固件：R2 迁移 R-0 ~ R-6（底板 + 5 片同构刀片）

2026-09-16 完成、当时未提交，这里补提交（原样，不含 09-27 上板的修改）。

- 器件层 / 拓扑层整体从 R1 换到 R2：TCA9548A 分通道、五路同址 INA226 0x40 + 输入侧 0x43、
  刀片 PCA9555（VBUS_EN 挪到 P0.4）、CH224A 只读驱动、风扇闭环 t_thermal
- 新增 i2cbus（mux 原子事务）、slot（刀片 I/O 门面）、host/qtest.sh
- 74HC595 链退役（代码与测试保留）
- 判据阈值与时间常量未动；19 个 ctest 全绿，idf.py build 通过

Co-Authored-By: Claude Opus 5.5 <[email protected]>

firmware/host/CMakeLists.txt

@@ -24,10 +24,13 @@ set(PHONERAIL_CORE_SRCS
     ${FW_ROOT}/main/version.c
     ${FW_ROOT}/main/rail.c
     ${FW_ROOT}/main/rail_cfg.c
+    ${FW_ROOT}/main/i2cbus.c
+    ${FW_ROOT}/main/slot.c
     ${FW_ROOT}/main/sched.c
     ${FW_ROOT}/main/tasks.c
     ${FW_ROOT}/main/t_safety.c
     ${FW_ROOT}/main/t_actuator.c
+    ${FW_ROOT}/main/t_thermal.c
     ${FW_ROOT}/main/evlog.c
 )
 
@@ -54,6 +57,8 @@ set(PHONERAIL_DRV_SRCS
     ${PHONERAIL_DRV_DIR}/dac63204.c
     ${PHONERAIL_DRV_DIR}/sr595.c
     ${PHONERAIL_DRV_DIR}/pca9555.c
+    ${PHONERAIL_DRV_DIR}/tca9548a.c
+    ${PHONERAIL_DRV_DIR}/ch224a.c
 )
 
 add_library(phonerail_core STATIC

firmware/host/qtest.sh

@@ -0,0 +1,50 @@
+#!/usr/bin/env bash
+# 单个测试的「快编快跑」——给并行开工用（R2 迁移期间，别的测试可能还编不过，
+# host/test.sh 的 cmake GLOB 会被它们卡住）。
+#
+#   bash host/qtest.sh test_rail_cfg [test_slot ...]
+#
+# 它只编「core 源码 + unity + 你指定的那一个测试」，产物扔进 host/.q/，
+# 不碰 host/build，所以多个会话同时跑互不干扰。
+#
+# ⚠️ 全绿之后仍然要跑一次完整的 `bash host/test.sh` —— 那一份才是 DoD 认的。
+set -u
+cd "$(dirname "$0")/.." || exit 1
+
+OUT=host/.q
+mkdir -p "$OUT"
+
+INC="-Imain -Icomponents/phonerail_hal/include -Icomponents/phonerail_hal/sim
+     -Icomponents/drv/include -Ithird_party/unity"
+
+# app_main.c 是 ESP 专用入口，宿主机不编。
+CORE="main/version.c main/rail.c main/rail_cfg.c main/i2cbus.c main/slot.c
+      main/sched.c main/tasks.c main/t_safety.c main/t_actuator.c main/evlog.c"
+[ -f main/t_thermal.c ] && CORE="$CORE main/t_thermal.c"
+
+DRV="components/drv/ina226.c components/drv/dac63204.c components/drv/sr595.c
+     components/drv/pca9555.c components/drv/tca9548a.c components/drv/ch224a.c"
+
+HALDIR=components/phonerail_hal
+SIM="$HALDIR/hal_err.c $HALDIR/hal_i2c_acct.c
+     $HALDIR/sim/hal_lock_sim.c $HALDIR/sim/sim_hal.c $HALDIR/sim/hal_i2c_sim.c
+     $HALDIR/sim/hal_gpio_sim.c $HALDIR/sim/sim_sr595.c $HALDIR/sim/sim_pca9555.c
+     $HALDIR/sim/hal_pwm_sim.c $HALDIR/sim/hal_time_sim.c $HALDIR/sim/hal_store_sim.c"
+
+rc=0
+for t in "$@"; do
+    src="test/$t.c"
+    if [ ! -f "$src" ]; then
+        echo "!! 没有 $src"; rc=1; continue
+    fi
+    echo "=== $t ==="
+    # shellcheck disable=SC2086
+    if gcc -std=c11 -Wall -Wextra -Werror -g $INC \
+           "$src" third_party/unity/unity.c $CORE $DRV $SIM \
+           -o "$OUT/$t.exe"; then
+        "$OUT/$t.exe" || rc=1
+    else
+        rc=1
+    fi
+done
+exit $rc