kaidokert / rm32 / 25151249571

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Make harness test actual firmware code (#9)

* Make harness test actual firmware code

* Add startup duty clamping, prop brake ISR output, firmware current limit

Startup duty clamping: enforce min_startup/startup_max during low
zero-cross phase in ten_khz_tick. Prevents stall/overcurrent during
first commutations.

Proportional brake: ISR reads prop_brake_active from SharedComm and
applies drag brake duty when motor not running.

Firmware: set use_current_limit from EEPROM config after loading.

* Clear prop_brake on stuck rotor latch early return

The BEMF fault latch path returned early, skipping the prop_brake
publish at the bottom. ISR could see stale prop_brake_active and
apply brake duty instead of full stop on a stuck rotor.

583 of 1487 new or added lines in 8 files covered. (39.21%)

3215 of 5236 relevant lines covered (61.4%)

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