kaidokert / rm32 / 25191985921

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Build Type

push

github

Committed by web-flow

Commit Message

Fix e_com_time: compute from ISR intervals, not empty main-loop array (#18)

* Fix e_com_time: compute from ISR intervals, not empty main-loop array

The commutation_intervals array in TimingState was never populated by
the firmware ISR, only by the harness's manual copy. This meant
e_com_time, e_rpm, and average_interval were always zero in production.

Fix: move intervals array into Commutation struct (ISR-owned), add
record_interval() called at each step advance (matching C main.c:882),
and compute e_com_time in the ISR's sync section. Main loop now reads
e_com_time from SharedComm instead of computing it from a local array.

Remove the harness's manual intervals copy (no longer needed) and
the now-empty commutation_intervals field from TimingState.

* Add regression test for e_com_time ISR computation

Verifies e_com_time > 100 after motor commutation steps, catching
the bug where the intervals array was never populated by the ISR
(would have produced e_com_time=2 from empty array rounding bias).

* Move e_com_time computation from per-tick to per-step

Computing the 6-interval sum on every 20kHz ISR tick was wasteful —
it only changes when a commutation step advances. Move the computation
into record_interval() which returns the updated e_com_time, and
publish to SharedComm at each of the 3 advance() call sites.

record_interval after advance matches C ordering where step is
incremented before commutation_intervals[step-1] is written.

Coverage Stats

13 of 17 new or added lines in 3 files covered. (76.47%)

8 existing lines in 3 files now uncovered.

3274 of 5284 relevant lines covered (61.96%)

596.34 hits per line