kaidokert / rm32 / 25205416655

63%

main: 63%

Build Type

push

github

Committed by kaidokert

Commit Message

BemfState encapsulation, PWM compare methods, ramp bug fix, constants

Make BemfState fields fully private (11 fields), move BEMF logic from
isr_logic.rs and bemf.rs into BemfState methods in state.rs:
- sync_config, update, zero_cross_detected, record_zero_cross
- update_timing_from_timer, record_zc_timing, reset_for_step
- reset_after_commutation, com_timer_delay

Add DutyState PWM compare methods:
- pwm_compare(tim1_arr) — duty to timer compare value
- brake_compare(drag_brake_strength, tim1_arr) — brake output

Fix pre-existing ramp bug: ramp_limit used duty.last > 500 instead of
average_interval > 500 for RPM-based ramp profile selection (matches C).
Add 4 unit tests for ramp profile selection.

Extract 8 magic numbers into named constants in constants.rs.
Simplify clamp_ceilings using .min() chain.

state.rs pub(crate) fields: 37 → 13 (BemfState + DutyState fully private).

Coverage Stats

128 of 141 new or added lines in 3 files covered. (90.78%)

1 existing line in 1 file now uncovered.

3541 of 5650 relevant lines covered (62.67%)

779.23 hits per line