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DShotRMT
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...readablility update

This commit is contained in:
Wastl Kraus 2025-08-05 22:01:00 +02:00
parent dfccc3c83d
commit 51bdeeedc4
2 changed files with 16 additions and 20 deletions
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34
DShotRMT.cpp
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@ -64,6 +64,7 @@ bool DShotRMT::begin()
return DSHOT_ERROR; return DSHOT_ERROR;
} }
// All good, ready
return DSHOT_OK; return DSHOT_OK;
} }
@ -75,7 +76,7 @@ bool DShotRMT::setThrottle(uint16_t throttle)
{ {
return DSHOT_ERROR; return DSHOT_ERROR;
} }
// //
dshot_packet_t packet = _buildDShotPacket(throttle); dshot_packet_t packet = _buildDShotPacket(throttle);
@ -90,7 +91,7 @@ bool DShotRMT::sendDShotCommand(uint16_t command)
{ {
return DSHOT_ERROR; return DSHOT_ERROR;
} }
// //
dshot_packet_t packet = _buildDShotPacket(command); dshot_packet_t packet = _buildDShotPacket(command);
@ -185,27 +186,20 @@ bool DShotRMT::_initDShotEncoder()
bool DShotRMT::_sendDShotFrame(const dshot_packet_t &packet) bool DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
{ {
// //
if (!_timer_signal()) if (_timer_signal())
{ {
return DSHOT_ERROR; // Encodes packet directly into RMT Buffer
rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
_encodeDShotFrame(packet, tx_symbols);
// Trigger RMT Transmit
rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, DSHOT_SYMBOLS_SIZE, &_transmit_config);
// Time Stamp
return _timer_reset();
} }
// Encodes packet directly into RMT Buffer return DSHOT_ERROR;
rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
_encodeDShotFrame(packet, tx_symbols);
// Trigger RMT Transmit
if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, DSHOT_SYMBOLS_SIZE, &_transmit_config) != 0)
{
Serial.println("Failed to transmit DShot packet");
return DSHOT_ERROR;
}
// Time Stamp
_timer_reset();
//
return DSHOT_OK;
} }
// Calculates checksum for given package // Calculates checksum for given package

2
DShotRMT.h
View File

@ -134,4 +134,6 @@ private:
bool _timer_signal(); bool _timer_signal();
bool _timer_reset(); bool _timer_reset();
//
}; };