...modular functions

...crc calculation and paket building in seperate functions now

DShotRMT.cpp

@@ -73,14 +73,8 @@ void DShotRMT::setThrottle(uint16_t throttle)
 
     _lastThrottle = throttle;
 
-    // Assemble raw DShot packet and compute checksum
+    // Convert throttle value to DShot Paket Format
-    _tx_packet = (throttle << 1) | (_isBidirectional ? 1 : 0);
+    _tx_packet = assambleDShotPaket(_lastThrottle);
-
-    uint16_t crc = _isBidirectional
-                       ? (~(_tx_packet ^ (_tx_packet >> 4) ^ (_tx_packet >> 8))) & 0x0F
-                       : (_tx_packet ^ (_tx_packet >> 4) ^ (_tx_packet >> 8)) & 0x0F;
-
-    _tx_packet = (_tx_packet << 4) | crc;
 
     // Encode RMT symbols
     size_t count = 0;
@@ -167,6 +161,38 @@ uint32_t DShotRMT::getMotorRPM(uint8_t magnet_count)
     return rpm;
 }
 
+// Calculate CRC for DShot Paket
+uint16_t DShotRMT::calculateCRC(uint16_t dshot_packet)
+{
+    // Clear container before new calculation
+    _packet_crc = DSHOT_NULL_PACKET;
+
+    // CRC is inverted for biDirectional DSHot
+    _packet_crc = _isBidirectional
+                      ? (~(dshot_packet ^ (dshot_packet >> 4) ^ (dshot_packet >> 8))) & 0x0F
+                      : (dshot_packet ^ (dshot_packet >> 4) ^ (dshot_packet >> 8)) & 0x0F;
+
+    return _packet_crc;
+}
+
+// Assamble DShot Paket (10 bit throttle + 1 bit telemetry request + 4 bit crc)
+uint16_t DShotRMT::assambleDShotPaket(uint16_t value)
+{
+    // Clear container
+    _tx_packet = DSHOT_NULL_PACKET;
+
+    // dummy 10bit convertion
+    _tx_packet = value & 0b0000011111111111;
+
+    // Assemble raw DShot packet and add checksum
+    _tx_packet = (value << 1) | (_isBidirectional ? 1 : 0);
+    _packet_crc = calculateCRC(_tx_packet);
+
+    _tx_packet = (_tx_packet << 4) | _packet_crc;
+
+    return _tx_packet;
+}
+
 // --- Encode DShot TX Frame ---
 // Converts a 16-bit packet into a valid DShot Frame for RMT
 void DShotRMT::encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count)

DShotRMT.h

@@ -67,6 +67,12 @@ public:
     dshot_mode_t getDShotMode() const { return _mode; }
 
 private:
+    // Calculate the checksum for throttle value
+    uint16_t calculateCRC(uint16_t dshot_packet);
+
+    // Assamble DShot Paket (10 bit throttle + 1 bit telemetry request + 4 bit crc)
+    uint16_t assambleDShotPaket(uint16_t value);
+
     // Converts a 16-bit DShot packet into RMT symbols and appends pause
     void encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count);
 
@@ -79,6 +85,7 @@ private:
     uint16_t _lastThrottle = DSHOT_FULL_PACKET;
     uint16_t _received_packet = DSHOT_NULL_PACKET;
     uint16_t _tx_packet = DSHOT_NULL_PACKET;
+    uint16_t _packet_crc = DSHOT_NULL_PACKET;
 
     // --- RMT Channel ---
     rmt_channel_handle_t _rmt_rx_channel = nullptr;