kaidokert / rm32 / 25206113199

63%

Build Type

push

github

Committed by web-flow

Commit Message

BemfState encapsulation, PWM compare methods, ramp bug fix (#30)

* 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).

* Remove accidentally tracked working docs from repo

* Revert .gitignore additions for working docs

* Fix wait_time u16 truncation and reset_for_step missing zc_found clear

Two wait_time bugs: record_zero_cross and update_timing_from_timer
truncated new_ci to u16 BEFORE dividing by 2. At low RPM (new_ci >
65535), this produces completely wrong wait_time. C code divides
the u32 value first, then truncates on assignment to u16.

reset_for_step was missing zc_found = false. C code clears zcfound
together with bemfcounter after every commutation step. Without this,
zero_cross_detected() stays false after the first detection in the
startup path, stalling old_routine startup.

Coverage Stats

128 of 142 new or added lines in 3 files covered. (90.14%)

1 existing line in 1 file now uncovered.

3541 of 5651 relevant lines covered (62.66%)

779.09 hits per line