3 帧一致才更新 _data.motion
+// 雷达体动信号容易因小幅抖动/呼吸胸腔起伏/电磁干扰在 0/1 之间跳变
+void RadarManager::_filterMotion(bool rawMotion) {
+    if (rawMotion == _lastRawMotion) {
+        if (_motionCnt < 3) _motionCnt++;
+    } else {
+        _motionCnt = 0;
+        _lastRawMotion = rawMotion;
+    }
+    if (_motionCnt >= 3 && rawMotion != _data.motion) {
+        _data.motion = rawMotion;
     }
 }