更新了手动模式dp2的三种控制逻辑，加入了存储指令的设计可以达到实时控制的效果，鸟叫声设置为默认开启方便演示

apps/usr_app/app_mode.c

@@ -28,6 +28,7 @@ typedef struct {
     uint8_t initialized;
     uint8_t active;
     uint8_t output_valid;
+    uint8_t upper_only;          /* 1=只输出上电机，下电机恒停 */
     uint8_t upper_phase;
     uint8_t lower_pattern;
     uint8_t lower_segment;
@@ -270,8 +271,10 @@ static void app_mode5_process(uint32_t now_ms)
             app_mode5_select_lower_pattern(now_ms);
         }
     }
-    app_mode_outputs_set(s_mode.upper_direction, s_mode.upper_speed,
-                         s_mode.lower_direction, MAGIC_BOX_HIGH_PERCENT);
+        app_mode_outputs_set(s_mode.upper_direction, s_mode.upper_speed,
+                         s_mode.upper_only ? BSP_MOTOR_STOP : s_mode.lower_direction,
+                         s_mode.upper_only ? 0 : MAGIC_BOX_HIGH_PERCENT);
+
 }
 
 AppMode_Ret_t app_mode_init(void)
@@ -297,12 +300,13 @@ AppMode_Ret_t app_mode_start(uint8_t mode)
     if (!s_mode.initialized) {
         return APP_MODE_ERR_NOT_INIT;
     }
-    if (mode < 1 || mode > 5) {
+    if (mode < 1 || mode > APP_MODE_UPPER_ONLY) {   /* 放宽到 6 */
         app_mode_stop();
         return APP_MODE_ERR_PARAM;
     }
 
-    s_mode.active = mode;
+    s_mode.upper_only = (mode == APP_MODE_UPPER_ONLY);
+    s_mode.active = s_mode.upper_only ? 5 : mode;  /* 内部仍按模式 5 跑 */
     app_mode_start_current(timer_get_ms());
     log_info("magic box mode %d start\n", mode);
     return APP_MODE_OK;
@@ -311,6 +315,7 @@ AppMode_Ret_t app_mode_start(uint8_t mode)
 void app_mode_stop(void)
 {
     s_mode.active = 0;
+    s_mode.upper_only = 0;  
     s_mode.output_valid = 0;
     bsp_drive_stop();
 }