fixing reboot loop

README.md

@@ -62,7 +62,7 @@ void setup() {
   motor.begin();
 
   // Print CPU Info
-  DShotRMT::printCpuInfo(Serial);
+  printCpuInfo(Serial);
 
   Serial.println("Motor initialized. Ramping up to 25% throttle...");
   
@@ -79,7 +79,7 @@ void loop() {
   motor.sendThrottlePercent(0);
 
   // Print DShot Info
-  DShotRMT::printDShotInfo(motor, Serial);
+  printDShotInfo(motor, Serial);
 }
 ```
 
@@ -104,7 +104,7 @@ The `web_control` and `web_client` examples require the following additional lib
 
 The main class is `DShotRMT`. Here are the most important methods:
 
-- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT)`: Constructor to create a new DShotRMT instance.
+- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT)`: Constructor to create a new DShotRMT instance.
 - `begin()`: Initializes the DShot RMT channels and encoder.
 - `sendThrottlePercent(float percent)`: Sends a throttle value as a percentage (0.0-100.0) to the ESC.
 - `sendThrottle(uint16_t throttle)`: Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
@@ -115,8 +115,8 @@ The main class is `DShotRMT`. Here are the most important methods:
 - `setMotorSpinDirection(bool reversed)`: Sets the motor spin direction. `true` for reversed, `false` for normal.
 - `saveESCSettings()`: Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
 - `printDShotResult(dshot_result_t &result, Stream &output = Serial)`: Prints the result of a DShot operation to the specified output stream.
-- `DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)`: Prints detailed DShot signal information for a given DShotRMT instance.
+- `printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)`: Prints detailed DShot signal information for a given DShotRMT instance.
-- `DShotRMT::printCpuInfo(Stream &output = Serial)`: Prints detailed CPU information.
+- `printCpuInfo(Stream &output = Serial)`: Prints detailed CPU information.
 - `setMotorMagnetCount(uint16_t magnet_count)`: Sets the motor magnet count for RPM calculation.
 - `getMode()`: Gets the current DShot mode.
 - `isBidirectional()`: Checks if bidirectional DShot is enabled.

examples/dshot300/dshot300.ino

@@ -18,7 +18,7 @@ static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
 // static constexpr auto MOTOR01_PIN = 17;
 
 // Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
-static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
+static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
 
 // BiDirectional DShot Support (default: false)
 // Note: Bidirectional DShot is currently not officially supported
@@ -26,7 +26,7 @@ static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
 static constexpr auto IS_BIDIRECTIONAL = false;
 
 // Motor magnet count for RPM calculation
-static constexpr auto MOTOR01_MAGNET_COUNT = 14;
+// static constexpr auto MOTOR01_MAGNET_COUNT = 14;
 
 // Creates the motor instance
 DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
@@ -41,7 +41,7 @@ void setup()
     motor01.begin();
 
     // Print CPU Info
-    DShotRMT::printCpuInfo(USB_SERIAL);
+    printCpuInfo(USB_SERIAL);
 
     //
     printMenu();
@@ -80,7 +80,7 @@ void loop()
     // Print motor stats every 3 seconds in continuous mode
     if (continuous_throttle && (esp_timer_get_time() - last_stats_print >= 3000000))
     {
-        DShotRMT::printDShotInfo(motor01, USB_SERIAL);
+        printDShotInfo(motor01, USB_SERIAL);
 
         USB_SERIAL.println(" ");
 
@@ -132,7 +132,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
     }
     else if (input == "info")
     {
-        DShotRMT::printDShotInfo(motor01, USB_SERIAL);
+        printDShotInfo(motor01, USB_SERIAL);
     }
     else if (input == "rpm" && IS_BIDIRECTIONAL)
     {

examples/throttle_percent/throttle_percent.ino

@@ -17,7 +17,7 @@ static constexpr auto USB_SERIAL_BAUD = 115200;
 static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
 
 // Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
-static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
+static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
 
 // BiDirectional DShot Support (default: false)
 // Note: Bidirectional DShot is currently not officially supported 
@@ -44,7 +44,7 @@ void setup()
     motor01.begin();
 
     // Print CPU Info
-    motor01.printCpuInfo();
+    printCpuInfo(USB_SERIAL);
 
     //
     printMenu();
@@ -98,7 +98,7 @@ void handleSerialInput(const String &input)
     }
     else if (input == "info")
     {
-        DShotRMT::printDShotInfo(motor01, USB_SERIAL);
+        printDShotInfo(motor01, USB_SERIAL);
     }
     else if (input == "rpm" && IS_BIDIRECTIONAL)
     {

examples/web_client/web_client.ino

@@ -39,10 +39,10 @@ static constexpr auto &USB_SERIAL = Serial;
 static constexpr auto USB_SERIAL_BAUD = 115200;
 
 // Motor configuration - Pin number or GPIO_PIN
-static constexpr auto MOTOR01_PIN = 17;
+static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
 
 // Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
-static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
+static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
 
 // BiDirectional DShot Support (default: false)
 static constexpr auto IS_BIDIRECTIONAL = false; // Note: Bidirectional DShot is currently not officially supported due to instability and external hardware requirements.
@@ -84,7 +84,7 @@ void setup()
     USB_SERIAL.println("DShotRMT Web Client Demo Starting...");
 
     motor01.begin();
-    motor01.printCpuInfo();
+    printCpuInfo(USB_SERIAL);
 
     // Connect to WiFi network
     USB_SERIAL.println("\nConnecting to WiFi network...");
@@ -172,7 +172,7 @@ void loop()
     // Print motor stats every 3 seconds in continuous mode
     if ((esp_timer_get_time() - last_serial_update >= 3000000))
     {
-        DShotRMT::printDShotInfo(motor01, USB_SERIAL);
+        printDShotInfo(motor01, USB_SERIAL);
 
         // Get Motor RPM if bidirectional and armed
         if (IS_BIDIRECTIONAL && isArmed)
@@ -447,7 +447,7 @@ void handleSerialInput(const String &input)
 
     if (input == "info")
     {
-        DShotRMT::printDShotInfo(motor01, USB_SERIAL);
+        printDShotInfo(motor01, USB_SERIAL);
         USB_SERIAL.println(" ");
         USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
         return;

examples/web_control/web_control.ino

@@ -38,10 +38,10 @@ static constexpr auto &USB_SERIAL = Serial;
 static constexpr auto USB_SERIAL_BAUD = 115200;
 
 // Motor configuration - Pin number or GPIO_PIN
-static constexpr auto MOTOR01_PIN = 17;
+static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
 
 // Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
-static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
+static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
 
 // BiDirectional DShot Support (default: false)
 static constexpr auto IS_BIDIRECTIONAL = false; // Note: Bidirectional DShot is currently not officially supported due to instability and external hardware requirements.
@@ -74,7 +74,7 @@ void setup()
     USB_SERIAL.begin(USB_SERIAL_BAUD);
 
     motor01.begin();
-    motor01.printCpuInfo();
+    printCpuInfo(USB_SERIAL);
 
     // Set IP Address
     WiFi.softAPConfig(local_IP, gateway, subnet);
@@ -138,7 +138,7 @@ void loop()
     // Print motor stats every 3 seconds in continuous mode
     if ((esp_timer_get_time() - last_serial_update >= 3000000))
     {
-        DShotRMT::printDShotInfo(motor01, USB_SERIAL);
+        printDShotInfo(motor01, USB_SERIAL);
 
         USB_SERIAL.println(" ");
 
@@ -254,7 +254,7 @@ void handleSerialInput(const String &input)
     }
     if (input == "info")
     {
-        DShotRMT::printDShotInfo(motor01, USB_SERIAL);
+        printDShotInfo(motor01, USB_SERIAL);
         USB_SERIAL.println(" ");
         USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
         return;

library.properties

@@ -1,5 +1,5 @@
 name=DShotRMT
-version=0.8.7
+version=0.8.8
 author=Wastl Kraus <wir-sind-die-matrix.de>
 maintainer=Wastl Kraus <wir-sind-die-matrix.de>
 license=MIT

src/DShotRMT.cpp

@@ -8,33 +8,13 @@
 
 #include <DShotRMT.h>
 
-// Constructors & Destructor
 // Constructor with GPIO number
 DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, uint16_t magnet_count)
     : _gpio(gpio),
       _mode(mode),
       _is_bidirectional(is_bidirectional),
       _motor_magnet_count(magnet_count),
-      _dshot_timing(DSHOT_TIMING_US[static_cast<int>(mode)]),
+      _dshot_timing(DSHOT_TIMING_US[static_cast<int>(mode)])
-      _frame_timer_us(0),
-      _rmt_ticks{0},
-      _last_throttle(dshotCommands_e::DSHOT_CMD_MOTOR_STOP),
-      _last_transmission_time_us(0),
-      _last_command_timestamp(0),
-      _encoded_frame_value(0),
-      _packet{0},
-      _pulse_level(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
-      _idle_level(0),  // DShot standard: signal returns to LOW after the high pulse
-      _rmt_tx_channel(nullptr),
-      _rmt_rx_channel(nullptr),
-      _dshot_encoder(nullptr),
-      _tx_channel_config{},
-      _rx_channel_config{},
-      _rmt_tx_config{},
-      _rmt_rx_config{},
-      _rx_event_callbacks{},
-      _last_erpm_atomic(0),
-      _telemetry_ready_flag_atomic(false)
 {
     // Pre-calculate timing and bit positions for performance
     _preCalculateRMTTicks();
@@ -78,7 +58,6 @@ DShotRMT::~DShotRMT()
     }
 }
 
-// Public Core Functions
 // Initialize DShotRMT
 dshot_result_t DShotRMT::begin()
 {
@@ -149,20 +128,16 @@ dshot_result_t DShotRMT::sendThrottlePercent(float percent)
 }
 
 // Send DShot command to ESC
-dshot_result_t DShotRMT::sendCommand(uint16_t command)
+dshot_result_t DShotRMT::sendCommand(dshotCommands_e command)
 {
-    if (command > dshotCommands_e::DSHOT_CMD_MAX)
+    _packet = _buildDShotPacket(static_cast<uint16_t>(command));
-    {
-        return {false, dshot_msg_code_t::DSHOT_COMMAND_NOT_VALID};
-    }
-
-    _packet = _buildDShotPacket(command);
     return _sendDShotFrame(_packet);
 }
 
+
 // Send full DShot commands for setup etc
 // This is a blocking function that uses delayMicroseconds for repetitions.
-dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count, uint16_t delay_us)
+dshot_result_t DShotRMT::_sendCommandInternal(dshotCommands_e dshot_command, uint16_t repeat_count, uint16_t delay_us)
 {
     dshot_result_t result = {false, dshot_msg_code_t::DSHOT_UNKNOWN, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
 
@@ -205,7 +180,7 @@ dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t rep
 }
 
 // Get telemetry data
-dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
+dshot_result_t DShotRMT::getTelemetry()
 {
     dshot_result_t result = {false, dshot_msg_code_t::DSHOT_TELEMETRY_FAILED, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
 
@@ -216,7 +191,7 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
     }
 
     // Use stored magnet count if parameter is 0 (default)
-    uint16_t final_magnet_count = (magnet_count == 0) ? _motor_magnet_count : magnet_count;
+    uint16_t final_magnet_count = _motor_magnet_count;
 
     // Check if the callback has set the flag for new data
     if (_telemetry_ready_flag_atomic)
@@ -246,22 +221,19 @@ dshot_result_t DShotRMT::setMotorSpinDirection(bool reversed)
     // Use command as a yes / no switch
     dshotCommands_e command = reversed ? dshotCommands_e::DSHOT_CMD_SPIN_DIRECTION_REVERSED : dshotCommands_e::DSHOT_CMD_SPIN_DIRECTION_NORMAL;
 
-    return sendCommand(command, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
+    return _sendCommandInternal(command, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
 }
 
-dshot_result_t DShotRMT::getESCInfo()
+
-{
-    return sendCommand(dshotCommands_e::DSHOT_CMD_ESC_INFO);
-}
 
 // Use with caution
 dshot_result_t DShotRMT::saveESCSettings()
 {
-    return sendCommand(dshotCommands_e::DSHOT_CMD_SAVE_SETTINGS, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
+    return _sendCommandInternal(dshotCommands_e::DSHOT_CMD_SAVE_SETTINGS, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
 }
 
 // Simple check
-bool DShotRMT::_isValidCommand(dshotCommands_e command)
+bool DShotRMT::_isValidCommand(dshotCommands_e command) const
 {
     return (command >= dshotCommands_e::DSHOT_CMD_MOTOR_STOP && command <= dshotCommands_e::DSHOT_CMD_MAX);
 }
@@ -271,8 +243,8 @@ dshot_result_t DShotRMT::_executeCommand(dshotCommands_e command)
 {
     uint64_t start_time = esp_timer_get_time();
 
-    // Execute the command using the DShotRMT instance
+    _packet = _buildDShotPacket(static_cast<uint16_t>(command));
-    dshot_result_t result = sendCommand(command);
+    dshot_result_t result = _sendDShotFrame(_packet);
 
     uint64_t end_time = esp_timer_get_time();
     _last_command_timestamp = end_time;
@@ -350,6 +322,7 @@ dshot_result_t DShotRMT::_initRXChannel()
     return {true, dshot_msg_code_t::DSHOT_RX_INIT_SUCCESS};
 }
 
+//
 dshot_result_t DShotRMT::_initDShotEncoder()
 {
     rmt_bytes_encoder_config_t encoder_config = {
@@ -367,8 +340,7 @@ dshot_result_t DShotRMT::_initDShotEncoder()
         },
         .flags = {
             .msb_first = 1 // DShot is MSB first
-        }
+        }};
-    };
 
     if (rmt_new_bytes_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
     {
@@ -379,7 +351,7 @@ dshot_result_t DShotRMT::_initDShotEncoder()
 }
 
 // Private Packet Management Functions
-dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
+dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value) const
 {
     dshot_packet_t packet = {};
 
@@ -393,14 +365,14 @@ dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
     return packet;
 }
 
-uint16_t DShotRMT::_buildDShotFrameValue(const dshot_packet_t &packet)
+uint16_t DShotRMT::_buildDShotFrameValue(const dshot_packet_t &packet) const
 {
     // Combine throttle, telemetry bit, and CRC into a single 16-bit frame
     uint16_t data_and_telemetry = (packet.throttle_value << 1) | packet.telemetric_request;
     return (data_and_telemetry << 4) | packet.checksum;
 }
 
-uint16_t DShotRMT::_calculateCRC(const uint16_t &data)
+uint16_t DShotRMT::_calculateCRC(const uint16_t &data) const
 {
     // Standard DShot CRC calculation using XOR
     uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & DSHOT_CRC_MASK;
@@ -463,7 +435,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
 // This function needs to be fast, as it generates the RMT symbols just before sending
 
 // Placed in IRAM for high performance, as it's called from an ISR context
-uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
+uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols) const
 {
     uint32_t gcr_value = 0;
 
@@ -503,7 +475,7 @@ uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
 }
 
 // Timing Control Functions
-bool IRAM_ATTR DShotRMT::_isFrameIntervalElapsed()
+bool IRAM_ATTR DShotRMT::_isFrameIntervalElapsed() const
 {
     // Check if the minimum interval between frames has passed
     uint64_t current_time = esp_timer_get_time();
@@ -537,47 +509,3 @@ bool IRAM_ATTR DShotRMT::_on_rx_done(rmt_channel_handle_t rmt_rx_channel, const
 
     return false;
 }
-
-// Public Static Utility Functions
-void DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output)
-{
-    output.println("\n === DShot Signal Info === ");
-
-    uint16_t dshot_mode_val = 0;
-    switch (dshot_rmt.getMode())
-    {
-    case dshot_mode_t::DSHOT150:
-        dshot_mode_val = 150;
-        break;
-    case dshot_mode_t::DSHOT300:
-        dshot_mode_val = 300;
-        break;
-    case dshot_mode_t::DSHOT600:
-        dshot_mode_val = 600;
-        break;
-    case dshot_mode_t::DSHOT1200:
-        dshot_mode_val = 1200;
-        break;
-    }
-    output.printf("Current Mode: DSHOT%d\n", dshot_mode_val);
-
-    output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO");
-    output.printf("Current Packet: ");
-
-    for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
-    {
-        output.print((dshot_rmt.getEncodedFrameValue() >> i) & 1);
-    }
-
-    output.printf("\nCurrent Value: %u\n", dshot_rmt.getThrottleValue());
-}
-
-void DShotRMT::printCpuInfo(Stream &output)
-{
-    output.println("\n ===  CPU Info  === ");
-    output.printf("Chip Model: %s\n", ESP.getChipModel());
-    output.printf("Chip Revision: %d\n", ESP.getChipRevision());
-    output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
-    output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
-    output.printf("APB Freq = %lu Hz\n", getApbFrequency());
-}

src/DShotRMT.h

@@ -9,64 +9,49 @@
 #pragma once
 
 #include <Arduino.h>
-#include <dshot_definitions.h>
-#include <driver/gpio.h>
 #include <driver/rmt_tx.h>
 #include <driver/rmt_rx.h>
 #include <atomic>
 
-// Main class for DShot signal generation and reception.
+#include "dshot_definitions.h"
-// This class provides an interface to generate DShot signals for Electronic Speed Controllers (ESCs)
+#include <driver/rmt_encoder.h>
-// and to receive telemetry data using the ESP32's RMT peripheral.
+
+// DShotRMT Class Definition
 class DShotRMT
 {
 public:
     // Constructor for DShotRMT with GPIO number.
-    explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = dshot_mode_t::DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
+    explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
 
     // Constructor for DShotRMT with Arduino pin number.
     DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
 
-    // Destructor for DShotRMT.
+    // Destructor
-    // Cleans up RMT channels and encoder resources.
     ~DShotRMT();
 
     // Public Core Functions
     // Initializes the DShot RMT channels and encoder.
     dshot_result_t begin();
 
-    // Sends a DShot throttle value to the ESC.
+    // Sends a throttle value as a percentage (0.0-100.0) to the ESC.
-    dshot_result_t sendThrottle(uint16_t throttle);
-
-    // Sends a DShot throttle value as a percentage to the ESC.
     dshot_result_t sendThrottlePercent(float percent);
 
-    // Sends a single DShot command to the ESC.
+    // Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
-    dshot_result_t sendCommand(uint16_t command);
+    dshot_result_t sendThrottle(uint16_t throttle);
 
-    // Sends a DShot command multiple times with a delay between repetitions. This is a blocking function.
+    // Sends a DShot command (0-47) to the ESC.
-    dshot_result_t sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count = DEFAULT_CMD_REPEAT_COUNT, uint16_t delay_us = DEFAULT_CMD_DELAY_US);
+    dshot_result_t sendCommand(dshotCommands_e command);
 
     // Retrieves telemetry data from the ESC.
-    dshot_result_t getTelemetry(uint16_t magnet_count = 0);
+    dshot_result_t getTelemetry();
 
-    // Sends a command to the ESC to request ESC information.
+    // Sets the motor spin direction. 'true' for reversed, 'false' for normal.
-    dshot_result_t getESCInfo();
-
-    // Sets the motor spin direction.
     dshot_result_t setMotorSpinDirection(bool reversed);
 
-    // Sends a command to the ESC to save its current settings.
+    // Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
-    // Use with caution as this writes to ESC's non-volatile memory.
     dshot_result_t saveESCSettings();
 
     // Public Utility & Info Functions
-    // Prints detailed DShot signal information for a given DShotRMT instance.
-    static void printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial);
-
-    // Prints detailed CPU information.
-    static void printCpuInfo(Stream &output = Serial);
-
     // Sets the motor magnet count for RPM calculation.
     void setMotorMagnetCount(uint16_t magnet_count);
 
@@ -76,41 +61,29 @@ public:
     // Checks if bidirectional DShot is enabled.
     bool isBidirectional() const { return _is_bidirectional; }
 
-    // Gets the last encoded DShot frame value.
+    // Gets the encoded frame value.
     uint16_t getEncodedFrameValue() const { return _encoded_frame_value; }
 
     // Gets the last transmitted throttle value.
     uint16_t getThrottleValue() const { return _packet.throttle_value; }
 
+    // Testing return "verbose" messages
+    const char *getDShotMsg(dshot_result_t &result) const { return (_get_result_code_str(result.result_code)); }
+
     // Deprecated Methods
     // Deprecated. Use sendThrottle() instead.
     [[deprecated("Use sendThrottle() instead")]]
-    bool setThrottle(uint16_t throttle)
+    dshot_result_t sendValue(uint16_t value) { return sendThrottle(value); }
-    {
-        auto result = sendThrottle(throttle);
-        return result.success;
-    }
 
     // Deprecated. Use sendCommand() instead.
     [[deprecated("Use sendCommand() instead")]]
-    bool sendDShotCommand(uint16_t command)
+    dshot_result_t sendCommand(uint16_t command) { return sendCommand(static_cast<dshotCommands_e>(command)); }
-    {
-        auto result = sendCommand(command);
-        return result.success;
-    }
-
-    // Deprecated. Use getTelemetry() instead.
-    [[deprecated("Use getTelemetry() instead")]]
-    uint32_t getMotorRPM(uint8_t magnet_count)
-    {
-        auto result = getTelemetry(magnet_count);
-        return result.motor_rpm;
-    }
 
 private:
     // --- UTILITY METHODS ---
-    bool _isValidCommand(dshotCommands_e command);
+    bool _isValidCommand(dshotCommands_e command) const;
     dshot_result_t _executeCommand(dshotCommands_e command);
+    dshot_result_t _sendCommandInternal(dshotCommands_e dshot_command, uint16_t repeat_count, uint16_t delay_us);
 
     // Core Configuration Variables
     gpio_num_t _gpio;
@@ -118,33 +91,33 @@ private:
     bool _is_bidirectional;
     uint16_t _motor_magnet_count;
     const dshot_timing_us_t &_dshot_timing;
-    uint64_t _frame_timer_us;
+    uint64_t _frame_timer_us = 0;
 
     // Timing & Packet Variables
-    rmt_ticks_t _rmt_ticks;
+    rmt_ticks_t _rmt_ticks{};
-    uint16_t _last_throttle;
+    uint16_t _last_throttle = dshotCommands_e::DSHOT_CMD_MOTOR_STOP;
-    uint64_t _last_transmission_time_us;
+    uint64_t _last_transmission_time_us = 0;
-    uint64_t _last_command_timestamp;
+    uint64_t _last_command_timestamp = 0;
-    uint16_t _encoded_frame_value;
+    uint16_t _encoded_frame_value = 0;
-    dshot_packet_t _packet;
+    dshot_packet_t _packet{};
-    uint16_t _pulse_level; // DShot protocol: Signal is idle-low, so pulses start by going HIGH.
+    uint16_t _pulse_level = 1; // DShot protocol: Signal is idle-low, so pulses start by going HIGH.
-    uint16_t _idle_level;  // DShot protocol: Signal returns to LOW after the high pulse.
+    uint16_t _idle_level = 0;  // DShot protocol: Signal returns to LOW after the high pulse.
 
     // RMT Hardware Handles
-    rmt_channel_handle_t _rmt_tx_channel;
+    rmt_channel_handle_t _rmt_tx_channel = nullptr;
-    rmt_channel_handle_t _rmt_rx_channel;
+    rmt_channel_handle_t _rmt_rx_channel = nullptr;
-    rmt_encoder_handle_t _dshot_encoder;
+    rmt_encoder_handle_t _dshot_encoder = nullptr;
 
     // RMT Configuration Structures
-    rmt_tx_channel_config_t _tx_channel_config;
+    rmt_tx_channel_config_t _tx_channel_config{};
-    rmt_rx_channel_config_t _rx_channel_config;
+    rmt_rx_channel_config_t _rx_channel_config{};
-    rmt_transmit_config_t _rmt_tx_config;
+    rmt_transmit_config_t _rmt_tx_config{};
-    rmt_receive_config_t _rmt_rx_config;
+    rmt_receive_config_t _rmt_rx_config{};
 
     // Bidirectional / Telemetry Variables
-    rmt_rx_event_callbacks_t _rx_event_callbacks;
+    rmt_rx_event_callbacks_t _rx_event_callbacks{};
-    std::atomic<uint16_t> _last_erpm_atomic;
+    std::atomic<uint16_t> _last_erpm_atomic{0};
-    std::atomic<bool> _telemetry_ready_flag_atomic;
+    std::atomic<bool> _telemetry_ready_flag_atomic{false};
 
     // Private Initialization Functions
     dshot_result_t _initTXChannel();
@@ -152,19 +125,78 @@ private:
     dshot_result_t _initDShotEncoder();
 
     // Private Packet Management Functions
-    dshot_packet_t _buildDShotPacket(const uint16_t &value);
+    dshot_packet_t _buildDShotPacket(const uint16_t &value) const;
-    uint16_t _buildDShotFrameValue(const dshot_packet_t &packet);
+    uint16_t _buildDShotFrameValue(const dshot_packet_t &packet) const;
-    uint16_t _calculateCRC(const uint16_t &data);
+    uint16_t _calculateCRC(const uint16_t &data) const;
     void _preCalculateRMTTicks();
 
     // Private Frame Processing Functions
     dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
-    uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
+    uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols) const;
 
     // Private Timing Control Functions
-    bool _isFrameIntervalElapsed();
+    bool _isFrameIntervalElapsed() const;
     void _recordFrameTransmissionTime();
 
     // Static Callback Functions
     static bool _on_rx_done(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
 };
+
+// Helper to quick print DShot result codes
+inline void printDShotResult(dshot_result_t &result, Stream &output = Serial)
+{
+    output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", _get_result_code_str(result.result_code));
+
+    // Print telemetry data if available
+    if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
+    {
+        output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
+    }
+
+    output.println();
+}
+
+// Helper to print DShot signal info
+inline void printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)
+{
+    output.println("\n === DShot Signal Info === ");
+
+    uint16_t dshot_mode_val = 0;
+    switch (dshot_rmt.getMode())
+    {
+    case DSHOT150:
+        dshot_mode_val = 150;
+        break;
+    case DSHOT300:
+        dshot_mode_val = 300;
+        break;
+    case DSHOT600:
+        dshot_mode_val = 600;
+        break;
+    case DSHOT1200:
+        dshot_mode_val = 1200;
+        break;
+    }
+
+    output.printf("Current Mode: DSHOT%d\n", dshot_mode_val);
+    output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO");
+    output.printf("Current Packet: ");
+
+    for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
+    {
+        output.print((dshot_rmt.getEncodedFrameValue() >> i) & 1);
+    }
+
+    output.printf("\nCurrent Value: %u\n", dshot_rmt.getThrottleValue());
+}
+
+// Helper to print CPU info
+inline void printCpuInfo(Stream &output = Serial)
+{
+    output.println("\n ===  CPU Info  === ");
+    output.printf("Chip Model: %s\n", ESP.getChipModel());
+    output.printf("Chip Revision: %d\n", ESP.getChipRevision());
+    output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
+    output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
+    output.printf("APB Freq = %lu Hz\n", getApbFrequency());
+}

src/dshot_definitions.h

@@ -6,14 +6,15 @@
 #include <driver/rmt_rx.h>
 #include <atomic>
 
-// Defines the available DShot communication speeds with type safety.
+// Defines the available DShot communication speeds.
-enum class dshot_mode_t
+enum dshot_mode_t
 {
     DSHOT_OFF,
     DSHOT150,
     DSHOT300,
     DSHOT600,
-    DSHOT1200
+    DSHOT1200,
+    DSHOT_MODE_MAX
 };
 
 // Represents the 16-bit DShot data packet sent to the ESC.
@@ -157,7 +158,8 @@ const dshot_timing_us_t DSHOT_TIMING_US[] = {
     {6.67, 5.00}, // DSHOT150
     {3.33, 2.50}, // DSHOT300
     {1.67, 1.25}, // DSHOT600
-    {0.83, 0.67}  // DSHOT1200
+    {0.83, 0.67}, // DSHOT1200
+    {0.00, 0.00}  // DSHOT_MODE_MAX (dummy entry)
 };
 
 // Error Messages
@@ -246,17 +248,3 @@ inline const char *_get_result_code_str(dshot_msg_code_t code)
         return UNKNOWN_ERROR;
     }
 }
-
-// Helper to quick print DShot result codes
-inline void printDShotResult(dshot_result_t &result, Stream &output = Serial)
-{
-    output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", _get_result_code_str(result.result_code));
-
-    // Print telemetry data if available
-    if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
-    {
-        output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
-    }
-
-    output.println();
-}

src/ota_update.h

@@ -1,6 +1,6 @@
 /**
  * @file ota_update.h
- * @brief DShot signal generation using ESP32 RMT with bidirectional support
+ * @brief Contains the HTML, CSS, and JavaScript for the OTA (Over-The-Air) update web page.
  * @author Wastl Kraus
  * @date 2025-09-13
  * @license MIT

src/web_content.h

@@ -1,6 +1,6 @@
 /**
  * @file web_content.h
- * @brief DShot signal generation using ESP32 RMT with bidirectional support
+ * @brief Contains the HTML, CSS, and JavaScript for the main DShot control web page.
  * @author Wastl Kraus
  * @date 2025-09-13
  * @license MIT