kaidokert / rm32 / 25185605810

63%

Build Type

push

github

Committed by web-flow

Commit Message

Replace boolean input flags with InputMode enum dispatch (#13)

* Replace boolean input flags with InputMode enum dispatch

InputMode { Unidirectional, BidirDshot(ReverseMode), BidirServo }
and ReverseMode { SpeedGated, RcCar } replace the bi_direction ×
rc_car_reverse × is_dshot boolean explosion in process_input.

Each match arm maps to exactly one input_mapping function with no
cross-mode contamination. InputMode::from_config() derives the mode
from EEPROM config + detected protocol; SystemTick recomputes it
each tick.

RC-car brake/reverse handshake extracted into apply_rc_car_result()
shared between DShot and servo RC-car arms. The is_dshot parameter
removed from process_input — mode carries that information.

Brake-on-stop guard now uses matches!() on InputMode instead of
checking config.rc_car_reverse.

* Fix InputMode docs and add is_rc_car() helper

Fix misleading doc comments that said mode was computed once / on
config change — it is recomputed every tick in SystemTick::tick_input.

Add InputMode::is_rc_car() helper method to simplify the brake-on-stop
guard from a verbose matches!() expression to a single method call.

* Add test vector proving RC-car reverse preserves zero_crosses

C harness confirms: RC-car direction flip does NOT reset zero_crosses
(stays at 50), while speed-gated bidir resets to 0. This matches the
C code where only the speed-gated path calls zero_crosses=0 and
old_routine=1 on direction change.

Coverage Stats

60 of 110 new or added lines in 3 files covered. (54.55%)

1 existing line in 1 file now uncovered.

3248 of 5300 relevant lines covered (61.28%)

594.53 hits per line