kaidokert / rm32 / 25092173844

62%

main: 63%

Build Type

Pull #4

github

Committed by kaidokert

Commit Message

Fix 6 critical plumbing bugs from PR #4 review

Signal pipeline fixes (every exit path publishes to SharedComm):
- Sine-start mapping now publishes shaped value back to adjusted_input
  (was writing to local only — ISR never saw the sine curve)
- Stuck rotor latch check moved before bidir mapping (catches earlier)
- Brake-on-stop skipped for RC-car reverse (has own brake handshake)

Stuck rotor lockout fix:
- BEMF timeout clearing uses raw newinput, not adjusted_input
  (process_input zeroes adjusted, so using it created permanent lockout)

Dynamic input detection:
- is_dshot published via SharedComm, firmware reads shared.dshot()
  instead of hardcoded true (servo/auto input modes now work)

Mathematical safety:
- variable_pwm_mode1 result clamped to [half_arr, full_arr]
- duty_ceiling map() results clamped to [1, 2000] (prevents u16 wrap)

New tests: sine_start_publishes_to_shared, brake_on_stop_skipped_for_rc_car

Pull Request Pull Request #4: Make harness test actual firmware code

Coverage Stats

543 of 1178 new or added lines in 8 files covered. (46.1%)

40 existing lines in 3 files now uncovered.

3175 of 4927 relevant lines covered (64.44%)

590.79 hits per line