...simplify user api

.github/workflows/ci.yml

@@ -36,7 +36,9 @@ jobs:
       - name: Ensure ESP32 Core is installed (Linux)
         shell: bash
         run: |
+          if [[ "${{ steps.cache-core-linux.outputs.cache-hit }}" != "true" ]]; then
             arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
+          fi
           if ! arduino-cli core list | grep -q 'esp32'; then
             arduino-cli core install esp32:esp32
           fi
@@ -73,9 +75,12 @@ jobs:
           restore-keys: |
             arduino-core-windows-
       - name: Ensure ESP32 Core is installed (Windows)
+        if: steps.cache-core-win.outputs.cache-hit != 'true'
         shell: pwsh
         run: |
+          if ($env:cache-core-win.outputs.cache-hit -ne 'true') {
             arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
+          }
           if (-not (arduino-cli core list | Select-String 'esp32')) {
             arduino-cli core install esp32:esp32
           }
@@ -98,79 +103,52 @@ jobs:
   # Compilation Test
   # ============================================================================
 
-  compile-test-linux:
+  compile-all-sketches:
-    name: Compile Sketches (Linux)
+    name: Compile ${{ matrix.sketch }} (${{ matrix.os }})
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
     timeout-minutes: 15
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest]
+        sketch:
+          - examples/throttle_percent/throttle_percent.ino
+          - examples/dshot300/dshot300.ino
+          - examples/web_control/web_control.ino
+          - examples/web_client/web_client.ino
     steps:
       - uses: actions/checkout@v5
       - uses: arduino/setup-arduino-cli@v2
+
       - name: Restore Arduino Core & Libraries Cache
-        id: cache-all-linux
+        id: cache-all
         uses: actions/cache/restore@v4
         with:
           path: |
             ~/.arduino15/packages
             ~/.arduino15/cache
             ~/Arduino/libraries
-          key: arduino-full-linux-esp32-v1
+          key: ${{ runner.os }}-arduino-full-esp32-v1-${{ hashFiles('**/library.properties', '**/platform.txt') }}
           restore-keys: |
-            arduino-full-linux-
+            ${{ runner.os }}-arduino-full-esp32-v1-
+
       - name: Ensure ESP32 Core and Dependencies (Linux)
+        if: runner.os == 'Linux' && steps.cache-all.outputs.cache-hit != 'true'
         shell: bash
         run: |
           arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
-          if ! arduino-cli core list | grep -q 'esp32'; then
           arduino-cli core install esp32:esp32
-          fi
           mkdir -p ~/Arduino/libraries
-          if [ ! -d ~/Arduino/libraries/ArduinoJson ]; then
           git clone --depth=1 https://github.com/bblanchon/ArduinoJson.git ~/Arduino/libraries/ArduinoJson
-          fi
-          if [ ! -d ~/Arduino/libraries/ESPAsyncWebServer ]; then
           git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
-          fi
-          if [ ! -d ~/Arduino/libraries/AsyncTCP ]; then
           git clone --depth=1 https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
-          fi
-      - name: Save Arduino Core & Libraries Cache
-        if: always() && steps.cache-all-linux.outputs.cache-hit != 'true'
-        uses: actions/cache/save@v4
-        with:
-          path: |
-            ~/.arduino15/packages
-            ~/.arduino15/cache
-            ~/Arduino/libraries
-          key: arduino-full-linux-esp32-v1
-      - name: Compile Sketch
-        run: |
-          arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} examples/dshot300/dshot300.ino
 
-  compile-test-windows:
-    name: Compile Sketches (Windows)
-    runs-on: windows-latest
-    timeout-minutes: 15
-    steps:
-      - uses: actions/checkout@v5
-      - uses: arduino/setup-arduino-cli@v2
-      - name: Restore Arduino Core & Libraries Cache
-        id: cache-all-win
-        uses: actions/cache/restore@v4
-        with:
-          path: |
-            ~/.arduino15/packages
-            ~/.arduino15/cache
-            ~/Arduino/libraries
-          key: arduino-full-windows-esp32-v1
-          restore-keys: |
-            arduino-full-windows-
       - name: Ensure ESP32 Core and Dependencies (Windows)
+        if: runner.os == 'Windows' && steps.cache-all.outputs.cache-hit != 'true'
         shell: pwsh
         run: |
           arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
-          if (-not (arduino-cli core list | Select-String 'esp32')) {
           arduino-cli core install esp32:esp32
-          }
           if (-not (Test-Path -Path "$env:USERPROFILE/Arduino/libraries/ArduinoJson")) {
             git clone --depth=1 https://github.com/bblanchon/ArduinoJson.git "$env:USERPROFILE/Arduino/libraries/ArduinoJson"
           }
@@ -180,19 +158,26 @@ jobs:
           if (-not (Test-Path -Path "$env:USERPROFILE/Arduino/libraries/AsyncTCP")) {
             git clone --depth=1 https://github.com/ESP32Async/AsyncTCP "$env:USERPROFILE/Arduino/libraries/AsyncTCP"
           }
+
       - name: Save Arduino Core & Libraries Cache
-        if: always() && steps.cache-all-win.outputs.cache-hit != 'true'
+        if: always() && steps.cache-all.outputs.cache-hit != 'true'
         uses: actions/cache/save@v4
         with:
           path: |
             ~/.arduino15/packages
             ~/.arduino15/cache
             ~/Arduino/libraries
-          key: arduino-full-windows-esp32-v1
+          key: ${{ runner.os }}-arduino-full-esp32-v1-${{ hashFiles('**/library.properties', '**/platform.txt') }}
-      - name: Compile Sketch
-        run: |
-          arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} examples/dshot300/dshot300.ino
 
+      - name: Compile Sketch (Linux)
+        shell: bash
+        if: runner.os == 'Linux'
+        run: arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} "${{ matrix.sketch }}"
+
+      - name: Compile Sketch (Windows)
+        shell: pwsh
+        if: runner.os == 'Windows'
+        run: arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} "${{ matrix.sketch }}"
   # ============================================================================
   # Build Status Report
   # ============================================================================
@@ -203,8 +188,7 @@ jobs:
     needs:
       - quality-check-linux
       - quality-check-windows
-      - compile-test-linux
+      - compile-all-sketches
-      - compile-test-windows
     steps:
       - name: Create Build Summary
         run: |
@@ -216,13 +200,13 @@ jobs:
             && echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY \
             || echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY
 
-          [[ "${{ needs.compile-test-linux.result }}" == "success" && "${{ needs.compile-test-windows.result }}" == "success" ]] \
+          [[ "${{ needs.compile-all-sketches.result }}" == "success" ]] \
             && echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY \
             || echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
 
           echo "" >> $GITHUB_STEP_SUMMARY
 
-          [[ "${{ needs.quality-check-linux.result }}" == "success" && "${{ needs.quality-check-windows.result }}" == "success" && "${{ needs.compile-test-linux.result }}" == "success" && "${{ needs.compile-test-windows.result }}" == "success" ]] \
+          [[ "${{ needs.quality-check-linux.result }}" == "success" && "${{ needs.quality-check-windows.result }}" == "success" && "${{ needs.compile-all-sketches.result }}" == "success" ]] \
             && echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY \
             && echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY \
             || echo "## ⚠️ Action Required" >> $GITHUB_STEP_SUMMARY \

README.md

@@ -51,6 +51,9 @@ void setup() {
   // Initialize the DShot motor
   motor.begin();
 
+  // Print CPU Info
+  DShotRMT::printCpuInfo(Serial);
+
   Serial.println("Motor initialized. Ramping up to 25% throttle...");
   
   // Ramp up to 25% throttle over 2.5 seconds
@@ -61,6 +64,9 @@ void setup() {
   
   Serial.println("Stopping motor.");
   motor.sendThrottlePercent(0);
+
+  // Print DShot Info
+  DShotRMT::printDShotInfo(motor, Serial);
 }
 
 void loop() {
@@ -106,6 +112,8 @@ The main class is `DShotRMT`. Here are the most important methods:
 - `sendCommand(uint16_t command)`: Sends a DShot command (0-47) to the motor.
 - `getTelemetry(uint16_t magnet_count)`: Receives and parses telemetry data from the motor (for bidirectional DShot, which is currently not officially supported).
 - `printDShotResult(dshot_result_t &result, Stream &output = Serial)`: Helper function to print DShot operation results and telemetry to a specified serial output.
+- `DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)`: Static helper function to print detailed DShot signal information for a given DShotRMT instance.
+- `DShotRMT::printCpuInfo(Stream &output = Serial)`: Static helper function to print detailed CPU information.
 
 ## 🤝 Contributing
 

examples/dshot300/dshot300.ino

@@ -51,7 +51,7 @@ void setup()
 void loop()
 {
     // Safety first
-    static uint16_t throttle = static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP);
+    static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
 
     // Initialize the esc with "0"
     static bool continuous_throttle = true;
@@ -127,7 +127,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
         // Stop motor
         throttle = 0;
         continuous_throttle = true;
-        dshot_result_t result = motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+        dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
         printDShotResult(result);
     }
     else if (input == "info")
@@ -146,14 +146,14 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
         // Send DShot command
         int cmd_num = input.substring(4).toInt();
 
-        if (cmd_num >= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP) && cmd_num <= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX))
+        if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
         {
             dshot_result_t result = motor01.sendCommand(cmd_num);
             printDShotResult(result);
         }
         else
         {
-            USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX));
+            USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, DSHOT_CMD_MAX);
         }
     }
     else if (input == "h" || input == "help")

examples/throttle_percent/throttle_percent.ino

@@ -110,14 +110,14 @@ void handleSerialInput(const String &input)
         // Send DShot command
         int cmd_num = input.substring(4).toInt();
 
-        if (cmd_num >= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP) && cmd_num <= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX))
+        if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
         {
             dshot_result_t result = motor01.sendCommand(cmd_num);
             printDShotResult(result);
         }
         else
         {
-            USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX));
+            USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, DSHOT_CMD_MAX);
         }
     }
     else if (input == "h" || input == "help")

examples/web_client/web_client.ino

@@ -58,7 +58,7 @@ AsyncWebServer server(80);
 AsyncWebSocket ws("/ws");
 
 // Global variables
-static uint16_t throttle = static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP);
+static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
 static bool isArmed = false;
 static bool last_sent_armed = false;
 static bool continuous_throttle = true;
@@ -126,7 +126,7 @@ void setup()
 void loop()
 {
     static uint64_t last_serial_update = 0;
-    static uint16_t last_sent_throttle = static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP);
+    static uint16_t last_sent_throttle = DSHOT_CMD_MOTOR_STOP;
     static String last_sent_rpm = "N/A";
     static uint64_t last_wifi_check = 0;
 
@@ -166,7 +166,7 @@ void loop()
     }
     else if (!isArmed && continuous_throttle)
     {
-        motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+        motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
     }
 
     // Print motor stats every 3 seconds in continuous mode
@@ -267,7 +267,7 @@ void handleOTAUpload(AsyncWebServerRequest *request, String filename, size_t ind
     if (!index)
     {
                     // Safety: Ensure motor is stopped during update
-                    motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));        setArmingStatus(false);
+                    motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);        setArmingStatus(false);
 
         USB_SERIAL.printf("OTA Update Start: %s\n", filename.c_str());
 
@@ -380,7 +380,7 @@ void setArmingStatus(bool armed)
     // Safety: Stop motor and reset throttle when disarming
     throttle = 0;
     continuous_throttle = false;
-    motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+    motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
     USB_SERIAL.println(" ");
     USB_SERIAL.println("=== MOTOR DISARMED - SAFETY STOP EXECUTED ===");
 
@@ -517,7 +517,7 @@ void handleSerialInput(const String &input)
         continuous_throttle = false;
         int cmd_num = input.substring(4).toInt();
 
-        if (cmd_num >= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP) && cmd_num <= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX))
+        if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
         {
             dshot_result_t result = motor01.sendCommand(cmd_num);
             printDShotResult(result);
@@ -525,7 +525,7 @@ void handleSerialInput(const String &input)
         else
         {
             USB_SERIAL.println(" ");
-            USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX));
+            USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, DSHOT_CMD_MAX);
         }
         return;
     }
@@ -580,7 +580,7 @@ void handleSerialInput(const String &input)
     {
         throttle = 0;
         continuous_throttle = false;
-        dshot_result_t result = motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+        dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
         printDShotResult(result);
         return;
     }
@@ -634,7 +634,7 @@ void handleWebSocketMessage(void *arg, uint8_t *data, size_t len)
         {
             throttle = 0;
             continuous_throttle = false;
-            motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+            motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
         }
         else if (web_throttle >= DSHOT_THROTTLE_MIN && web_throttle <= DSHOT_THROTTLE_MAX)
         {

examples/web_control/web_control.ino

@@ -57,7 +57,7 @@ AsyncWebServer server(80);
 AsyncWebSocket ws("/ws");
 
 // Global variables
-static uint16_t throttle = static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP);
+static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
 static bool isArmed = false;
 static bool continuous_throttle = true;
 
@@ -109,7 +109,7 @@ void setup()
 void loop()
 {
     static uint64_t last_serial_update = 0;
-    static uint16_t last_sent_throttle = static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP);
+    static uint16_t last_sent_throttle = DSHOT_CMD_MOTOR_STOP;
     static bool last_sent_armed = false;
     static String last_sent_rpm = "N/A";
 
@@ -131,7 +131,8 @@ void loop()
     }
     else if (!isArmed && continuous_throttle)
     {
-        motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+        // Ensure motor is stopped when disarmed
+        motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
     }
 
     // Print motor stats every 3 seconds in continuous mode
@@ -206,7 +207,7 @@ void setArmingStatus(bool armed)
     // Safety: Stop motor and reset throttle when disarming
     throttle = 0;
     continuous_throttle = false;
-    motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+    motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
     USB_SERIAL.println(" ");
     USB_SERIAL.println("=== MOTOR DISARMED - SAFETY STOP EXECUTED ===");
 }
@@ -284,7 +285,7 @@ void handleSerialInput(const String &input)
         continuous_throttle = false;
         int cmd_num = input.substring(4).toInt();
 
-        if (cmd_num >= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP) && cmd_num <= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX))
+        if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
         {
             dshot_result_t result = motor01.sendCommand(cmd_num);
             printDShotResult(result);
@@ -292,7 +293,7 @@ void handleSerialInput(const String &input)
         else
         {
             USB_SERIAL.println(" ");
-            USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX));
+            USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, DSHOT_CMD_MAX);
         }
         return;
     }
@@ -339,7 +340,7 @@ void handleSerialInput(const String &input)
     {
         throttle = 0;
         continuous_throttle = false;
-        dshot_result_t result = motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+        dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
         printDShotResult(result);
         return;
     }
@@ -393,7 +394,7 @@ void handleWebSocketMessage(void *arg, uint8_t *data, size_t len)
         {
             throttle = 0;
             continuous_throttle = false;
-            motor01.sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+            motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
         }
         else if (web_throttle >= DSHOT_THROTTLE_MIN && web_throttle <= DSHOT_THROTTLE_MAX)
         {

keywords.txt

@@ -7,59 +7,7 @@
 #######################################
 
 DShotRMT	KEYWORD1
-DShotCommandManager	KEYWORD1
-dshot_mode_t	KEYWORD1
-dshot_packet_t	KEYWORD1
-dshot_timing_t	KEYWORD1
-dshot_commands_t	KEYWORD1
-dshot_command_result_t	KEYWORD1
-dshot_command_sequence_item_t	KEYWORD1
-dshotCommands_e	KEYWORD1
-dshotCommandType_e	KEYWORD1
 
-#######################################
-# Methods and Functions (KEYWORD2)
-#######################################
-
-# DShotRMT Methods
-begin	KEYWORD2
-setThrottle	KEYWORD2
-sendThrottle	KEYWORD2
-sendDShotCommand	KEYWORD2
-sendCommand	KEYWORD2
-getERPM	KEYWORD2
-getMotorRPM	KEYWORD2
-getGPIO	KEYWORD2
-getDShotPacket	KEYWORD2
-is_bidirectional	KEYWORD2
-printDShotInfo	KEYWORD2
-printCpuInfo	KEYWORD2
-
-# DShotCommandManager Methods
-sendCommand	KEYWORD2
-sendCommandWithDelay	KEYWORD2
-stopMotor	KEYWORD2
-set3DMode	KEYWORD2
-setSpinDirection	KEYWORD2
-saveSettings	KEYWORD2
-setExtendedTelemetry	KEYWORD2
-requestESCInfo	KEYWORD2
-setLED	KEYWORD2
-activateBeacon	KEYWORD2
-setAudioStreamMode	KEYWORD2
-setSilentMode	KEYWORD2
-executeSequence	KEYWORD2
-executeInitSequence	KEYWORD2
-executeCalibrationSequence	KEYWORD2
-getCommandName	KEYWORD2
-isValidCommand	KEYWORD2
-printStatistics	KEYWORD2
-resetStatistics	KEYWORD2
-getTotalCommandCount	KEYWORD2
-getFailedCommandCount	KEYWORD2
-getLastExecutionTime	KEYWORD2
-printMenu	KEYWORD2
-handleMenuInput	KEYWORD2
 
 #######################################
 # Constants (LITERAL1)

library.properties

@@ -1,5 +1,5 @@
 name=DShotRMT
-version=0.8.5
+version=0.8.6
 author=Wastl Kraus <wir-sind-die-matrix.de>
 maintainer=Wastl Kraus <wir-sind-die-matrix.de>
 license=MIT
@@ -8,4 +8,4 @@ paragraph=This library can control a BlHeli_S by using encoded DShot commands.
 category=Signal Input/Output
 url=https://github.com/derdoktor667/DShotRMT
 architectures=esp32
-provides_includes=DShotRMT.h, dshot_commands.h, web_content.h, ota_update.h
+provides_includes=DShotRMT.h, dshot_definitions.h, web_content.h, ota_update.h

src/dshot_definitions.h

@@ -102,7 +102,7 @@ typedef struct dshot_result
  * @brief DShot Commands
  * Enum class for standard DShot commands that can be sent to an ESC.
  */
-enum class dshotCommands_e
+enum dshotCommands_e
 {
     DSHOT_CMD_MOTOR_STOP = 0,
     DSHOT_CMD_BEACON1,