From 089374d2bdc5b9c2db12299c013d96ea98373c83 Mon Sep 17 00:00:00 2001
From: Wastl Kraus <derdoktor667@users.noreply.github.com>
Date: Fri, 11 Jul 2025 23:51:46 +0200
Subject: [PATCH] ...biDir still not switching

---
 DShotRMT.cpp                   |  7 ++++++-
 DShotRMT.h                     |  1 +
 examples/dshot300/dshot300.ino | 32 ++++++++++++++++----------------
 3 files changed, 23 insertions(+), 17 deletions(-)

diff --git a/DShotRMT.cpp b/DShotRMT.cpp
index 85681a3..28d7a2a 100644
--- a/DShotRMT.cpp
+++ b/DShotRMT.cpp
@@ -91,6 +91,11 @@ uint32_t DShotRMT::getERPM()
 {
     if (_isBidirectional)
     {
+        _receive_config.signal_range_min_ns = 1000;
+        _receive_config.signal_range_max_ns = 15000;
+
+        rmt_enable(_rmt_rx_channel);
+
         static size_t rx_size = sizeof(_rx_symbols);
 
         if (_rmt_rx_channel == nullptr)
@@ -251,7 +256,7 @@ void DShotRMT::encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols,
 
     // Append the Pause Bits
     symbols[count].level0 = 0;
-    symbols[count].duration0 = ticks_per_bit * PAUSE_BITS;
+    symbols[count].duration0 = ticks_per_bit * (_isBidirectional ? SWITCH_PAUSE : PAUSE_BITS);
     symbols[count].level1 = 0;
     symbols[count].duration1 = 0;
     count++;
diff --git a/DShotRMT.h b/DShotRMT.h
index 870cf33..8e573a5 100644
--- a/DShotRMT.h
+++ b/DShotRMT.h
@@ -22,6 +22,7 @@ static constexpr auto DSHOT_THROTTLE_MIN = 48;
 static constexpr auto DSHOT_THROTTLE_MAX = 2047;
 static constexpr auto DSHOT_BITS_PER_FRAME = 17;
 static constexpr auto PAUSE_BITS = 21;
+static constexpr auto SWITCH_PAUSE = 4;
 
 static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
 static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
diff --git a/examples/dshot300/dshot300.ino b/examples/dshot300/dshot300.ino
index 2d78183..40e2374 100644
--- a/examples/dshot300/dshot300.ino
+++ b/examples/dshot300/dshot300.ino
@@ -10,7 +10,7 @@
 #include <DShotRMT.h>
 
 // USB serial port settings
-#define USB_Serial Serial0
+constexpr auto &USB_SERIAL = Serial0;
 constexpr auto USB_SERIAL_BAUD = 115200;
 
 // Motor configuration
@@ -18,7 +18,7 @@ constexpr auto MOTOR01_PIN = GPIO_NUM_17;
 constexpr auto DSHOT_MODE = DSHOT300;
 
 // BiDirectional DShot Support (default: false)
-constexpr auto IS_BIDIRECTIONAL = true;
+constexpr auto IS_BIDIRECTIONAL = false;
 
 // Motor Magnet count for RPM calculation
 constexpr auto MOTOR01_MAGNET_COUNT = 14;
@@ -29,7 +29,7 @@ DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
 void setup()
 {
   // Start the USB Serial Port
-  USB_Serial.begin(USB_SERIAL_BAUD);
+  USB_SERIAL.begin(USB_SERIAL_BAUD);
 
   // Initialize DShot Signal
   motor01.begin();
@@ -38,9 +38,9 @@ void setup()
   motor01.setThrottle(DSHOT_THROTTLE_MIN);
 
   //
-  USB_Serial.println("**********************");
-  USB_Serial.println("DShotRMT Demo started.");
-  USB_Serial.println("Enter a throttle value (48–2047):");
+  USB_SERIAL.println("**********************");
+  USB_SERIAL.println("DShotRMT Demo started.");
+  USB_SERIAL.println("Enter a throttle value (48–2047):");
 }
 
 void loop()
@@ -63,10 +63,10 @@ void loop()
 
       uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
 
-      USB_Serial.print("Throttle: ");
-      USB_Serial.print(throttle_input);
-      USB_Serial.print(" | RPM: ");
-      USB_Serial.println(rpm);
+      USB_SERIAL.print("Throttle: ");
+      USB_SERIAL.print(throttle_input);
+      USB_SERIAL.print(" | RPM: ");
+      USB_SERIAL.println(rpm);
     }
   }
 }
@@ -77,19 +77,19 @@ int readSerialThrottle()
   //
   static int last_throttle = DSHOT_THROTTLE_MIN;
 
-  if (USB_Serial.available() > 0)
+  if (USB_SERIAL.available() > 0)
   {
-    String input = USB_Serial.readStringUntil('\n');
+    String input = USB_SERIAL.readStringUntil('\n');
     int throttle_input = input.toInt();
 
     // Clamp the value to the DShot range
     throttle_input = constrain(throttle_input, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
     last_throttle = throttle_input;
 
-    USB_Serial.print("Throttle set to: ");
-    USB_Serial.println(last_throttle);
-    USB_Serial.println("***********************************");
-    USB_Serial.println("Enter a throttle value (48–2047):");
+    USB_SERIAL.print("Throttle set to: ");
+    USB_SERIAL.println(last_throttle);
+    USB_SERIAL.println("***********************************");
+    USB_SERIAL.println("Enter a throttle value (48–2047):");
   }
 
   return last_throttle;