From 1a1bbcd7f3533e7a4ab65cec32f03606de19f7fe Mon Sep 17 00:00:00 2001 From: Wastl Kraus Date: Tue, 30 Sep 2025 10:01:47 +0200 Subject: [PATCH] clean up refactor: Improve readability of printDShotInfo Replaced the nested ternary operator in the `printDShotInfo` function with a `switch` statement. This change improves code readability and maintainability, making it easier to add or modify DShot modes in the future. --- src/DShotRMT.cpp | 27 +++++-- src/dshot_definitions.h | 157 +++++++++++++++++++--------------------- 2 files changed, 97 insertions(+), 87 deletions(-) diff --git a/src/DShotRMT.cpp b/src/DShotRMT.cpp index 46bb833..c8d8eb4 100644 --- a/src/DShotRMT.cpp +++ b/src/DShotRMT.cpp @@ -319,8 +319,8 @@ dshot_result_t DShotRMT::_initRXChannel() _rx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS; // Filter for pulses that are within a reasonable range for DShot telemetry - _rmt_rx_config.signal_range_min_ns = DSHOT_PULSE_MIN; - _rmt_rx_config.signal_range_max_ns = DSHOT_PULSE_MAX; + _rmt_rx_config.signal_range_min_ns = DSHOT_PULSE_MIN_NS; + _rmt_rx_config.signal_range_max_ns = DSHOT_PULSE_MAX_NS; if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK) { @@ -542,10 +542,25 @@ bool IRAM_ATTR DShotRMT::_on_rx_done(rmt_channel_handle_t rmt_rx_channel, const void DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output) { output.println("\n === DShot Signal Info === "); - output.printf("Current Mode: DSHOT%d\n", dshot_rmt.getMode() == dshot_mode_t::DSHOT150 ? 150 : dshot_rmt.getMode() == dshot_mode_t::DSHOT300 ? 300 - : dshot_rmt.getMode() == dshot_mode_t::DSHOT600 ? 600 - : dshot_rmt.getMode() == dshot_mode_t::DSHOT1200 ? 1200 - : 0); + + 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: "); diff --git a/src/dshot_definitions.h b/src/dshot_definitions.h index 702c0af..b7ee52b 100644 --- a/src/dshot_definitions.h +++ b/src/dshot_definitions.h @@ -1,12 +1,12 @@ #pragma once #include -#include // Added for gpio_num_t +#include #include #include -#include // Added for std::atomic +#include -// Defines the available DShot communication speeds. +// Defines the available DShot communication speeds with type safety. enum class dshot_mode_t { DSHOT_OFF, @@ -80,7 +80,7 @@ typedef struct dshot_result uint16_t motor_rpm; // Motor RPM if telemetry is successful and magnet count is known. } dshot_result_t; -// Enum class for standard DShot commands that can be sent to an ESC. +// Standard DShot commands (regular enum for easier handling as per project conventions). enum dshotCommands_e { DSHOT_CMD_MOTOR_STOP = 0, @@ -89,110 +89,105 @@ enum dshotCommands_e DSHOT_CMD_BEACON3, DSHOT_CMD_BEACON4, DSHOT_CMD_BEACON5, - DSHOT_CMD_ESC_INFO, // V2 includes settings + DSHOT_CMD_ESC_INFO, DSHOT_CMD_SPIN_DIRECTION_1, DSHOT_CMD_SPIN_DIRECTION_2, DSHOT_CMD_3D_MODE_OFF, DSHOT_CMD_3D_MODE_ON, - DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented + DSHOT_CMD_SETTINGS_REQUEST, DSHOT_CMD_SAVE_SETTINGS, DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_EXTENDED_TELEMETRY_DISABLE, DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21, - DSHOT_CMD_LED0_ON, // BLHeli32 only - DSHOT_CMD_LED1_ON, // BLHeli32 only - DSHOT_CMD_LED2_ON, // BLHeli32 only - DSHOT_CMD_LED3_ON, // BLHeli32 only - DSHOT_CMD_LED0_OFF, // BLHeli32 only - DSHOT_CMD_LED1_OFF, // BLHeli32 only - DSHOT_CMD_LED2_OFF, // BLHeli32 only - DSHOT_CMD_LED3_OFF, // BLHeli32 only - DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off - DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off + DSHOT_CMD_LED0_ON, + DSHOT_CMD_LED1_ON, + DSHOT_CMD_LED2_ON, + DSHOT_CMD_LED3_ON, + DSHOT_CMD_LED0_OFF, + DSHOT_CMD_LED1_OFF, + DSHOT_CMD_LED2_OFF, + DSHOT_CMD_LED3_OFF, + DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, + DSHOT_CMD_SILENT_MODE_ON_OFF = 31, DSHOT_CMD_MAX = 47 }; -// Defines how DShot commands are sent. -enum class dshotCommandType_e -{ - DSHOT_CMD_TYPE_INLINE = 0, // Commands sent inline with motor signal (motors must be enabled). - DSHOT_CMD_TYPE_BLOCKING // Commands sent in blocking method (motors must be disabled). -}; +// --- Type-Safe Constants --- // DShot Protocol Constants -const uint16_t DSHOT_THROTTLE_FAILSAFE = 0; -const uint16_t DSHOT_THROTTLE_MIN = 48; -const uint16_t DSHOT_THROTTLE_MAX = 2047; -const uint16_t DSHOT_BITS_PER_FRAME = 16; -const uint16_t DEFAULT_MOTOR_MAGNET_COUNT = 14; +static constexpr uint16_t DSHOT_THROTTLE_FAILSAFE = 0; +static constexpr uint16_t DSHOT_THROTTLE_MIN = 48; +static constexpr uint16_t DSHOT_THROTTLE_MAX = 2047; +static constexpr uint16_t DSHOT_BITS_PER_FRAME = 16; +static constexpr uint16_t DEFAULT_MOTOR_MAGNET_COUNT = 14; // Custom status codes -const int DSHOT_OK = 0; -const int DSHOT_ERROR = 1; +static constexpr int DSHOT_OK = 0; +static constexpr int DSHOT_ERROR = 1; -// Configuration Constants (from DShotRMT.h private section) -const uint16_t DSHOT_NULL_PACKET = 0b0000000000000000; -const uint16_t DSHOT_FULL_PACKET = 0b1111111111111111; -const uint16_t DSHOT_CRC_MASK = 0b0000000000001111; -const rmt_clock_source_t DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT; -const uint32_t DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000; // 8 MHz resolution -const uint16_t RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond -const uint16_t DSHOT_RX_TIMEOUT_MS = 2; -const uint16_t DSHOT_PADDING_US = 20; // Add to pause between frames for compatibility -const uint16_t RMT_BUFFER_SYMBOLS = 64; -const uint16_t RMT_QUEUE_DEPTH = 1; -const uint16_t GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame -const uint16_t POLE_PAIRS_MIN = 1; -const uint16_t MAGNETS_PER_POLE_PAIR = 2; -const uint16_t NO_DSHOT_TELEMETRY = 0; -const uint16_t DSHOT_PULSE_MIN = 800; // 0.8us minimum pulse -const uint16_t DSHOT_PULSE_MAX = 8000; // 8.0us maximum pulse -const uint16_t DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX; -const uint16_t DSHOT_TELEMETRY_BIT_POSITION = 11; // Bit position of the telemetry request flag in the DShot frame -const uint16_t DSHOT_CRC_BIT_SHIFT = 4; // Number of bits to shift to extract data from data_and_crc +// Configuration Constants +static constexpr uint16_t DSHOT_NULL_PACKET = 0b0000000000000000; +static constexpr uint16_t DSHOT_FULL_PACKET = 0b1111111111111111; +static constexpr uint16_t DSHOT_CRC_MASK = 0b0000000000001111; +static constexpr rmt_clock_source_t DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT; +static constexpr uint32_t DSHOT_RMT_RESOLUTION = 8000000; // 8 MHz resolution +static constexpr uint16_t RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / 1000000; // RMT Ticks per microsecond +static constexpr uint16_t DSHOT_RX_TIMEOUT_MS = 2; +static constexpr uint16_t DSHOT_PADDING_US = 20; // Pause between frames +static constexpr uint16_t RMT_BUFFER_SYMBOLS = 64; +static constexpr uint16_t RMT_QUEUE_DEPTH = 1; +static constexpr uint16_t GCR_BITS_PER_FRAME = 21; // GCR bits in a DShot answer frame +static constexpr uint16_t POLE_PAIRS_MIN = 1; +static constexpr uint16_t MAGNETS_PER_POLE_PAIR = 2; +static constexpr uint16_t NO_DSHOT_TELEMETRY = 0; +static constexpr uint16_t DSHOT_PULSE_MIN_NS = 800; // 0.8us minimum pulse +static constexpr uint16_t DSHOT_PULSE_MAX_NS = 8000; // 8.0us maximum pulse +static constexpr uint16_t DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX; +static constexpr uint16_t DSHOT_TELEMETRY_BIT_POSITION = 11; +static constexpr uint16_t DSHOT_CRC_BIT_SHIFT = 4; -// Command Constants (from DShotRMT.h private section) -const uint16_t DEFAULT_CMD_DELAY_US = 10; -const uint16_t DEFAULT_CMD_REPEAT_COUNT = 1; -const uint16_t SETTINGS_COMMAND_REPEATS = 10; // Settings commands need 10 repeats -const uint16_t SETTINGS_COMMAND_DELAY_US = 5; +// Command Constants +static constexpr uint16_t DEFAULT_CMD_DELAY_US = 10; +static constexpr uint16_t DEFAULT_CMD_REPEAT_COUNT = 1; +static constexpr uint16_t SETTINGS_COMMAND_REPEATS = 10; +static constexpr uint16_t SETTINGS_COMMAND_DELAY_US = 5; // Timing parameters for each DShot mode -// Format: {bit_length_us, t1h_length_us} const dshot_timing_us_t DSHOT_TIMING_US[] = { {0.00, 0.00}, // DSHOT_OFF {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 +}; // Error Messages -static constexpr char *NONE = ""; -static constexpr char *UNKNOWN_ERROR = "Unknown Error!"; -static constexpr char *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully"; -static constexpr char *INIT_FAILED = "SignalGeneratorRMT init failed!"; -static constexpr char *TX_INIT_SUCCESS = "TX RMT channel initialized successfully"; -static constexpr char *TX_INIT_FAILED = "TX RMT channel init failed!"; -static constexpr char *RX_INIT_SUCCESS = "RX RMT channel initialized successfully"; -static constexpr char *RX_INIT_FAILED = "RX RMT channel init failed!"; -static constexpr char *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully"; -static constexpr char *ENCODER_INIT_FAILED = "RMT encoder init failed!"; -static constexpr char *ENCODING_SUCCESS = "Packet encoded successfully"; -static constexpr char *TRANSMISSION_SUCCESS = "Transmission successfully"; -static constexpr char *TRANSMISSION_FAILED = "Transmission failed!"; -static constexpr char *RECEIVER_FAILED = "RMT receiver failed!"; -static constexpr char *THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)"; -static constexpr char *PERCENT_NOT_IN_RANGE = "Percent not in range! (0.0 - 100.0)"; -static constexpr char *COMMAND_NOT_VALID = "Command not valid! (0 - 47)"; -static constexpr char *BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!"; -static constexpr char *TELEMETRY_SUCCESS = "Valid Telemetric Frame received!"; -static constexpr char *TELEMETRY_FAILED = "No valid Telemetric Frame received!"; -static constexpr char *INVALID_MAGNET_COUNT = "Invalid motor magnet count!"; -static constexpr char *TIMING_CORRECTION = "Timing correction!"; -static constexpr char *CALLBACK_REGISTERING_FAILED = "RMT RX Callback registering failed!"; -static constexpr char *INVALID_COMMAND = "Invalid command!"; -static constexpr char *COMMAND_SUCCESS = "DShot command sent successfully"; +static constexpr char NONE[] = ""; +static constexpr char UNKNOWN_ERROR[] = "Unknown Error!"; +static constexpr char INIT_SUCCESS[] = "SignalGeneratorRMT initialized successfully"; +static constexpr char INIT_FAILED[] = "SignalGeneratorRMT init failed!"; +static constexpr char TX_INIT_SUCCESS[] = "TX RMT channel initialized successfully"; +static constexpr char TX_INIT_FAILED[] = "TX RMT channel init failed!"; +static constexpr char RX_INIT_SUCCESS[] = "RX RMT channel initialized successfully"; +static constexpr char RX_INIT_FAILED[] = "RX RMT channel init failed!"; +static constexpr char ENCODER_INIT_SUCCESS[] = "RMT encoder initialized successfully"; +static constexpr char ENCODER_INIT_FAILED[] = "RMT encoder init failed!"; +static constexpr char ENCODING_SUCCESS[] = "Packet encoded successfully"; +static constexpr char TRANSMISSION_SUCCESS[] = "Transmission successfully"; +static constexpr char TRANSMISSION_FAILED[] = "Transmission failed!"; +static constexpr char RECEIVER_FAILED[] = "RMT receiver failed!"; +static constexpr char THROTTLE_NOT_IN_RANGE[] = "Throttle not in range! (48 - 2047)"; +static constexpr char PERCENT_NOT_IN_RANGE[] = "Percent not in range! (0.0 - 100.0)"; +static constexpr char COMMAND_NOT_VALID[] = "Command not valid! (0 - 47)"; +static constexpr char BIDIR_NOT_ENABLED[] = "Bidirectional DShot not enabled!"; +static constexpr char TELEMETRY_SUCCESS[] = "Valid Telemetric Frame received!"; +static constexpr char TELEMETRY_FAILED[] = "No valid Telemetric Frame received!"; +static constexpr char INVALID_MAGNET_COUNT[] = "Invalid motor magnet count!"; +static constexpr char TIMING_CORRECTION[] = "Timing correction!"; +static constexpr char CALLBACK_REGISTERING_FAILED[] = "RMT RX Callback registering failed!"; +static constexpr char INVALID_COMMAND[] = "Invalid command!"; +static constexpr char COMMAND_SUCCESS[] = "DShot command sent successfully"; // Helper to get result code string inline const char* _get_result_code_str(dshot_msg_code_t code)