kaidokert / rm32

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Build # 25117177002

Build Type

Pull #6

github

Committed by kaidokert

Commit Message

Fix direction command sync, bidir stuck rotor clearing, stale current limit

Direction commands (bug fix):
- Firmware ISR handler now publishes forward to SharedComm after
  DShot command processing. Previously direction commands were
  overwritten by ISR tick sync on the next cycle.

Stuck rotor clearing (bidir fix):
- Bidir-aware clearing: servo bidir neutral (~1000) now recognized
  as stick released for fault clearing.

Current limit PID:
- Reset current_limit_adjust to 2000 when inactive.

Harness: derive_motor_config uses base ARR (1999) not runtime ARR.

Pull Request Pull Request #6: Make harness test actual firmware code

Coverage Stats

566 of 1460 new or added lines in 8 files covered. (38.77%)

40 existing lines in 3 files now uncovered.

3198 of 5209 relevant lines covered (61.39%)

581.86 hits per line