feat：增加蓝牙配网功能

src/radar_manager.cpp

@@ -19,6 +19,11 @@ RadarManager::RadarManager()
     , _callback(nullptr)
     , _frameCount(0)
     , _errorCount(0)
+    , _lastHeartBeat(0)
+    , _lastBreathBeat(0)
+    , _stablePresence(false)
+    , _presenceCnt(0)
+    , _lastRawPresence(false)
 {
     memset(&_currentFrame, 0, sizeof(_currentFrame));
     memset(&_data, 0, sizeof(_data));
@@ -43,6 +48,9 @@ bool RadarManager::begin() {
     _resetParser();
     memset(&_data, 0, sizeof(_data));
     _data.lastUpdate = millis();
+    _stablePresence = false;
+    _presenceCnt = 0;
+    _lastRawPresence = false;
 
     // 不给雷达发任何命令，让它自己初始化并开始自动上报
     // R60ABD1 上电后通常需要 15-30 秒自检，之后自动输出数据
@@ -68,6 +76,16 @@ void RadarManager::loop() {
         Serial.printf("[雷达] ✅ 开始接收数据 (首帧)\n");
     }
 
+    // 心率/呼吸数据过期 (>10秒无更新 → 标记无效)
+    if (millis() - _lastHeartBeat > 10000) {
+        _data.vitalValid = false;
+        _data.heartRate  = 0;
+    }
+    if (millis() - _lastBreathBeat > 10000) {
+        _data.vitalValid = false;
+        _data.breathRate = 0;
+    }
+
     // 超时检测：如果 10 秒还没收到任何数据，打印一次
     static uint32_t noDataWarn = 0;
     if (_frameCount == 0 && millis() - _data.lastUpdate > 10000) {
@@ -222,6 +240,9 @@ void RadarManager::_processCompleteFrame() {
     case CTRL_HEART_RATE:
         _extractHeartRate(_currentFrame);
         break;
+    case CTRL_FALL:
+        _extractFall(_currentFrame);    // AFD1 专用跌倒
+        break;
     case CTRL_SLEEP:
         _extractSleep(_currentFrame);
         break;
@@ -250,47 +271,60 @@ void RadarManager::_processCompleteFrame() {
 
 void RadarManager::_extractPresence(const RadarFrame& frame) {
     uint8_t raw = frame.data_length > 0 ? frame.data[0] : 0;
+    bool rawPresence = false;
 
     // cmd 0x00 (len=1): 有人状态 (1=有人 0=无人)
     if (frame.command == 0x00 && frame.data_length >= 1) {
-        _data.presence   = (raw == 1);
+        rawPresence = (raw == 1);
         _data.radarValid = true;
         _data.lastUpdate = millis();
-        _notifyUpdate();
     }
     // 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;         // 0=静止, 1+=有体动
-        _data.motion     = (raw >= 1);  // >=1 有运动
+        _data.body       = raw;
+        _data.motion     = (raw >= 1);
         _data.radarValid = true;
         _data.lastUpdate = millis();
         _notifyUpdate();
+        return;  // 运动帧不含有人信息, 跳过防抖
     }
     // cmd 0x03 (len=1): 有人状态备用 (非0=有人)
     else if (frame.command == 0x03 && frame.data_length >= 1) {
-        _data.presence   = (raw != 0);
+        rawPresence = (raw != 0);
         _data.radarValid = true;
         _data.lastUpdate = millis();
-        _notifyUpdate();
     }
     // cmd 0x04 (len=2): [0]=presence [1]=motion
     else if (frame.command == 0x04 && frame.data_length >= 2) {
-        _data.presence   = (frame.data[0] != 0);
-        _data.motion     = (frame.data[1] == 0);
+        rawPresence = (frame.data[0] != 0);
+        _data.motion = (frame.data[1] == 0);
         _data.radarValid = true;
         _data.lastUpdate = millis();
-        _notifyUpdate();
     }
     // cmd 0x05 (len=6): 完整包
     else if (frame.command == 0x05 && frame.data_length >= 6) {
-        _data.presence   = (frame.data[0] != 0);
+        rawPresence = (frame.data[0] != 0);
         _data.motion     = (frame.data[1] == 0);
         _data.distance   = ((uint16_t)frame.data[2] << 8) | frame.data[3];
         _data.body       = frame.data[4];
         _data.radarValid = true;
         _data.lastUpdate = millis();
-        _notifyUpdate();
+    } else {
+        return;  // 未知命令
     }
+
+    // 防抖: 连续 PRESENCE_HYSTERESIS 次一致才更新
+    if (rawPresence == _lastRawPresence) {
+        if (_presenceCnt < PRESENCE_HYSTERESIS) _presenceCnt++;
+    } else {
+        _presenceCnt = 0;
+        _lastRawPresence = rawPresence;
+    }
+    if (_presenceCnt >= PRESENCE_HYSTERESIS && rawPresence != _data.presence) {
+        _data.presence = rawPresence;
+        _stablePresence = rawPresence;
+    }
+    _notifyUpdate();
 }
 
 void RadarManager::_extractBreathing(const RadarFrame& frame) {
@@ -299,8 +333,9 @@ void RadarManager::_extractBreathing(const RadarFrame& frame) {
         if (rate != 0x80 && rate != 0x00 && rate <= 40) {
             _data.breathRate  = rate;
             _data.vitalValid  = true;
-            _data.presence    = true;   // 有呼吸=有人
+            _data.presence    = true;
             _data.radarValid  = true;
+            _lastBreathBeat   = millis();
         }
         _data.lastUpdate  = millis();
         _notifyUpdate();
@@ -313,14 +348,25 @@ void RadarManager::_extractHeartRate(const RadarFrame& frame) {
         if (rate != 0x80 && rate != 0x00 && rate >= 40) {
             _data.heartRate   = rate;
             _data.vitalValid  = true;
-            _data.presence    = true;   // 有心跳=有人
+            _data.presence    = true;
             _data.radarValid  = true;
+            _lastHeartBeat    = millis();
         }
         _data.lastUpdate  = millis();
         _notifyUpdate();
     }
 }
 
+// AFD1 专用: 跌倒检测 (控制字 0x83)
+void RadarManager::_extractFall(const RadarFrame& frame) {
+    if (frame.data_length >= 1) {
+        _data.fall       = (frame.data[0] != 0);
+        _data.radarValid = true;
+        _data.lastUpdate = millis();
+        _notifyUpdate();
+    }
+}
+
 void RadarManager::_extractSleep(const RadarFrame& frame) {
     // 从睡眠数据提取: cmd=0x00/0x01 为入床离床状态
     if (frame.data_length >= 1) {