firmware/c_board/app/src/app.cpp (1)

86-86: 建议明确 Line 86 的 no-op 调用意图。

Line 86 当前调用 i2c::i2c0->update()，但 firmware/c_board/app/src/i2c/i2c.hpp 的 update() 为空实现。建议加注释说明“保留扩展点”，避免后续维护误判。

可选改进示例

-        i2c::i2c0->update();
+        // Keep this call as an extension point for future non-blocking I2C work.
+        i2c::i2c0->update();

🤖 Prompt for AI Agents

Verify each finding against the current code and only fix it if needed.

In `@firmware/c_board/app/src/app.cpp` at line 86, 在调用 i2c::i2c0->update() 的位置（当前在
app.cpp 第 86 行）明确说明这是一处空实现的保留扩展点：在调用旁边添加注释，注明 i2c::I2C::update() 在
firmware/c_board/app/src/i2c/i2c.hpp
中目前为空实现、用于未来扩展或平台特定实现，并指明不要删除或误以为是忘写逻辑；同时报错/断言等不可行时保持调用以便兼容未来实现。

host/include/librmcs/agent/rmcs_board.hpp (1)

75-85: 考虑添加 [[unlikely]] 属性以保持一致性。

c_board.hpp 中的 i2c0_write 和 i2c0_read 方法在错误条件上使用了 [[unlikely]] 属性，但此文件缺少该属性。建议保持两个 board 实现的一致性。

♻️ 建议的修改

     PacketBuilder& i2c0_write(const librmcs::data::I2cDataView& data) {
-        if (data.payload.empty() || !builder_.write_i2c(data::DataId::kI2c0, data))
+        if (data.payload.empty() || !builder_.write_i2c(data::DataId::kI2c0, data)) [[unlikely]]
             throw std::invalid_argument{"I2C0 write failed: Invalid I2C data"};
         return *this;
     }

     PacketBuilder& i2c0_read(const librmcs::data::I2cReadConfigView& data) {
-        if (data.read_length == 0 || !builder_.write_i2c_read_config(data::DataId::kI2c0, data))
+        if (data.read_length == 0 || !builder_.write_i2c_read_config(data::DataId::kI2c0, data))
+            [[unlikely]]
             throw std::invalid_argument{"I2C0 read failed: Invalid I2C read config"};
         return *this;
     }

🤖 Prompt for AI Agents

Verify each finding against the current code and only fix it if needed.

In `@host/include/librmcs/agent/rmcs_board.hpp` around lines 75 - 85, The error
branches in PacketBuilder::i2c0_write and PacketBuilder::i2c0_read lack the
[[unlikely]] attribute used in the c_board.hpp equivalent; update the
conditional checks so the throw paths are annotated with [[unlikely]] (i.e.,
mark the failing condition as unlikely when checking data.payload.empty() or
data.read_length == 0 and the builder_.write_* calls) to match the other board
implementation and maintain consistency between i2c0_write and i2c0_read error
branches.

firmware/c_board/app/src/i2c/i2c.hpp (1)

28-40: 空 payload 静默返回 vs 发送错误通知 - 建议对齐行为。

当 payload.empty() 时，此方法静默返回（line 29-30），而当 payload.size() > kMaxDataLength 时发送错误通知（line 32-35）。

对比 rmcs_board 版本的 handle_downlink_write（同样静默返回），两者行为一致。但从协议角度，主机端可能期望收到反馈。如果这是预期行为（空写入不是错误），可以添加注释说明设计意图。

🤖 Prompt for AI Agents

Verify each finding against the current code and only fix it if needed.

In `@firmware/c_board/app/src/i2c/i2c.hpp` around lines 28 - 40, The function
handle_downlink_write currently returns silently when data.payload.empty() but
sends an error when payload.size() > kMaxDataLength, causing inconsistent host
feedback; update handle_downlink_write to either call
write_error(data.slave_address) for empty payloads to align behavior with
oversized payloads, or add a clear code comment above the empty-payload check
explaining that an empty write is intentionally treated as a no-op and not an
error (and reference write_error, kMaxDataLength, and write_blocking in the
comment to clarify the contract).

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

firmware/c_board/bsp/cubemx/Core/Src/dma.c (1)

47-61: 建议将新增段落调整为 4 空格缩进以符合仓库规范。

当前新增 NVIC 配置仍是 2 空格缩进；建议在本次改动中统一为 4 空格，避免后续格式漂移。

As per coding guidelines "Use 4 space indentation with 100 column width limit".

🤖 Prompt for AI Agents

Verify each finding against the current code and only fix it if needed.

In `@firmware/c_board/bsp/cubemx/Core/Src/dma.c` around lines 47 - 61, The newly
added NVIC configuration lines use 2-space indentation; update the block so each
line is indented with 4 spaces to match the repository style. Locate the calls
to HAL_NVIC_SetPriority and HAL_NVIC_EnableIRQ (e.g., for DMA1_Stream1_IRQn,
DMA1_Stream2_IRQn, DMA1_Stream3_IRQn, DMA1_Stream7_IRQn, DMA2_Stream0_IRQn) in
dma.c and reformat those lines to use 4-space leading indentation consistently.

firmware/rmcs_board/app/src/i2c/i2c.hpp (1)

41-51: 为 HAL I2C 写接口参数添加注释说明，或考虑使用可写缓冲区副本。

payload 来自 std::span<const std::byte>（只读），通过 const_cast 传给 i2c_master_write() 和 i2c_master_address_write() 时，隐含依赖 HPM I2C 驱动"不会修改发送缓冲区"的契约。HPM SDK 的 API 设计（使用 uint8_t* 而非 const uint8_t*）导致这种类型转换必要，但缺乏文档保证。建议：(1) 参考 interrupt_safe_buffer.hpp:99 的模式，添加 NOLINT 和注释说明原因，或 (2) 改为拷贝到内部可写缓冲区再调用驱动。

🤖 Prompt for AI Agents

Verify each finding against the current code and only fix it if needed.

In `@firmware/rmcs_board/app/src/i2c/i2c.hpp` around lines 41 - 51, The code
const_casts a read-only payload (payload from std::span<const std::byte>) and
passes it to i2c_master_write / i2c_master_address_write, relying on an
undocumented driver promise not to modify the buffer; fix by either (A) making
the contract explicit: add a clear comment above the const_cast referencing
payload, i2c_master_write, and i2c_master_address_write and add an appropriate
NOLINT suppression exactly where const_cast is used, or (B) eliminate the
const_cast by copying the payload into a local writable buffer (e.g.,
std::vector<uint8_t> or an interrupt-safe buffer) and pass that buffer's data to
i2c_master_write / i2c_master_address_write; implement one of these two options
and ensure reg_address handling stays the same when calling
i2c_master_address_write.