From 4b809d26e112eb0cbecb96d09320040b18083fdb Mon Sep 17 00:00:00 2001
From: Wastl Kraus <derdoktor667@users.noreply.github.com>
Date: Fri, 25 Jul 2025 21:04:27 +0200
Subject: [PATCH] ...cosmetics

---
 DShotRMT.cpp | 17 ++++++++++-------
 DShotRMT.h   | 13 +++++++------
 2 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/DShotRMT.cpp b/DShotRMT.cpp
index 3fd7ab3..d2deeff 100644
--- a/DShotRMT.cpp
+++ b/DShotRMT.cpp
@@ -20,19 +20,19 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)
     switch (_mode)
     {
     case DSHOT_OFF:
-        _frameLenght = 0;
+        _frameLength = 0;
         break;
     case DSHOT150:
-        _frameLenght = 128;
+        _frameLength = 128;
         break;
     case DSHOT300:
-        _frameLenght = 64;
+        _frameLength = 64;
         break;
     case DSHOT600:
-        _frameLenght = 32;
+        _frameLength = 32;
         break;
     case DSHOT1200:
-        _frameLenght = 16;
+        _frameLength = 16;
         break;
     default:
         break;
@@ -41,8 +41,11 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)
     // DShot Frame length incl. DShot answer duration
     if (_isBidirectional)
     {
-        _frameLenght += _frameLenght;
+        _frameLength += _frameLength;
     }
+
+    // Add frame tolerance
+    _frameLength = _frameLength + DSHOT_SWITCH_TIME;
 }
 
 // Initializes RMT TX and RX channels and encoder configuration
@@ -118,7 +121,7 @@ void DShotRMT::setThrottle(uint16_t throttle)
     static unsigned long last_time = NULL;
 
     // Ensure frame lenght for compatibility
-    if (micros() - last_time >= _frameLenght)
+    if (micros() - last_time >= _frameLength)
     {
         // Clamp input range for throttle value
         _dshot_packet.throttle_value = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111;
diff --git a/DShotRMT.h b/DShotRMT.h
index 2cec328..c154ea2 100644
--- a/DShotRMT.h
+++ b/DShotRMT.h
@@ -19,6 +19,7 @@ static constexpr uint16_t DSHOT_THROTTLE_FAILSAVE = 0;
 static constexpr uint16_t DSHOT_THROTTLE_MIN = 48;
 static constexpr uint16_t DSHOT_THROTTLE_MAX = 2047;
 static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16;
+static constexpr uint8_t DSHOT_SWITCH_TIME = 21;
 
 static constexpr uint16_t DSHOT_NULL_PACKET = 0x0000;
 static constexpr uint16_t DSHOT_FULL_PACKET = 0xFFFF;
@@ -69,7 +70,7 @@ public:
     // Accessors for GPIO and DShot settings
     gpio_num_t getGPIO() const { return _gpio; }
     dshot_mode_t getDShotMode() const { return _mode; }
-    uint8_t getFrameLenght() const { return _frameLenght; }
+    uint8_t getFrameLenght() const { return _frameLength; }
 
 protected:
     // Calculates the checksum for a DShot packet
@@ -86,10 +87,10 @@ protected:
 
 private:
     // --- Configuration Parameters ---
-    gpio_num_t _gpio;
-    dshot_mode_t _mode;
-    bool _isBidirectional;
-    uint16_t _frameLenght;
+    gpio_num_t _gpio = GPIO_NUM_NC;
+    dshot_mode_t _mode = DSHOT_OFF;
+    bool _isBidirectional = false;
+    uint16_t _frameLength = NULL;
 
     // --- DShot Packets Container ---
     uint16_t _rx_packet = DSHOT_NULL_PACKET;
@@ -113,5 +114,5 @@ private:
     rmt_symbol_word_t _tx_symbols[TX_BUFFER_SIZE] = {};
 
     // Stores the last valid eRPM received from the ESC
-    uint16_t _last_erpm = 0;
+    uint16_t _last_erpm = NULL;
 };