feat: continuous sensor sampling (10Hz attitude) + LoRa on-demand power + I2C driver hardening

- LSM6DSL: ODR 12.5->52Hz high-performance, gyro FS 2000->500dps, FIFO stream mode,
  watermark 4 sets (24 words) interrupt driven, 4-sample average output 13Hz,
  1s no-data watchdog auto recovery
- MMC5983: enable 20Hz continuous measurement mode (was dead code), remove per-read SW_RST,
  STATUS polling + INT dual path, write-1-clear Meas_M_Done to release INT latch,
  2-sample average output 10Hz, timeout auto recovery
- I2C driver: add wait timeout and state machine retry limit to read/write,
  NACK fast-return FALSE, eliminate bus-stuck infinite loop
- main.c: continuous acquire loop (no IDLE dead-end on first failure),
  keep UpdateOk valid to fix up/coll command race, TimingAcquisition compatible with
  continuous mode, add LoraPowerHandler (LoRa RX during comm, sleep otherwise, saves ~10mA),
  remove 10Hz hot-path debug prints
- Attitude update ~10Hz (IMU 13Hz / mag 10Hz), gateway upload cadence unchanged

source/src/main.c

@@ -235,20 +235,21 @@ static void ReadDataLoopHandler(void)
    	break;}
 		
 		case READDATA_STATUS_UPDAING:{
-			DATA_DBG_LOG("<------------ Sensor Data Updaing ------------> \r\n");
-			App.UpdateOk = false;
+			//持续采集模式下UpdateOk不在启动时清零:上一轮数据仍有效,拿到新数据后才覆盖
+			//否则在两轮数据的间隙(约100ms)键入up/coll会误报"Device data is not ready"
 			Lsm6dsStart();
 			MMC5983Start();
 			App.ReadData1mSDelayCnt = 2000;
 			App.RDStatus = READDATA_STATUS_WAIT_UPDAING;
    	break;}
-		
+
 		case READDATA_STATUS_WAIT_UPDAING:{
 			if(App.ReadData1mSDelayCnt <= 0){
 				if(App.AccRead_EndFlag == false)
-					DATA_DBG_LOG("Lsm6dsl Get Data TimeOut...\r\n");								
+					DATA_DBG_LOG("Lsm6dsl Get Data TimeOut...\r\n");
 				if(App.MagRead_EndFlag == false)
 					DATA_DBG_LOG("MMC5983 Get Data TimeOut...\r\n");
+				App.UpdateOk = false;		//超时:数据不可信
 				App.RDStatus = READDATA_STATUS_DATA_HANDLE;
 			}
 			else if(App.MagRead_EndFlag == true
@@ -256,22 +257,20 @@ static void ReadDataLoopHandler(void)
 				App.RDStatus = READDATA_STATUS_DATA_HANDLE;
 			}
 		break;}
-		
+
 		case READDATA_STATUS_DATA_HANDLE:{
 			if(App.MagRead_EndFlag == false || App.AccRead_EndFlag == false){
-				DATA_DBG_LOG("<------------ Sensor Data Upda End ------------> \r\n");
-				App.RDStatus = READDATA_STATUS_IDLE;
-				App.UpdateOk = false;
+				//有传感器超时未出数:回到采集状态持续重试(启动函数幂等,不会重复初始化)
+				App.RDStatus = READDATA_STATUS_UPDAING;
 				break;
 			}
 			App.MagRead_EndFlag = false;
 			App.AccRead_EndFlag = false;
-			
+
 			IMU_Update(0, App.Sensor.acce, App.Sensor.mag, &App.AHRSData.Rad, &App.AHRSData.Deg);
 			App.ConvertedData.Pitch = (int16_t)(App.AHRSData.Deg.pitch * 10);
 			App.ConvertedData.Roll = (int16_t)(App.AHRSData.Deg.roll * 10);
 			App.ConvertedData.Yaw = (int16_t)(App.AHRSData.Deg.yaw * 10);
-			DATA_DBG_LOG("PitchAngle:%06.1f, RollAngle:%06.1f, YawAngle:%06.1f\r\n",App.AHRSData.Deg.pitch, App.AHRSData.Deg.roll, App.AHRSData.Deg.yaw);
 			
 			if(SGCP.MasterCaliOk == true)
 			{
@@ -317,9 +316,9 @@ static void ReadDataLoopHandler(void)
 #endif
 			
 			memcpy(LocalDataPack, &SGCP.DevData.LaserTracing, sizeof(LocalDataPack));
-			DATA_DBG_LOG("<------------ Sensor Data Upda End ------------> \r\n");
+			//DATA_DBG_LOG("<------------ Sensor Data Upda End ------------> \r\n");	//10Hz循环打印会阻塞9600调试串口,屏蔽
 			//App.RDStatus = READDATA_STATUS_UPDAING;//持续工作
-			App.RDStatus = READDATA_STATUS_IDLE;
+			App.RDStatus = READDATA_STATUS_UPDAING;//持续采集,姿态数据保持10Hz更新(上传网关节奏不变,仍由UploadFlag定时器控制)
 			App.UpdateOk = true;
    	break;}
    }
@@ -352,6 +351,34 @@ bool IsFullPowerTime(void)
 	return false;
 }
 
+/*****************************************************************************************
+* 函数名称: LoraPowerHandler
+* 功能描述: LoRa按需供电管理(设备为主动上报模式):
+*						仅在与网关通信期间(GWStatus非IDLE,含注册/上传/信号查询/激光响应)开启LoRa接收,
+*						通信结束回到IDLE立即休眠LoRa,平时不耗电。
+*						单片机/加速度/地磁不受影响,保持持续采集。
+* 参    数: 无
+* 返 回 值: 无
+*****************************************************************************************/
+static void LoraPowerHandler(void)
+{
+	static bool LoraPowerOn = true;		//开机BspInit已开启,初值true
+	bool NeedLora;
+
+	NeedLora = (SGCP.GWStatus != GW_STATUS_IDLE);
+
+	if(NeedLora == true && LoraPowerOn == false) {
+		LoraPowerOn = true;
+		Sx1276LoRaWakeup();				//进入接收模式
+		LORAIntEnable();					//开启LORA中断
+	}
+	else if(NeedLora == false && LoraPowerOn == true) {
+		LoraPowerOn = false;
+		LORAIntDisable();					//关闭LORA中断
+		Sx1276LoRaSleep();				//LoRa休眠,平时不耗电
+	}
+}
+
 static void AppLoopHandler(void)
 {
 	switch(App.Status) {
@@ -393,14 +420,16 @@ static void AppLoopHandler(void)
 				SGCP.GWStatus = GW_STATUS_LOGIN;//注册
 				App.Status = APP_STATUS_WAIT_LOGIN;
 			}
-			else if(SGCP.TimingAcquisition == true && App.RDStatus == READDATA_STATUS_IDLE)//设备数据获取
-			{
+			else if(SGCP.TimingAcquisition == true)//设备数据获取(持续采集模式下RDStatus常驻非IDLE,采集请求视为已被满足)
+		{
+			SGCP.TimingAcquisition = false;
+			if(App.RDStatus == READDATA_STATUS_IDLE){
 				PrintfMess();
-				SGCP.TimingAcquisition = false;
 				App.RDStatus = READDATA_STATUS_UPDAING;
 				App.Status = APP_STATUS_ACTION;
 				App.TD1mSDelayCnt = 1000;
 			}
+		}
 			else if(SGCP.LoginOk == true && App.UploadFlag == true && SGCP.GWStatus == GW_STATUS_IDLE && App.UpdateOk == true)
 			{
 				PrintfMess();
@@ -561,6 +590,7 @@ int32_t main(void)
 	//09 00 01 00 00 00
 	
 	while (1) {
+		LoraPowerHandler();//LoRa按需供电:通信时开,平时休眠
 #if(USE_VBAT_AD == 1)
 		ADCLoopHandler();
 #endif