...DShot Mode rework

DShotRMT.cpp

@@ -15,37 +15,14 @@
 DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)
     : _gpio(gpio), _mode(mode), _isBidirectional(isBidirectional)
 {
+    // Fixed Timings for compatibility
+    _frame_time = dshot_times.frameLength + DSHOT_SWITCH_TIME;
 
-    // Setting up fixed DShot Frame length
+    // DShot Frame answer padding
-    switch (_mode)
-    {
-    case DSHOT_OFF:
-        _frameLength = 0;
-        break;
-    case DSHOT150:
-        _frameLength = 128;
-        break;
-    case DSHOT300:
-        _frameLength = 64;
-        break;
-    case DSHOT600:
-        _frameLength = 32;
-        break;
-    case DSHOT1200:
-        _frameLength = 16;
-        break;
-    default:
-        break;
-    }
-
-    // DShot Frame length incl. DShot answer duration
     if (_isBidirectional)
     {
-        _frameLength += _frameLength;
+        _frame_time += _frame_time;
     }
-
-    // Add frame tolerance
-    _frameLength = _frameLength + DSHOT_SWITCH_TIME;
 }
 
 // Initializes RMT TX and RX channels and encoder configuration
@@ -86,7 +63,7 @@ void DShotRMT::begin()
         .trans_queue_depth = TX_BUFFER_SIZE};
 
     // Transmission configuration
-    _transmit_config.loop_count = 0;
+    _transmit_config.loop_count = NULL;
     _transmit_config.flags.eot_level = _isBidirectional;
 
     if (rmt_new_tx_channel(&_rmt_tx_channel_config, &_rmt_tx_channel) != 0)
@@ -131,7 +108,7 @@ void DShotRMT::setThrottle(uint16_t throttle)
     encodeDShotTX(packet, tx_symbols);
 
     // Ensure frame lenght for compatibility
-    if (micros() - last_time >= _frameLength)
+    if (micros() - last_time >= _frame_time)
     {
         // Transmit the packet
         if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, DSHOT_SYMBOLS_SIZE, &_transmit_config) != 0)
@@ -206,40 +183,7 @@ uint16_t DShotRMT::parseDShotPacket(const dshot_packet_t dshot_packet)
 // Converts a 16-bit packet into a valid DShot frame for RMT
 void DShotRMT::encodeDShotTX(dshot_packet_t dshot_packet, rmt_symbol_word_t *symbols)
 {
-    uint16_t ticks_per_bit = 0;
+    // Encoding to "raw" DShot Packet
-    uint16_t ticks_zero_high = 0;
-    uint16_t ticks_one_high = 0;
-
-    // Select timing based on DShot mode
-    switch (_mode)
-    {
-    case DSHOT150:
-        ticks_per_bit = 64;
-        ticks_zero_high = 24;
-        ticks_one_high = 48;
-        break;
-    case DSHOT300:
-        ticks_per_bit = 32;
-        ticks_zero_high = 12;
-        ticks_one_high = 24;
-        break;
-    case DSHOT600:
-        ticks_per_bit = 16;
-        ticks_zero_high = 6;
-        ticks_one_high = 12;
-        break;
-    case DSHOT1200:
-        ticks_per_bit = 8;
-        ticks_zero_high = 3;
-        ticks_one_high = 6;
-        break;
-    case DSHOT_OFF:
-        return;
-    }
-
-    uint16_t ticks_zero_low = ticks_per_bit - ticks_zero_high;
-    uint16_t ticks_one_low = ticks_per_bit - ticks_one_high;
-
     uint16_t frame_bits = parseDShotPacket(dshot_packet);
 
     // Always start with the "first" bit
@@ -252,16 +196,16 @@ void DShotRMT::encodeDShotTX(dshot_packet_t dshot_packet, rmt_symbol_word_t *sym
         if (_isBidirectional)
         {
             symbols[count].level0 = 0;
-            symbols[count].duration0 = bit ? ticks_one_high : ticks_zero_high;
+            symbols[count].duration0 = bit ? dshot_times.ticks_one_high : dshot_times.ticks_zero_high;
             symbols[count].level1 = 1;
-            symbols[count].duration1 = bit ? ticks_one_low : ticks_zero_low;
+            symbols[count].duration1 = bit ? dshot_times.ticks_one_low : dshot_times.ticks_zero_low;
         }
         else
         {
             symbols[count].level0 = 1;
-            symbols[count].duration0 = bit ? ticks_one_high : ticks_zero_high;
+            symbols[count].duration0 = bit ? dshot_times.ticks_one_high : dshot_times.ticks_zero_high;
             symbols[count].level1 = 0;
-            symbols[count].duration1 = bit ? ticks_one_low : ticks_zero_low;
+            symbols[count].duration1 = bit ? dshot_times.ticks_one_low : dshot_times.ticks_zero_low;
         }
         count++;
     }

DShotRMT.h

@@ -37,10 +37,30 @@ typedef enum dshot_mode_s
     DSHOT150,
     DSHOT300,
     DSHOT600,
-    DSHOT1200,
+    DSHOT1200
-    COUNTER
 } dshot_mode_t;
 
+// --- DShot Timings ---
+typedef struct dshot_timing_s
+{
+    uint16_t frameLength;
+    uint16_t ticks_per_bit;
+    uint16_t ticks_one_high;
+    uint16_t ticks_zero_high;
+    uint16_t ticks_zero_low;
+    uint16_t ticks_one_low;
+} dshot_timing_t;
+
+// DShot Pulse Length Settings
+const dshot_timing_t dshot_timings[] = {
+    {0, 0, 0, 0, 0, 0},        // DSHOT_OFF
+    {128, 64, 48, 24, 40, 16}, // DSHOT150
+    {64, 32, 24, 12, 20, 8},   // DSHOT300
+    {32, 16, 12, 6, 10, 4},    // DSHOT600
+    {16, 8, 6, 3, 5, 2}        // DSHOT1200
+};
+
+//
 // --- DShotRMT Class ---
 class DShotRMT
 {
@@ -61,11 +81,17 @@ public:
     // Accessors for GPIO and DShot settings
     gpio_num_t getGPIO() const { return _gpio; }
     dshot_mode_t getDShotMode() const { return _mode; }
-    uint16_t getFrameLenght() const { return _frameLength; }
+
+    // --- Configuration Parameters ---
+    gpio_num_t _gpio = GPIO_NUM_NC;
+    dshot_mode_t _mode = DSHOT_OFF;
+    bool _isBidirectional = false;
+    uint16_t _frame_time;
+    const dshot_timing_t &dshot_times = dshot_timings[_mode];
 
 private:
     static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16;
-    static constexpr uint8_t DSHOT_SWITCH_TIME = 21;
+    static constexpr uint8_t DSHOT_SWITCH_TIME = 42;
 
     static constexpr uint16_t DSHOT_NULL_PACKET = 0b000000000000000;
     static constexpr uint16_t DSHOT_FULL_PACKET = 0b111111111111111;
@@ -91,12 +117,6 @@ private:
     // Decodes the ESC answer
     uint16_t decodeDShotRX(const rmt_symbol_word_t *symbols, uint32_t count);
 
-    // --- Configuration Parameters ---
-    gpio_num_t _gpio = GPIO_NUM_NC;
-    dshot_mode_t _mode = DSHOT_OFF;
-    bool _isBidirectional = false;
-    uint16_t _frameLength = NULL;
-
     // --- DShot Packets Container ---
     uint16_t _rx_packet = DSHOT_NULL_PACKET;
 

README.md

@@ -114,7 +114,7 @@ Perfect for DShot:
 
 ## 📝 API Reference
 
-- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional, uint8_t pauseDuration = 120)`
+- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)`
 - `void begin()`
 - `void setThrottle(uint16_t throttle)`
 - `uint32_t getERPM()`

examples/dshot300/dshot300.ino

@@ -32,6 +32,7 @@ void printRPMPeriodically(uint16_t throttle);
 // Reads throttle value from serial input
 uint16_t readSerialThrottle();
 
+//
 void setup()
 {
     // Start the USB Serial Port
@@ -48,6 +49,7 @@ void setup()
     USB_SERIAL.println("Enter a throttle value (48–2047):");
 }
 
+//
 void loop()
 {
     // Read value input from Serial
@@ -96,17 +98,16 @@ uint16_t readSerialThrottle()
 void printRPMPeriodically(uint16_t throttle)
 {
     static unsigned long last_print_time = 0;
-    unsigned long now = millis();
 
-    if (now - last_print_time >= 2000)
+    if (millis() - last_print_time >= 2000)
     {
-        last_print_time = now;
-
         uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
 
         USB_SERIAL.print("Throttle: ");
         USB_SERIAL.print(throttle);
         USB_SERIAL.print(" | RPM: ");
         USB_SERIAL.println(rpm);
+
+        last_print_time = millis();
     }
 }