kaidokert / rm32 / 25089499009

64%

main: 63%

Build Type

Pull #3

github

Committed by kaidokert

Commit Message

Address PR #3 review: SharedComm atomics for forward/duty_cycle,
remove with_isr_state hack, fix 10 issues

Architecture fix: process_input() now takes only &SharedComm — no ISR
borrows. Direction (forward) and duty cycle published as SharedComm
atomics. ISR syncs forward from shared at tick start, publishes
duty_cycle at tick end. Firmware main loop no longer needs
with_isr_state critical section for input processing.

Critical fixes:
- Stuck rotor latch clears adjusted_input+newinput (was only input)
- tim1_arr published unconditionally (variable_pwm=0 was broken)
- Firmware main loop calls process_input via SharedComm only
- Servo bidirectional sets adjusted_input (was falling through)

Code quality:
- Magic numbers replaced: THROTTLE_MIN_SIGNAL, STARTUP_ZC_BASE,
  SINE_DEAD_BAND, SINE_MID_THROTTLE, SINE_SLOW_STEP_MIN
- TestShared has full Cell backing for all Main→ISR channels
- DShot telemetry flag wired from shared state

Pull Request Pull Request #3: Make harness test actual firmware code

Coverage Stats

346 of 1019 new or added lines in 8 files covered. (33.95%)

40 existing lines in 3 files now uncovered.

2837 of 4773 relevant lines covered (59.44%)

588.66 hits per line