...unified
...now featuring a much more "clean" appearance ^^
This commit is contained in:
Wastl Kraus
parent
314e888a38
commit
1adde68072
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@ -1,32 +1,30 @@
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name: DShotRMT Example Sketch
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name: Build DShotRMT Example Sketch
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on:
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push:
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branches:
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- main
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- '*'
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout Repository
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uses: actions/checkout@main
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Install Repository as Library
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run: |
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mkdir -p "$HOME/Arduino/libraries"
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ln -s "$PWD" "$HOME/Arduino/libraries/."
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- name: Install Arduino CLI
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- name: Set up Arduino CLI
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run: |
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curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
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arduino-cli core update-index
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arduino-cli core install esp32:esp32
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- name: Compile Sketch
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- name: Install DShotRMT as library
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run: |
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arduino-cli compile --fqbn esp32:esp32:esp32 ${{ github.workspace }}/examples/dshot300
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env:
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ARDUINO_LIBRARY_PATH: ${{ github.workspace }}/libraries
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ARDUINO_DATA_PATH: ${{ github.workspace }}/arduino-data
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mkdir -p $HOME/Arduino/libraries
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ln -s $PWD $HOME/Arduino/libraries/DShotRMT
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- name: Compile dshot300.ino example
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run: |
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arduino-cli compile --fqbn esp32:esp32:esp32 examples/dshot300/dshot300.ino
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100
DShotRMT.cpp
100
DShotRMT.cpp
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@ -11,13 +11,14 @@
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// --- DShotRMT Class ---
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// This class provides an abstraction for sending and optionally receiving DShot frames.
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// It uses ESP32's RMT peripheral for precise timing control, including BiDirectional RX.
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DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional, uint8_t pauseDuration)
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: _gpio(gpio), _mode(mode), _isBidirectional(isBidirectional), _pauseDuration(pauseDuration) {}
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// Sets up RMT TX and RX channels as well as encoder configuration
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// Initializes RMT TX and RX channels and encoder configuration
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void DShotRMT::begin()
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{
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// RX RMT Channel Configuration (for BiDirectional DShot)
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// Configure RX RMT Channel for BiDirectional DShot
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if (_isBidirectional)
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{
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_rmt_rx_channel_config = {
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@ -42,7 +43,7 @@ void DShotRMT::begin()
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_receive_config.signal_range_max_ns = 5000;
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}
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// TX RMT Channel Configuration
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// Configure TX RMT Channel
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_rmt_tx_channel_config = {
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.gpio_num = _gpio,
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.clk_src = DSHOT_CLOCK_SRC_DEFAULT,
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@ -51,7 +52,7 @@ void DShotRMT::begin()
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.trans_queue_depth = 10,
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};
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// Configure transmission looping
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// Transmission configuration
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_transmit_config.loop_count = 0;
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_transmit_config.flags.eot_level = _isBidirectional;
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@ -66,7 +67,7 @@ void DShotRMT::begin()
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return;
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}
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// Use a copy encoder to send raw symbols
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// Create copy encoder for raw symbol transmission
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if (!_dshot_encoder)
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{
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rmt_copy_encoder_config_t enc_cfg = {};
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@ -78,112 +79,109 @@ void DShotRMT::begin()
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}
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}
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// Encodes and transmits a valid DShot Throttle value (48 - 2047)
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// Encodes and transmits a valid DShot throttle value (48 - 2047)
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void DShotRMT::setThrottle(uint16_t throttle)
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{
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// Safety first - double check input range and 11 bit "translation"
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throttle = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111;
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// Clamp input range and mask to 11 bits
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throttle = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0x7FF;
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_lastThrottle = throttle;
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// Convert throttle value to DShot Paket Format
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// Convert throttle value to DShot packet format
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_tx_packet = assambleDShotPaket(_lastThrottle);
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// Encode RMT symbols
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size_t count = 0;
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encodeDShotTX(_tx_packet, _tx_symbols, count);
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// Send the packet
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// Transmit the packet
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if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, _tx_symbols, count * sizeof(rmt_symbol_word_t), &_transmit_config) != 0)
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{
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Serial.println("Failed to transmit DShot packet");
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return;
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}
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// Take a break
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// Pause between frames
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esp_rom_delay_us(_pauseDuration);
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}
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// --- Get eRPM from ESC ---
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// Receives and decodes a response frame from ESC containing eRPM info
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uint32_t DShotRMT::getERPM()
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{
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if (_isBidirectional)
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{
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if (_rmt_rx_channel == nullptr)
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Serial.println("No bidirectional DShot support.");
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return _last_erpm;
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// Attempt to receive a new frame
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// Try to receive a new frame
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if (!rmt_receive(_rmt_rx_channel, _rx_symbols, sizeof(_rx_symbols), &_receive_config))
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Serial.println("No valid DShot frame received");
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return _last_erpm;
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_last_erpm = decodeDShotRX(_rx_symbols, DSHOT_BITS_PER_FRAME);
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return _last_erpm;
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}
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// Nothing to do here
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// No RX possible in non-bidirectional mode
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return _last_erpm;
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}
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// Translate eRPM value to RPM taking magnet count as parameter
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// Converts eRPM value to RPM using magnet count
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uint32_t DShotRMT::getMotorRPM(uint8_t magnet_count)
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{
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uint8_t pole_count = magnet_count / 2;
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if (pole_count == 0)
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pole_count = 1;
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uint32_t rpm = getERPM() / pole_count;
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return rpm;
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return getERPM() / pole_count;
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}
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// Calculate CRC for DShot Paket
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// Calculates CRC for DShot packet
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uint16_t DShotRMT::calculateCRC(uint16_t dshot_packet)
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{
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uint16_t _packet = (dshot_packet << 1) | (_isBidirectional ? 1 : 0);
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uint16_t packet = (dshot_packet << 1) | (_isBidirectional ? 1 : 0);
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// Clear container before new calculation
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// Reset CRC container
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_packet_crc = DSHOT_NULL_PACKET;
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// CRC calculation for DShot (4 bits)
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_packet_crc = ((_packet ^ (_packet >> 4) ^ (_packet >> 8)) & 0b0000000000001111);
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_packet_crc = ((packet ^ (packet >> 4) ^ (packet >> 8)) & 0xF);
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// CRC is inverted for biDirectional DShot
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// CRC is inverted for bidirectional DShot
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if (_isBidirectional)
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_packet_crc = (~_packet_crc) & 0b0000000000001111;
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_packet_crc = (~_packet_crc) & 0xF;
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return _packet_crc;
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}
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// Assamble DShot Paket (11 bit throttle + 1 bit telemetry request + 4 bit crc)
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// Assembles DShot packet (11 bit throttle + 1 bit telemetry request + 4 bit CRC)
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uint16_t DShotRMT::assambleDShotPaket(uint16_t value)
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{
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// Dummy conversion to 11 bits
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uint16_t _value = value & 0b0000011111111111;
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uint16_t throttle = value & 0x7FF;
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// Clear container
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// Reset packet container
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_tx_packet = DSHOT_NULL_PACKET;
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// Assemble raw DShot packet and add checksum
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_packet_crc = calculateCRC(_value);
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_packet_crc = calculateCRC(throttle);
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_tx_packet = (_value << 1) | (_isBidirectional ? 1 : 0);
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_tx_packet = (throttle << 1) | (_isBidirectional ? 1 : 0);
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_tx_packet = (_tx_packet << 4) | _packet_crc;
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return _tx_packet;
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}
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// --- Encode DShot TX Frame ---
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// Converts a 16-bit packet into a valid DShot Frame for RMT
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// Converts a 16-bit packet into a valid DShot frame for RMT
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void DShotRMT::encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count)
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{
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// Always start encoding from the top
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count = 0;
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uint32_t ticks_per_bit = 0;
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uint32_t ticks_zero_high = 0;
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uint32_t ticks_one_high = 0;
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// Select timing based on DShot mode
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switch (_mode)
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{
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case DSHOT150:
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@ -217,10 +215,10 @@ void DShotRMT::encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols,
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uint32_t ticks_zero_low = ticks_per_bit - ticks_zero_high;
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uint32_t ticks_one_low = ticks_per_bit - ticks_one_high;
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// Fill the 16 DShot-Bits Array with selected timings
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// Fill the 16 DShot bits array with selected timings
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for (int i = 15; i >= 0; i--)
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{
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bool bit = (dshot_packet >> i) & 0b0000000000000001;
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bool bit = (dshot_packet >> i) & 0x1;
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if (_isBidirectional)
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{
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symbols[count].level0 = 0;
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// Decodes a response frame from ESC containing eRPM info
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uint16_t DShotRMT::decodeDShotRX(const rmt_symbol_word_t *symbols, uint32_t count)
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{
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// Container for received frame
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uint16_t _rec_frame = DSHOT_NULL_PACKET;
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uint16_t received_frame = DSHOT_NULL_PACKET;
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// Fill the Frame bit by bit
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// Build the frame bit by bit
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for (size_t i = 0; i < DSHOT_BITS_PER_FRAME && i < count; ++i)
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{
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bool bit = (symbols[i].duration0 < symbols[i].duration1);
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_rec_frame = (_rec_frame << 1) | bit;
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received_frame = (received_frame << 1) | bit;
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}
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// Cut the received CRC for checking
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uint16_t _temp = _rec_frame >> 4;
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// Store the received CRC
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uint8_t crc_recv = _rec_frame & 0b0000000000001111;
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// Calculate CRC for received frame again
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uint8_t crc_calc = (_temp ^ (_temp >> 4) ^ (_temp >> 8)) & 0b0000000000001111;
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// Extract CRC and payload
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uint16_t payload = received_frame >> 4;
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uint8_t crc_received = received_frame & 0xF;
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// Calculate CRC for received frame
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uint8_t crc_calculated = (payload ^ (payload >> 4) ^ (payload >> 8)) & 0xF;
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if (_isBidirectional)
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crc_calc = (~crc_calc) & 0b0000000000001111;
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crc_calculated = (~crc_calculated) & 0xF;
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// Checking CRC
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if (crc_recv != crc_calc)
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// Check CRC
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if (crc_received != crc_calculated)
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{
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Serial.println("RX - CRC check failed.");
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return _last_erpm;
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}
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// Cut "telemetric" bit leaving "raw" value
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uint16_t raw = _temp >> 1;
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// Remove telemetry bit, keep raw value
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uint16_t raw = payload >> 1;
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return _last_erpm = raw;
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}
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37
DShotRMT.h
37
DShotRMT.h
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@ -15,24 +15,24 @@
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#include <driver/rmt_rx.h>
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// --- DShot Protocol Constants ---
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static constexpr auto DSHOT_THROTTLE_FAILSAVE = 0;
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static constexpr auto DSHOT_THROTTLE_MIN = 48;
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static constexpr auto DSHOT_THROTTLE_MAX = 2047;
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static constexpr auto DSHOT_BITS_PER_FRAME = 16;
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static constexpr uint16_t DSHOT_THROTTLE_FAILSAVE = 0;
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static constexpr uint16_t DSHOT_THROTTLE_MIN = 48;
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static constexpr uint16_t DSHOT_THROTTLE_MAX = 2047;
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static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16;
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static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
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static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
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static constexpr auto NO_ERPM_SIGNAL = 0;
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static constexpr uint16_t DSHOT_NULL_PACKET = 0x0000;
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static constexpr uint16_t DSHOT_FULL_PACKET = 0xFFFF;
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static constexpr uint16_t NO_ERPM_SIGNAL = 0;
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// RMT configuration parameters
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static constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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static constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz Clock
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static constexpr rmt_clock_source_t DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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static constexpr uint32_t DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz Clock
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static constexpr auto TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
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static constexpr auto RX_BUFFER_SIZE = 32; // Padding for RX decoding
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static constexpr size_t TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
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static constexpr size_t RX_BUFFER_SIZE = 32; // Padding for RX decoding
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// DShot Packet
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typedef struct dshot_packet_s
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// DShot Packet structure
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typedef struct
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{
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uint16_t throttle_value : 11;
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bool telemetric_request : 1;
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@ -40,7 +40,7 @@ typedef struct dshot_packet_s
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} dshot_packet_t;
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// --- DShot Mode Selection ---
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typedef enum dshot_mode_e
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typedef enum
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{
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DSHOT_OFF,
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DSHOT150,
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@ -66,20 +66,20 @@ public:
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uint32_t getERPM();
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uint32_t getMotorRPM(uint8_t magnet_count);
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// Accessors for GPIO and DShot Settings
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// Accessors for GPIO and DShot settings
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gpio_num_t getGPIO() const { return _gpio; }
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dshot_mode_t getDShotMode() const { return _mode; }
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uint8_t getPauseDuration() const { return _pauseDuration; }
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void setPauseDuration(uint8_t pauseDuration) { _pauseDuration = pauseDuration; }
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private:
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// Calculates the checksum for throttle value
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// Calculates the checksum for a DShot packet
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uint16_t calculateCRC(uint16_t dshot_packet);
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// Assembles DShot packet (11 bit throttle + 1 bit telemetry request + 4 bit crc)
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// Assembles DShot packet (11 bit throttle + 1 bit telemetry request + 4 bit CRC)
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uint16_t assambleDShotPaket(uint16_t value);
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// Converts a 16-bit DShot packet into RMT symbols and appends pause
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// Converts a 16-bit DShot packet into RMT symbols
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void encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count);
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// Decodes the ESC answer
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@ -96,7 +96,6 @@ private:
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uint16_t _rx_packet = DSHOT_NULL_PACKET;
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uint16_t _tx_packet = DSHOT_NULL_PACKET;
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uint8_t _packet_crc = 0;
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dshot_packet_t _dshot_packet = {};
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// --- RMT Channel Handles ---
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rmt_channel_handle_t _rmt_rx_channel = nullptr;
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|
|
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125
README.md
125
README.md
|
|
@ -1,25 +1,70 @@
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[](https://github.com/derdoktor667/DShotRMT/actions/workflows/esp32.yml)
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## DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5)
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# DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5)
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This is a complete rewrite of the original DShotRMT library to support the new ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`).
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The library sends continuous DShot frames with a pause between them and supports all standard DShot modes (150, 300, 600).
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A modern, robust C++ library for generating DShot signals on the ESP32 using the new ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`).
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Supports all standard DShot modes (150, 300, 600) and features continuous frame transmission with configurable pause.
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**Now with BiDirectional DShot support!**
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### Now with BiDirectional DShot Support!!!
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The old Version without encoding (rmt.h) is still available by using "oldAPI" Branch.
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> The legacy version (using the old `rmt.h` API) is still available in the `oldAPI` branch.
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---
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## The DShot Protocol
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## 🚀 Features
|
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The DShot protocol transmits 16-bit packets to brushless ESCs:
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- **All DShot Modes:** DSHOT150, DSHOT300 (default), DSHOT600
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- **BiDirectional DShot:** Experimental support for telemetry and RPM feedback
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- **Continuous Frames:** Hardware-timed, CPU-independent signal generation
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- **Configurable Pause:** Ensures ESCs can reliably detect frame boundaries
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- **Simple API:** Easy integration into your Arduino or ESP-IDF project
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- 11-bit throttle value
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- 1-bit telemetry request
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- 4-bit checksum
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---
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Data is transmitted MSB-first. Pulse timing depends on the selected DShot mode.
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## 📦 Installation
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||||
Clone this repository and add it to your Arduino libraries or ESP-IDF components.
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||||
|
||||
```sh
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git clone https://github.com/derdoktor667/DShotRMT.git
|
||||
```
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|
||||
---
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## ⚡ Quick Start
|
||||
|
||||
```cpp
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#include <DShotRMT.h>
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||||
|
||||
constexpr gpio_num_t MOTOR_PIN = GPIO_NUM_17;
|
||||
constexpr dshot_mode_t MODE = DSHOT300;
|
||||
constexpr bool BIDIRECTIONAL = true;
|
||||
|
||||
DShotRMT motor(MOTOR_PIN, MODE, BIDIRECTIONAL);
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
motor.begin();
|
||||
motor.setThrottle(1000); // Set throttle value (48–2047)
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// Optionally read RPM if bidirectional mode is enabled
|
||||
uint32_t rpm = motor.getMotorRPM(14); // 14 magnets
|
||||
Serial.println(rpm);
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📚 DShot Protocol Overview
|
||||
|
||||
DShot transmits 16-bit packets to brushless ESCs:
|
||||
|
||||
- **11 bits:** Throttle value
|
||||
- **1 bit:** Telemetry request
|
||||
- **4 bits:** Checksum (CRC)
|
||||
|
||||
Data is sent MSB-first. Pulse timing depends on the selected DShot mode.
|
||||
|
||||
| DSHOT | Bitrate | TH1 | TH0 | Bit Time (µs) | Frame Time (µs) |
|
||||
|-------|-------------|-------|--------|---------------|-----------------|
|
||||
|
|
@ -27,65 +72,59 @@ Data is transmitted MSB-first. Pulse timing depends on the selected DShot mode.
|
|||
| 300 | 300 kbit/s | 2.50 | 1.25 | 3.33 | ~53.28 |
|
||||
| 600 | 600 kbit/s | 1.25 | 0.625 | 1.67 | ~26.72 |
|
||||
|
||||
Each frame is followed by a pause. This helps ESCs detect separate frames.
|
||||
Each frame is followed by a pause to help ESCs detect separate frames.
|
||||
|
||||
|
||||
|
||||
---
|
||||
|
||||
## Checksum Calculation
|
||||
## 🔒 Checksum Calculation
|
||||
|
||||
The checksum is calculated over the first 12 bits (throttle + bit):
|
||||
The checksum is calculated over the first 12 bits (throttle + telemetry):
|
||||
|
||||
```c
|
||||
crc = (value ^ (value >> 4) ^ (value >> 8)) & 0x0F;
|
||||
```
|
||||
|
||||
### Bidirectional DSHOT
|
||||
Bidirectional DSHOT is also known as inverted DSHOT, because the signal level is inverted, so 1 is low and a 0 is high. This is done in order to let the ESC know, that we are operating in bidirectional mode and that it should be sending back telemetry packages.
|
||||
|
||||
#### Calculating the Bidirectional CRC
|
||||
The calculation of the checksum is basically the same as before, but the inverted:
|
||||
Bidirectional DSHOT (sometimes called "inverted DSHOT") inverts the signal level:
|
||||
A logical '1' is low, and a '0' is high. This signals the ESC to send telemetry packets back.
|
||||
|
||||
**Bidirectional CRC:**
|
||||
|
||||
```c
|
||||
crc = (~(value ^ (value >> 4) ^ (value >> 8))) & 0x0F;
|
||||
```
|
||||
|
||||
...biDirectional DShot is experimental. Further Hardware testing needed.
|
||||
> **Note:** Bidirectional DShot is experimental. Further hardware testing is needed.
|
||||
|
||||
---
|
||||
|
||||
## RMT on the ESP32
|
||||
|
||||
The RMT (Remote Control) is a peripheral designed to generate accurate and stable signals to control external devices such as LEDs, motors, and other peripherals. It is well suited for generating the DShot signals in a high-performance and accurate way on the ESP32 platform.
|
||||
|
||||
### Advantages:
|
||||
## 🛠️ ESP32 RMT Peripheral
|
||||
|
||||
The RMT (Remote Control) peripheral generates accurate, hardware-timed signals for controlling external devices.
|
||||
Perfect for DShot:
|
||||
- Hardware-timed pulses
|
||||
- CPU-independent signal generation
|
||||
- CPU-independent
|
||||
- Loop mode with inter-frame pause
|
||||
- Reliable under system load
|
||||
|
||||
---
|
||||
|
||||
## About This Library
|
||||
## 📝 API Reference
|
||||
|
||||
This C++ library provides a simple class to generate DShot signals using any RMT-capable GPIO.
|
||||
It uses a `copy_encoder` to continuously send a prebuilt symbol buffer. New throttle values are applied only when they change.
|
||||
- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional, uint8_t pauseDuration = 120)`
|
||||
- `void begin()`
|
||||
- `void setThrottle(uint16_t throttle)`
|
||||
- `uint32_t getERPM()`
|
||||
- `uint32_t getMotorRPM(uint8_t magnet_count)`
|
||||
|
||||
### Supported Modes (optional BiDirectional):
|
||||
|
||||
- DSHOT150
|
||||
- DSHOT300 (default)
|
||||
- DSHOT600
|
||||
|
||||
### Frame Structure:
|
||||
|
||||
- 16-bit DShot data
|
||||
- 21-bit times worth of pause
|
||||
See [examples/dshot300/dshot300.ino](examples/dshot300/dshot300.ino) for a full demo.
|
||||
|
||||
---
|
||||
|
||||
## References
|
||||
## 📖 References
|
||||
|
||||
- [DSHOT – the missing Handbook](https://brushlesswhoop.com/dshot-and-bidirectional-dshot/)
|
||||
- [DSHOT in the Dark](https://dmrlawson.co.uk/index.php/2017/12/04/dshot-in-the-dark/)
|
||||
|
|
@ -93,14 +132,14 @@ It uses a `copy_encoder` to continuously send a prebuilt symbol buffer. New thro
|
|||
|
||||
---
|
||||
|
||||
## License
|
||||
## 📄 License
|
||||
|
||||
MIT License – see LICENSE
|
||||
MIT License – see [LICENSE](LICENSE)
|
||||
|
||||
---
|
||||
|
||||
## Author
|
||||
## 👤 Author
|
||||
|
||||
Wastl Kraus
|
||||
**Wastl Kraus**
|
||||
GitHub: [@derdoktor667](https://github.com/derdoktor667)
|
||||
Website: [wir-sind-die-matrix.de](https://wir-sind-die-matrix.de)
|
||||
|
|
|
|||
|
|
@ -11,17 +11,17 @@
|
|||
|
||||
// USB serial port settings
|
||||
constexpr auto &USB_SERIAL = Serial0;
|
||||
constexpr auto USB_SERIAL_BAUD = 115200;
|
||||
constexpr uint32_t USB_SERIAL_BAUD = 115200;
|
||||
|
||||
// Motor configuration
|
||||
constexpr auto MOTOR01_PIN = GPIO_NUM_17;
|
||||
constexpr auto DSHOT_MODE = DSHOT300;
|
||||
constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
|
||||
constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
|
||||
|
||||
// BiDirectional DShot Support (default: false)
|
||||
constexpr auto IS_BIDIRECTIONAL = false;
|
||||
constexpr bool IS_BIDIRECTIONAL = false;
|
||||
|
||||
// Motor Magnet count for RPM calculation
|
||||
constexpr auto MOTOR01_MAGNET_COUNT = 14;
|
||||
// Motor magnet count for RPM calculation
|
||||
constexpr uint8_t MOTOR01_MAGNET_COUNT = 14;
|
||||
|
||||
// Setup Motor Pin, DShot Mode and optional BiDirectional Support
|
||||
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
|
||||
|
|
@ -32,7 +32,6 @@ void printRPMPeriodically(uint16_t throttle);
|
|||
// Reads throttle value from serial input
|
||||
uint16_t readSerialThrottle();
|
||||
|
||||
//
|
||||
void setup()
|
||||
{
|
||||
// Start the USB Serial Port
|
||||
|
|
@ -49,7 +48,6 @@ void setup()
|
|||
USB_SERIAL.println("Enter a throttle value (48–2047):");
|
||||
}
|
||||
|
||||
//
|
||||
void loop()
|
||||
{
|
||||
// Read value input from Serial
|
||||
|
|
@ -80,7 +78,7 @@ uint16_t readSerialThrottle()
|
|||
|
||||
if (throttle_input < DSHOT_THROTTLE_MIN || throttle_input > DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047");
|
||||
USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047.");
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue