fix：resident 字段修复（误伤了，重新放开）

feat：增加防抖功能。

include/config.h

@@ -19,7 +19,7 @@
 // --- 雷达型号选择 ---
 #define RADAR_TYPE_ABD1       0   // R60ABD1: 心率/呼吸精准, 跌倒一般
 #define RADAR_TYPE_AFD1       1   // R60AFD1: 跌倒/姿态精准, 无心率呼吸
-#define RADAR_TYPE            RADAR_TYPE_AFD1 // AFD1 (跌倒/姿态精准, 卫生间用)
+#define RADAR_TYPE            RADAR_TYPE_ABD1 // AFD1 (跌倒/姿态精准, 卫生间用)
 
 // --- 毫米波雷达 ---
 #define RADAR_UART_PORT       Serial2
@@ -132,7 +132,7 @@
 #define HEART_RATE_MIN        50
 #define HEART_RATE_MAX        120
 #define BREATH_RATE_MIN       10
-#define BREATH_RATE_MAX       28
+#define BREATH_RATE_MAX       26
 #define TEMP_LOW              5.0f
 #define TEMP_HIGH             45.0f
 #define HUMI_LOW              15.0f

include/radar_manager.h

@@ -74,6 +74,7 @@ private:
     void _extractSleep(const RadarFrame& frame);
     void _extractWorkStatus(const RadarFrame& frame);
     void _extractDetectRange(const RadarFrame& frame);
+    void _filterMotion(bool rawMotion);  // 运动状态 3 帧去抖
 
     uint8_t _calcChecksum(const uint8_t* data, uint16_t len);
     void _notifyUpdate();
@@ -95,6 +96,10 @@ private:
     bool            _stablePresence;  // 防抖后的稳定有人/无人
     uint8_t         _presenceCnt;     // 连续一致计数
     bool            _lastRawPresence; // 上一次原始值
+
+    // 运动状态防抖 (体动信号常因小动作抖动, 加 3 帧持续才确认)
+    uint8_t         _motionCnt;       // 连续一致计数
+    bool            _lastRawMotion;   // 上一次原始值
 };
 
 #endif // RADAR_MANAGER_H

src/main.cpp

@@ -66,12 +66,14 @@ bool     g_fallDismissed     = false;  // 已手动解除, 不重复报警
 uint32_t g_vitalLostMs       = 0;      // 生命体征丢失持续计时 (ms)
 bool     g_vitalLostActive   = false;  // 生命体征丢失报警激活
 bool     g_vitalLostDismissed = false; // 生命体征丢失解除抑制
+uint32_t g_stillMs           = 0;      // 持续静默计时 (清醒时即使雷达误判, 持续有体动会重置)
 #define ALARM_HYSTERESIS      3       // 连续3次确认才触发
 #define FALL_DETECT_MS        10000   // 跌倒持续10秒才触发 (房顶安装, 过滤坐下)
 #define FALL_CLEAR_MS         18000   // 跌倒消失18秒后才清除 (防误消)
 #define VITAL_DETECT_MS       20000   // 心率/呼吸持续异常20秒才触发
 #define VITAL_CLEAR_MS        15000   // 心率/呼吸持续正常15秒才恢复
 #define VITAL_LOST_MS         60000   // 在床但心率呼吸持续为0达60秒 → 疑似骤停
+#define SLEEP_QUIET_MS        300000  // 需持续5分钟静默才上报睡眠评分 (清醒坐着会被雷达误判, 靠这个过滤)
 
 // ============================================================
 // 时间同步
@@ -270,8 +272,20 @@ TelemetryData buildTelemetry(const RadarRawData& radar) {
     t.breathRate = radar.breathRate;
     t.body       = radar.body;
     t.sleepState = radar.sleepState;
-    // 清醒时不报睡眠评分 (雷达此时的值是残留/无意义), 避免误导
+    // 清醒时不报睡眠评分:
-    t.sleepScore = (radar.resident && radar.sleepState != 0) ? radar.sleepScore : 0;
+    //  - radar.resident=false 人离床 → 必然清醒
+    //  - radar.sleepState==0 雷达说清醒 → 不报
+    //  - 持续静默 < 5 分钟 → 可能是清醒坐着被误判, 也不报
+    //  这道闸门防止雷达误判深睡时上报误导评分
+    if (radar.body > 0) {
+        g_stillMs = 0;  // 有体动, 重置静默计时 (人在清醒活动)
+    } else if (g_stillMs == 0) {
+        g_stillMs = millis();
+    }
+    bool sleepConfirmed = (radar.resident && radar.sleepState != 0 &&
+                           radar.vitalValid &&
+                           millis() - g_stillMs >= SLEEP_QUIET_MS);
+    t.sleepScore = sleepConfirmed ? radar.sleepScore : 0;
     t.radarValid = radar.radarValid;
     t.vitalValid = radar.vitalValid;
 

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;
     }
 }