kaidokert / rm32-private / 25717449155

65%

tmps: 63%

Build Type

push

github

Committed by kaidokert

Commit Message

Add allOff HAL calls for LVC, stuck rotor, motor restart

Three missing safety-critical HAL calls found via C harness comparison:

1. Stuck rotor: process_input sets all_off_requested flag when bemf
   timeout latches. ISR picks up flag and calls phase.all_off() +
   comp.mask_interrupts().

2. LVC cutoff: main_state tick sets all_off_requested on voltage fault.
   Same ISR pickup mechanism.

3. Motor restart: isr_logic calls phase.all_off() before startMotor()
   to clear phase outputs before new startup sequence.

Infrastructure: add all_off_requested flag to SharedComm/SharedState
for cross-context safety latch (main sets, ISR executes). Fix harness
MockPhase/MockComp dangling pointer after reset() — Self::new() moves
the struct, invalidating self-referential count pointers.

All 3 alloff_count assertions now pass on both C and Rust harnesses.

Coverage Stats

13 of 28 new or added lines in 6 files covered. (46.43%)

139 existing lines in 1 file now uncovered.

4038 of 6162 relevant lines covered (65.53%)

872.42 hits per line