library compatibility issues

release 0.8.7

DShotRMT.code-workspace

@@ -7,6 +7,10 @@
     "settings": {
         "files.associations": {
             "string": "cpp"
-        }
+        },
+        "arduino.logLevel": "verbose",
+        "arduino.path": "/usr/bin/arduino-cli",
+        "arduino.useArduinoCli": true,
+        "arduino.disableIntelliSenseAutoGen": true
     }
 }

README.md

@@ -2,7 +2,9 @@
 
 [![Arduino CI](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml/badge.svg)](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
 
-A C++ library for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT encoder API** (`rmt_tx.h` / `rmt_rx.h`). This library specifically leverages the official `rmt_bytes_encoder` API for an efficient, hardware-timed, and maintainable implementation. It provides a simple way to control brushless motors in both Arduino and ESP-IDF projects. The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
+An Arduino IDElibrary for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT encoder API** (`rmt_tx.h` / `rmt_rx.h`). This library specifically leverages the official `rmt_bytes_encoder` API for an efficient, hardware-timed, and maintainable implementation. It provides a simple way to control brushless motors in both Arduino and ESP-IDF projects.
+
+ The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
 
 ### DShot300 Example Output
 
@@ -16,8 +18,8 @@ Here's an example of the output from the `dshot300` example sketch:
 - **Bidirectional DShot Support:** Implemented, but note that official support is limited due to potential instability and external hardware requirements. Use with caution.
 - **Hardware-Timed Signals:** Precise signal generation using the ESP32 RMT peripheral, ensuring stable and reliable motor control.
 - **Simple API:** Easy-to-use C++ class with intuitive methods like `sendThrottlePercent()`.
-- **Robust Error Handling:** Provides detailed feedback on operation success or failure via `dshot_result_t`.
+- **Error Handling:** Provides detailed feedback on operation success or failure via `dshot_result_t`.
-- **Efficient and Lightweight:** The core library has no external dependencies.
+- **Lightweight:** The core library has no external dependencies.
 - **Arduino and ESP-IDF Compatible:** Can be used in both Arduino and ESP-IDF projects.
 
 ## ⏱️ DShot Timing Information
@@ -39,18 +41,9 @@ The DShot protocol defines specific timing characteristics for each mode. The fo
 2.  Search for "DShotRMT" and click "Install".
 3.  Alternatively, you can clone this repository or download it as a ZIP file and place it in your Arduino libraries folder (`~/Arduino/libraries/DShotRMT/`).
 
-### PlatformIO
-
-Add the following to your `platformio.ini` file:
-
-```ini
-lib_deps = 
-    https://github.com/derdoktor667/DShotRMT.git
-```
-
 ## ⚡ Quick Start
 
-Here's a basic example of how to use the `DShotRMT` library to control a motor:
+Here's a basic example of how to use the `DShotRMT` library to control a motor. Please use example sketches for more detailes:
 
 ```cpp
 #include <Arduino.h>
@@ -73,6 +66,9 @@ void setup() {
 
   Serial.println("Motor initialized. Ramping up to 25% throttle...");
   
+}
+
+void loop() {
   // Ramp up to 25% throttle over 2.5 seconds
   for (int i = 0; i <= 25; i++) {
     motor.sendThrottlePercent(i);
@@ -85,10 +81,6 @@ void setup() {
   // Print DShot Info
   DShotRMT::printDShotInfo(motor, Serial);
 }
-
-void loop() {
-  // Your main code here
-}
 ```
 
 ## 🎮 Examples
@@ -147,4 +139,4 @@ Contributions are welcome! Please fork the repository, create a feature branch,
 
 ## 📄 License
 
-This project is licensed under the MIT License. See the [LICENSE](LICENSE) file for details.
+This project is licensed under the MIT License. See the [LICENSE](LICENSE) file for details.

examples/dshot300/dshot300.ino

@@ -7,7 +7,7 @@
  */
 
 #include <Arduino.h>
-#include "DShotRMT.h"
+#include <DShotRMT.h>
 
 // USB serial port settings
 static constexpr auto &USB_SERIAL = Serial0;
@@ -29,7 +29,7 @@ static constexpr auto IS_BIDIRECTIONAL = false;
 static constexpr auto MOTOR01_MAGNET_COUNT = 14;
 
 // Creates the motor instance
-DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL, MOTOR01_MAGNET_COUNT);
+DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
 
 //
 void setup()

library.properties

@@ -1,5 +1,5 @@
 name=DShotRMT
-version=0.8.6
+version=0.8.7
 author=Wastl Kraus <wir-sind-die-matrix.de>
 maintainer=Wastl Kraus <wir-sind-die-matrix.de>
 license=MIT

src/DShotRMT.cpp

@@ -18,13 +18,13 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, ui
       _dshot_timing(DSHOT_TIMING_US[static_cast<int>(mode)]),
       _frame_timer_us(0),
       _rmt_ticks{0},
-      _last_throttle(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP)),
+      _last_throttle(dshotCommands_e::DSHOT_CMD_MOTOR_STOP),
       _last_transmission_time_us(0),
       _last_command_timestamp(0),
       _encoded_frame_value(0),
       _packet{0},
       _pulse_level(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
-      _idle_level(0), // DShot standard: signal returns to LOW after the high pulse
+      _idle_level(0),  // DShot standard: signal returns to LOW after the high pulse
       _rmt_tx_channel(nullptr),
       _rmt_rx_channel(nullptr),
       _dshot_encoder(nullptr),
@@ -38,9 +38,6 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, ui
 {
     // Pre-calculate timing and bit positions for performance
     _preCalculateRMTTicks();
-
-    // Activate internal pullup resistor
-    // gpio_set_pull_mode(_gpio, GPIO_PULLUP_ONLY);
 }
 
 // Constructor using pin number
@@ -87,7 +84,7 @@ dshot_result_t DShotRMT::begin()
 {
     if (!_initTXChannel().success)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_TX_INIT_FAILED};
     }
 
     if (_is_bidirectional)
@@ -98,7 +95,7 @@ dshot_result_t DShotRMT::begin()
             rmt_disable(_rmt_tx_channel);
             rmt_del_channel(_rmt_tx_channel);
             _rmt_tx_channel = nullptr;
-            return {false, dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED};
+            return {false, dshot_msg_code_t::DSHOT_RX_INIT_FAILED};
         }
     }
 
@@ -116,10 +113,10 @@ dshot_result_t DShotRMT::begin()
             _rmt_rx_channel = nullptr;
         }
 
-        return {false, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_ENCODER_INIT_FAILED};
     }
 
-    return {true, dshot_msg_code_t::DSHOT_ERROR_INIT_SUCCESS};
+    return {true, dshot_msg_code_t::DSHOT_INIT_SUCCESS};
 }
 
 // Send throttle value
@@ -128,7 +125,7 @@ dshot_result_t DShotRMT::sendThrottle(uint16_t throttle)
     // A throttle value of 0 is a disarm command
     if (throttle == 0)
     {
-        return sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
+        return sendCommand(dshotCommands_e::DSHOT_CMD_MOTOR_STOP);
     }
 
     // Constrain throttle to the valid DShot range
@@ -143,21 +140,20 @@ dshot_result_t DShotRMT::sendThrottlePercent(float percent)
 {
     if (percent < 0.0f || percent > 100.0f)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_PERCENT_NOT_IN_RANGE};
+        return {false, dshot_msg_code_t::DSHOT_PERCENT_NOT_IN_RANGE};
     }
 
     // Map percent to DShot throttle range
     uint16_t throttle = static_cast<uint16_t>(DSHOT_THROTTLE_MIN + ((DSHOT_THROTTLE_MAX - DSHOT_THROTTLE_MIN) / 100.0f) * percent);
-
     return sendThrottle(throttle);
 }
 
 // Send DShot command to ESC
 dshot_result_t DShotRMT::sendCommand(uint16_t command)
 {
-    if (command > static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX))
+    if (command > dshotCommands_e::DSHOT_CMD_MAX)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_COMMAND_NOT_VALID};
+        return {false, dshot_msg_code_t::DSHOT_COMMAND_NOT_VALID};
     }
 
     _packet = _buildDShotPacket(command);
@@ -168,11 +164,11 @@ dshot_result_t DShotRMT::sendCommand(uint16_t command)
 // This is a blocking function that uses delayMicroseconds for repetitions.
 dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count, uint16_t delay_us)
 {
-    dshot_result_t result = {false, dshot_msg_code_t::DSHOT_ERROR_UNKNOWN};
+    dshot_result_t result = {false, dshot_msg_code_t::DSHOT_UNKNOWN, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
 
     if (!_isValidCommand(dshot_command))
     {
-        result.error_code = dshot_msg_code_t::DSHOT_ERROR_INVALID_COMMAND;
+        result.result_code = dshot_msg_code_t::DSHOT_INVALID_COMMAND;
         return result;
     }
 
@@ -186,7 +182,7 @@ dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t rep
         if (!single_result.success)
         {
             all_successful = false;
-            result.error_code = single_result.error_code;
+            result.result_code = single_result.result_code;
             break;
         }
 
@@ -202,7 +198,7 @@ dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t rep
 
     if (result.success)
     {
-        result.error_code = dshot_msg_code_t::DSHOT_ERROR_COMMAND_SUCCESS;
+        result.result_code = dshot_msg_code_t::DSHOT_COMMAND_SUCCESS;
     }
 
     return result;
@@ -211,11 +207,11 @@ dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t rep
 // Get telemetry data
 dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
 {
-    dshot_result_t result = {false, dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_FAILED, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
+    dshot_result_t result = {false, dshot_msg_code_t::DSHOT_TELEMETRY_FAILED, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
 
     if (!_is_bidirectional)
     {
-        result.error_code = dshot_msg_code_t::DSHOT_ERROR_BIDIR_NOT_ENABLED;
+        result.result_code = dshot_msg_code_t::DSHOT_BIDIR_NOT_ENABLED;
         return result;
     }
 
@@ -237,7 +233,7 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
             result.success = true;
             result.erpm = erpm;
             result.motor_rpm = motor_rpm;
-            result.error_code = dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_SUCCESS;
+            result.result_code = dshot_msg_code_t::DSHOT_TELEMETRY_SUCCESS;
         }
     }
 
@@ -255,7 +251,7 @@ dshot_result_t DShotRMT::setMotorSpinDirection(bool reversed)
 
 dshot_result_t DShotRMT::getESCInfo()
 {
-    return sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_ESC_INFO));
+    return sendCommand(dshotCommands_e::DSHOT_CMD_ESC_INFO);
 }
 
 // Use with caution
@@ -267,7 +263,7 @@ dshot_result_t DShotRMT::saveESCSettings()
 // Simple check
 bool DShotRMT::_isValidCommand(dshotCommands_e command)
 {
-    return (static_cast<uint16_t>(command) >= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP) && static_cast<uint16_t>(command) <= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX));
+    return (command >= dshotCommands_e::DSHOT_CMD_MOTOR_STOP && command <= dshotCommands_e::DSHOT_CMD_MAX);
 }
 
 //
@@ -276,7 +272,7 @@ dshot_result_t DShotRMT::_executeCommand(dshotCommands_e command)
     uint64_t start_time = esp_timer_get_time();
 
     // Execute the command using the DShotRMT instance
-    dshot_result_t result = sendCommand(static_cast<uint16_t>(command));
+    dshot_result_t result = sendCommand(command);
 
     uint64_t end_time = esp_timer_get_time();
     _last_command_timestamp = end_time;
@@ -298,14 +294,15 @@ dshot_result_t DShotRMT::_initTXChannel()
 
     if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_TX_INIT_FAILED};
-    }
-    if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
-    {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED};
     }
 
-    return {true, dshot_msg_code_t::DSHOT_ERROR_TX_INIT_SUCCESS};
+    if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
+    {
+        return {false, dshot_msg_code_t::DSHOT_TX_INIT_FAILED};
+    }
+
+    return {true, dshot_msg_code_t::DSHOT_TX_INIT_SUCCESS};
 }
 
 dshot_result_t DShotRMT::_initRXChannel()
@@ -313,7 +310,7 @@ dshot_result_t DShotRMT::_initRXChannel()
     // Double check if bidirectional mode is enabled
     if (!_is_bidirectional)
     {
-        return {true, dshot_msg_code_t::DSHOT_ERROR_NONE};
+        return {true, dshot_msg_code_t::DSHOT_NONE};
     }
 
     _rx_channel_config.gpio_num = _gpio;
@@ -322,24 +319,24 @@ dshot_result_t DShotRMT::_initRXChannel()
     _rx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
 
     // Filter for pulses that are within a reasonable range for DShot telemetry
-    _rmt_rx_config.signal_range_min_ns = DSHOT_PULSE_MIN;
+    _rmt_rx_config.signal_range_min_ns = DSHOT_PULSE_MIN_NS;
-    _rmt_rx_config.signal_range_max_ns = DSHOT_PULSE_MAX;
+    _rmt_rx_config.signal_range_max_ns = DSHOT_PULSE_MAX_NS;
 
     if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_RX_INIT_FAILED};
     }
 
     // Register the callback function that will be triggered when a frame is received
     _rx_event_callbacks.on_recv_done = _on_rx_done;
     if (rmt_rx_register_event_callbacks(_rmt_rx_channel, &_rx_event_callbacks, this) != DSHOT_OK)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_CALLBACK_REGISTERING_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_CALLBACK_REGISTERING_FAILED};
     }
 
     if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_RX_INIT_FAILED};
     }
 
     // Start the receiver to wait for incoming telemetry data
@@ -347,10 +344,10 @@ dshot_result_t DShotRMT::_initRXChannel()
     size_t rx_size_bytes = GCR_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
     if (rmt_receive(_rmt_rx_channel, rx_symbols, rx_size_bytes, &_rmt_rx_config) != DSHOT_OK)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_RECEIVER_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_RECEIVER_FAILED};
     }
 
-    return {true, dshot_msg_code_t::DSHOT_ERROR_RX_INIT_SUCCESS};
+    return {true, dshot_msg_code_t::DSHOT_RX_INIT_SUCCESS};
 }
 
 dshot_result_t DShotRMT::_initDShotEncoder()
@@ -375,10 +372,10 @@ dshot_result_t DShotRMT::_initDShotEncoder()
 
     if (rmt_new_bytes_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_ENCODER_INIT_FAILED};
     }
 
-    return {true, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_SUCCESS};
+    return {true, dshot_msg_code_t::DSHOT_ENCODER_INIT_SUCCESS};
 }
 
 // Private Packet Management Functions
@@ -442,7 +439,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
     // Ensure enough time has passed since the last transmission
     if (!_isFrameIntervalElapsed())
     {
-        return {true, dshot_msg_code_t::DSHOT_ERROR_NONE};
+        return {true, dshot_msg_code_t::DSHOT_NONE};
     }
 
     _encoded_frame_value = _buildDShotFrameValue(packet);
@@ -455,12 +452,12 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
 
     if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, &swapped_value, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
     {
-        return {false, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_FAILED};
+        return {false, dshot_msg_code_t::DSHOT_TRANSMISSION_FAILED};
     }
 
     _recordFrameTransmissionTime(); // Reset the timer for the next frame
 
-    return {true, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_SUCCESS};
+    return {true, dshot_msg_code_t::DSHOT_TRANSMISSION_SUCCESS};
 }
 
 // This function needs to be fast, as it generates the RMT symbols just before sending
@@ -545,10 +542,25 @@ bool IRAM_ATTR DShotRMT::_on_rx_done(rmt_channel_handle_t rmt_rx_channel, const
 void DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output)
 {
     output.println("\n === DShot Signal Info === ");
-    output.printf("Current Mode: DSHOT%d\n", dshot_rmt.getMode() == dshot_mode_t::DSHOT150 ? 150 : dshot_rmt.getMode() == dshot_mode_t::DSHOT300 ? 300
+
-                                                                                               : dshot_rmt.getMode() == dshot_mode_t::DSHOT600   ? 600
+    uint16_t dshot_mode_val = 0;
-                                                                                               : dshot_rmt.getMode() == dshot_mode_t::DSHOT1200  ? 1200
+    switch (dshot_rmt.getMode())
-                                                                                                                                                 : 0);
+    {
+    case dshot_mode_t::DSHOT150:
+        dshot_mode_val = 150;
+        break;
+    case dshot_mode_t::DSHOT300:
+        dshot_mode_val = 300;
+        break;
+    case dshot_mode_t::DSHOT600:
+        dshot_mode_val = 600;
+        break;
+    case dshot_mode_t::DSHOT1200:
+        dshot_mode_val = 1200;
+        break;
+    }
+    output.printf("Current Mode: DSHOT%d\n", dshot_mode_val);
+
     output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO");
     output.printf("Current Packet: ");
 
@@ -568,4 +580,4 @@ void DShotRMT::printCpuInfo(Stream &output)
     output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
     output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
     output.printf("APB Freq = %lu Hz\n", getApbFrequency());
-}
+}

src/dshot_definitions.h

@@ -1,12 +1,12 @@
 #pragma once
 
 #include <Arduino.h>
-#include <driver/gpio.h> // Added for gpio_num_t
+#include <driver/gpio.h>
 #include <driver/rmt_tx.h>
 #include <driver/rmt_rx.h>
-#include <atomic> // Added for std::atomic
+#include <atomic>
 
-// Defines the available DShot communication speeds.
+// Defines the available DShot communication speeds with type safety.
 enum class dshot_mode_t
 {
     DSHOT_OFF,
@@ -41,46 +41,46 @@ typedef struct rmt_ticks
     uint16_t t0l_ticks;        // Low time duration for a '0' bit in RMT ticks.
 } rmt_ticks_t;
 
-// Enum class for specific error and success codes returned by DShotRMT functions.
+// Enum class for specific error and success codes
 enum class dshot_msg_code_t
 {
-    DSHOT_ERROR_NONE = 0,
+    DSHOT_NONE = 0,
-    DSHOT_ERROR_UNKNOWN,
+    DSHOT_UNKNOWN,
-    DSHOT_ERROR_TX_INIT_FAILED,
+    DSHOT_TX_INIT_FAILED,
-    DSHOT_ERROR_RX_INIT_FAILED,
+    DSHOT_RX_INIT_FAILED,
-    DSHOT_ERROR_ENCODER_INIT_FAILED,
+    DSHOT_ENCODER_INIT_FAILED,
-    DSHOT_ERROR_CALLBACK_REGISTERING_FAILED,
+    DSHOT_CALLBACK_REGISTERING_FAILED,
-    DSHOT_ERROR_RECEIVER_FAILED,
+    DSHOT_RECEIVER_FAILED,
-    DSHOT_ERROR_TRANSMISSION_FAILED,
+    DSHOT_TRANSMISSION_FAILED,
-    DSHOT_ERROR_THROTTLE_NOT_IN_RANGE,
+    DSHOT_THROTTLE_NOT_IN_RANGE,
-    DSHOT_ERROR_PERCENT_NOT_IN_RANGE,
+    DSHOT_PERCENT_NOT_IN_RANGE,
-    DSHOT_ERROR_COMMAND_NOT_VALID,
+    DSHOT_COMMAND_NOT_VALID,
-    DSHOT_ERROR_BIDIR_NOT_ENABLED,
+    DSHOT_BIDIR_NOT_ENABLED,
-    DSHOT_ERROR_TELEMETRY_FAILED,
+    DSHOT_TELEMETRY_FAILED,
-    DSHOT_ERROR_INVALID_MAGNET_COUNT,
+    DSHOT_INVALID_MAGNET_COUNT,
-    DSHOT_ERROR_INVALID_COMMAND,
+    DSHOT_INVALID_COMMAND,
-    DSHOT_ERROR_TIMING_CORRECTION,
+    DSHOT_TIMING_CORRECTION,
-    DSHOT_ERROR_INIT_FAILED,
+    DSHOT_INIT_FAILED,
-    DSHOT_ERROR_INIT_SUCCESS,
+    DSHOT_INIT_SUCCESS,
-    DSHOT_ERROR_TX_INIT_SUCCESS,
+    DSHOT_TX_INIT_SUCCESS,
-    DSHOT_ERROR_RX_INIT_SUCCESS,
+    DSHOT_RX_INIT_SUCCESS,
-    DSHOT_ERROR_ENCODER_INIT_SUCCESS,
+    DSHOT_ENCODER_INIT_SUCCESS,
-    DSHOT_ERROR_ENCODING_SUCCESS,
+    DSHOT_ENCODING_SUCCESS,
-    DSHOT_ERROR_TRANSMISSION_SUCCESS,
+    DSHOT_TRANSMISSION_SUCCESS,
-    DSHOT_ERROR_TELEMETRY_SUCCESS,
+    DSHOT_TELEMETRY_SUCCESS,
-    DSHOT_ERROR_COMMAND_SUCCESS
+    DSHOT_COMMAND_SUCCESS
 };
 
 // Contains the success status, an error code, and optional telemetry data.
 typedef struct dshot_result
 {
     bool success;
-    dshot_msg_code_t error_code; // Specific error or success code.
+    dshot_msg_code_t result_code; // Specific error or success code.
-    uint16_t erpm;               // Electrical RPM (eRPM) if telemetry is successful.
+    uint16_t erpm;                // Electrical RPM (eRPM) if telemetry is successful.
-    uint16_t motor_rpm;          // Motor RPM if telemetry is successful and magnet count is known.
+    uint16_t motor_rpm;           // Motor RPM if telemetry is successful and magnet count is known.
 } dshot_result_t;
 
-// Enum class for standard DShot commands that can be sent to an ESC.
+// Standard DShot commands by "betaflight"
 enum dshotCommands_e
 {
     DSHOT_CMD_MOTOR_STOP = 0,
@@ -89,194 +89,168 @@ enum dshotCommands_e
     DSHOT_CMD_BEACON3,
     DSHOT_CMD_BEACON4,
     DSHOT_CMD_BEACON5,
-    DSHOT_CMD_ESC_INFO, // V2 includes settings
+    DSHOT_CMD_ESC_INFO,
     DSHOT_CMD_SPIN_DIRECTION_1,
     DSHOT_CMD_SPIN_DIRECTION_2,
     DSHOT_CMD_3D_MODE_OFF,
     DSHOT_CMD_3D_MODE_ON,
-    DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
+    DSHOT_CMD_SETTINGS_REQUEST,
     DSHOT_CMD_SAVE_SETTINGS,
     DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE,
     DSHOT_CMD_EXTENDED_TELEMETRY_DISABLE,
     DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
     DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
-    DSHOT_CMD_LED0_ON,                       // BLHeli32 only
+    DSHOT_CMD_LED0_ON,
-    DSHOT_CMD_LED1_ON,                       // BLHeli32 only
+    DSHOT_CMD_LED1_ON,
-    DSHOT_CMD_LED2_ON,                       // BLHeli32 only
+    DSHOT_CMD_LED2_ON,
-    DSHOT_CMD_LED3_ON,                       // BLHeli32 only
+    DSHOT_CMD_LED3_ON,
-    DSHOT_CMD_LED0_OFF,                      // BLHeli32 only
+    DSHOT_CMD_LED0_OFF,
-    DSHOT_CMD_LED1_OFF,                      // BLHeli32 only
+    DSHOT_CMD_LED1_OFF,
-    DSHOT_CMD_LED2_OFF,                      // BLHeli32 only
+    DSHOT_CMD_LED2_OFF,
-    DSHOT_CMD_LED3_OFF,                      // BLHeli32 only
+    DSHOT_CMD_LED3_OFF,
-    DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off
+    DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30,
-    DSHOT_CMD_SILENT_MODE_ON_OFF = 31,       // KISS silent Mode on/Off
+    DSHOT_CMD_SILENT_MODE_ON_OFF = 31,
     DSHOT_CMD_MAX = 47
 };
 
-// Defines how DShot commands are sent.
-enum class dshotCommandType_e
-{
-    DSHOT_CMD_TYPE_INLINE = 0, // Commands sent inline with motor signal (motors must be enabled).
-    DSHOT_CMD_TYPE_BLOCKING    // Commands sent in blocking method (motors must be disabled).
-};
-
 // DShot Protocol Constants
-const uint16_t DSHOT_THROTTLE_FAILSAFE = 0;
+static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
-const uint16_t DSHOT_THROTTLE_MIN = 48;
+static constexpr auto DSHOT_THROTTLE_MIN = 48;
-const uint16_t DSHOT_THROTTLE_MAX = 2047;
+static constexpr auto DSHOT_THROTTLE_MAX = 2047;
-const uint16_t DSHOT_BITS_PER_FRAME = 16;
+static constexpr auto DSHOT_BITS_PER_FRAME = 16;
-const uint16_t DEFAULT_MOTOR_MAGNET_COUNT = 14;
+static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
 
 // Custom status codes
-const int DSHOT_OK = 0;
+static constexpr int DSHOT_OK = 0;
-const int DSHOT_ERROR = 1;
+static constexpr int DSHOT_ERROR = 1;
 
-// Configuration Constants (from DShotRMT.h private section)
+// Configuration Constants
-const uint16_t DSHOT_NULL_PACKET = 0b0000000000000000;
+static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
-const uint16_t DSHOT_FULL_PACKET = 0b1111111111111111;
+static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
-const uint16_t DSHOT_CRC_MASK = 0b0000000000001111;
+static constexpr auto DSHOT_CRC_MASK = 0b0000000000001111;
-const rmt_clock_source_t DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
+static constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
-const uint32_t DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000;                      // 8 MHz resolution
+static constexpr auto DSHOT_RMT_RESOLUTION = 8000000;                    // 8 MHz resolution
-const uint16_t RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond
+static constexpr auto RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / 1000000; // RMT Ticks per microsecond
-const uint16_t DSHOT_RX_TIMEOUT_MS = 2;
+static constexpr auto DSHOT_RX_TIMEOUT_MS = 2;
-const uint16_t DSHOT_PADDING_US = 20; // Add to pause between frames for compatibility
+static constexpr auto DSHOT_PADDING_US = 20; // Pause between frames
-const uint16_t RMT_BUFFER_SYMBOLS = 64;
+static constexpr auto RMT_BUFFER_SYMBOLS = 64;
-const uint16_t RMT_QUEUE_DEPTH = 1;
+static constexpr auto RMT_QUEUE_DEPTH = 1;
-const uint16_t GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame
+static constexpr auto GCR_BITS_PER_FRAME = 21; // GCR bits in a DShot answer frame
-const uint16_t POLE_PAIRS_MIN = 1;
+static constexpr auto POLE_PAIRS_MIN = 1;
-const uint16_t MAGNETS_PER_POLE_PAIR = 2;
+static constexpr auto MAGNETS_PER_POLE_PAIR = 2;
-const uint16_t NO_DSHOT_TELEMETRY = 0;
+static constexpr auto NO_DSHOT_TELEMETRY = 0;
-const uint16_t DSHOT_PULSE_MIN = 800;  // 0.8us minimum pulse
+static constexpr auto DSHOT_PULSE_MIN_NS = 800;  // 0.8us minimum pulse
-const uint16_t DSHOT_PULSE_MAX = 8000; // 8.0us maximum pulse
+static constexpr auto DSHOT_PULSE_MAX_NS = 8000; // 8.0us maximum pulse
-const uint16_t DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX;
+static constexpr auto DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX;
-const uint16_t DSHOT_TELEMETRY_BIT_POSITION = 11; // Bit position of the telemetry request flag in the DShot frame
+static constexpr auto DSHOT_TELEMETRY_BIT_POSITION = 11;
-const uint16_t DSHOT_CRC_BIT_SHIFT = 4;           // Number of bits to shift to extract data from data_and_crc
+static constexpr auto DSHOT_CRC_BIT_SHIFT = 4;
 
-// Command Constants (from DShotRMT.h private section)
+// Command Constants
-const uint16_t DEFAULT_CMD_DELAY_US = 10;
+static constexpr auto DEFAULT_CMD_DELAY_US = 10;
-const uint16_t DEFAULT_CMD_REPEAT_COUNT = 1;
+static constexpr auto DEFAULT_CMD_REPEAT_COUNT = 1;
-const uint16_t SETTINGS_COMMAND_REPEATS = 10; // Settings commands need 10 repeats
+static constexpr auto SETTINGS_COMMAND_REPEATS = 10;
-const uint16_t SETTINGS_COMMAND_DELAY_US = 5;
+static constexpr auto SETTINGS_COMMAND_DELAY_US = 5;
 
 // Timing parameters for each DShot mode
-// Format: {bit_length_us, t1h_length_us}
 const dshot_timing_us_t DSHOT_TIMING_US[] = {
-    {0.00, 0.00},  // DSHOT_OFF
+    {0.00, 0.00}, // DSHOT_OFF
-    {6.67, 5.00},  // DSHOT150
+    {6.67, 5.00}, // DSHOT150
-    {3.33, 2.50},  // DSHOT300
+    {3.33, 2.50}, // DSHOT300
-    {1.67, 1.25},  // DSHOT600
+    {1.67, 1.25}, // DSHOT600
-    {0.83, 0.67}}; // DSHOT1200
+    {0.83, 0.67}  // DSHOT1200
+};
 
 // Error Messages
-const char *const NONE = "";
+static constexpr char NONE[] = "";
-const char *const UNKNOWN_ERROR = "Unknown Error!";
+static constexpr char UNKNOWN_ERROR[] = "Unknown Error!";
-const char *const INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
+static constexpr char INIT_SUCCESS[] = "SignalGeneratorRMT initialized successfully";
-const char *const INIT_FAILED = "SignalGeneratorRMT init failed!";
+static constexpr char INIT_FAILED[] = "SignalGeneratorRMT init failed!";
-const char *const TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
+static constexpr char TX_INIT_SUCCESS[] = "TX RMT channel initialized successfully";
-const char *const TX_INIT_FAILED = "TX RMT channel init failed!";
+static constexpr char TX_INIT_FAILED[] = "TX RMT channel init failed!";
-const char *const RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
+static constexpr char RX_INIT_SUCCESS[] = "RX RMT channel initialized successfully";
-const char *const RX_INIT_FAILED = "RX RMT channel init failed!";
+static constexpr char RX_INIT_FAILED[] = "RX RMT channel init failed!";
-const char *const ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
+static constexpr char ENCODER_INIT_SUCCESS[] = "RMT encoder initialized successfully";
-const char *const ENCODER_INIT_FAILED = "RMT encoder init failed!";
+static constexpr char ENCODER_INIT_FAILED[] = "RMT encoder init failed!";
-const char *const ENCODING_SUCCESS = "Packet encoded successfully";
+static constexpr char ENCODING_SUCCESS[] = "Packet encoded successfully";
-const char *const TRANSMISSION_SUCCESS = "Transmission successfully";
+static constexpr char TRANSMISSION_SUCCESS[] = "Transmission successfully";
-const char *const TRANSMISSION_FAILED = "Transmission failed!";
+static constexpr char TRANSMISSION_FAILED[] = "Transmission failed!";
-const char *const RECEIVER_FAILED = "RMT receiver failed!";
+static constexpr char RECEIVER_FAILED[] = "RMT receiver failed!";
-const char *const THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
+static constexpr char THROTTLE_NOT_IN_RANGE[] = "Throttle not in range! (48 - 2047)";
-const char *const PERCENT_NOT_IN_RANGE = "Percent not in range! (0.0 - 100.0)";
+static constexpr char PERCENT_NOT_IN_RANGE[] = "Percent not in range! (0.0 - 100.0)";
-const char *const COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
+static constexpr char COMMAND_NOT_VALID[] = "Command not valid! (0 - 47)";
-const char *const BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
+static constexpr char BIDIR_NOT_ENABLED[] = "Bidirectional DShot not enabled!";
-const char *const TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
+static constexpr char TELEMETRY_SUCCESS[] = "Valid Telemetric Frame received!";
-const char *const TELEMETRY_FAILED = "No valid Telemetric Frame received!";
+static constexpr char TELEMETRY_FAILED[] = "No valid Telemetric Frame received!";
-const char *const INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
+static constexpr char INVALID_MAGNET_COUNT[] = "Invalid motor magnet count!";
-const char *const TIMING_CORRECTION = "Timing correction!";
+static constexpr char TIMING_CORRECTION[] = "Timing correction!";
-const char *const CALLBACK_REGISTERING_FAILED = "RMT RX Callback registering failed!";
+static constexpr char CALLBACK_REGISTERING_FAILED[] = "RMT RX Callback registering failed!";
-const char *const INVALID_COMMAND = "Invalid command!";
+static constexpr char INVALID_COMMAND[] = "Invalid command!";
-const char *const COMMAND_SUCCESS = "DShot command sent successfully";
+static constexpr char COMMAND_SUCCESS[] = "DShot command sent successfully";
 
-// Helper Functions
+// Helper to get result code string
+inline const char *_get_result_code_str(dshot_msg_code_t code)
+{
+    switch (code)
+    {
+    case dshot_msg_code_t::DSHOT_NONE:
+        return NONE;
+    case dshot_msg_code_t::DSHOT_UNKNOWN:
+        return UNKNOWN_ERROR;
+    case dshot_msg_code_t::DSHOT_TX_INIT_FAILED:
+        return TX_INIT_FAILED;
+    case dshot_msg_code_t::DSHOT_RX_INIT_FAILED:
+        return RX_INIT_FAILED;
+    case dshot_msg_code_t::DSHOT_ENCODER_INIT_FAILED:
+        return ENCODER_INIT_FAILED;
+    case dshot_msg_code_t::DSHOT_CALLBACK_REGISTERING_FAILED:
+        return CALLBACK_REGISTERING_FAILED;
+    case dshot_msg_code_t::DSHOT_RECEIVER_FAILED:
+        return RECEIVER_FAILED;
+    case dshot_msg_code_t::DSHOT_TRANSMISSION_FAILED:
+        return TRANSMISSION_FAILED;
+    case dshot_msg_code_t::DSHOT_THROTTLE_NOT_IN_RANGE:
+        return THROTTLE_NOT_IN_RANGE;
+    case dshot_msg_code_t::DSHOT_PERCENT_NOT_IN_RANGE:
+        return PERCENT_NOT_IN_RANGE;
+    case dshot_msg_code_t::DSHOT_COMMAND_NOT_VALID:
+        return COMMAND_NOT_VALID;
+    case dshot_msg_code_t::DSHOT_BIDIR_NOT_ENABLED:
+        return BIDIR_NOT_ENABLED;
+    case dshot_msg_code_t::DSHOT_TELEMETRY_FAILED:
+        return TELEMETRY_FAILED;
+    case dshot_msg_code_t::DSHOT_INVALID_MAGNET_COUNT:
+        return INVALID_MAGNET_COUNT;
+    case dshot_msg_code_t::DSHOT_INVALID_COMMAND:
+        return INVALID_COMMAND;
+    case dshot_msg_code_t::DSHOT_TIMING_CORRECTION:
+        return TIMING_CORRECTION;
+    case dshot_msg_code_t::DSHOT_INIT_FAILED:
+        return INIT_FAILED;
+    case dshot_msg_code_t::DSHOT_INIT_SUCCESS:
+        return INIT_SUCCESS;
+    case dshot_msg_code_t::DSHOT_TX_INIT_SUCCESS:
+        return TX_INIT_SUCCESS;
+    case dshot_msg_code_t::DSHOT_RX_INIT_SUCCESS:
+        return RX_INIT_SUCCESS;
+    case dshot_msg_code_t::DSHOT_ENCODER_INIT_SUCCESS:
+        return ENCODER_INIT_SUCCESS;
+    case dshot_msg_code_t::DSHOT_ENCODING_SUCCESS:
+        return ENCODING_SUCCESS;
+    case dshot_msg_code_t::DSHOT_TRANSMISSION_SUCCESS:
+        return TRANSMISSION_SUCCESS;
+    case dshot_msg_code_t::DSHOT_TELEMETRY_SUCCESS:
+        return TELEMETRY_SUCCESS;
+    case dshot_msg_code_t::DSHOT_COMMAND_SUCCESS:
+        return COMMAND_SUCCESS;
+    default:
+        return UNKNOWN_ERROR;
+    }
+}
+
+// Helper to quick print DShot result codes
 inline void printDShotResult(dshot_result_t &result, Stream &output = Serial)
 {
-    const char *msg_str;
+    output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", _get_result_code_str(result.result_code));
-    switch (result.error_code)
-    {
-    case dshot_msg_code_t::DSHOT_ERROR_NONE:
-        msg_str = "None";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_UNKNOWN:
-        msg_str = "Unknown Error!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED:
-        msg_str = "TX RMT channel init failed!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED:
-        msg_str = "RX RMT channel init failed!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED:
-        msg_str = "RMT encoder init failed!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_CALLBACK_REGISTERING_FAILED:
-        msg_str = "RMT RX Callback registering failed!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_RECEIVER_FAILED:
-        msg_str = "RMT receiver failed!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_FAILED:
-        msg_str = "Transmission failed!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_THROTTLE_NOT_IN_RANGE:
-        msg_str = "Throttle not in range! (48 - 2047)";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_PERCENT_NOT_IN_RANGE:
-        msg_str = "Percent not in range! (0.0 - 100.0)";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_COMMAND_NOT_VALID:
-        msg_str = "Command not valid! (0 - 47)";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_BIDIR_NOT_ENABLED:
-        msg_str = "Bidirectional DShot not enabled!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_FAILED:
-        msg_str = "No valid Telemetric Frame received!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_INVALID_MAGNET_COUNT:
-        msg_str = "Invalid motor magnet count!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_INVALID_COMMAND:
-        msg_str = "Invalid command!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_TIMING_CORRECTION:
-        msg_str = "Timing correction!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_INIT_FAILED:
-        msg_str = "SignalGeneratorRMT init failed!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_INIT_SUCCESS:
-        msg_str = "SignalGeneratorRMT initialized successfully";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_TX_INIT_SUCCESS:
-        msg_str = "TX RMT channel initialized successfully";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_RX_INIT_SUCCESS:
-        msg_str = "RX RMT channel initialized successfully";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_ENCODING_SUCCESS:
-        msg_str = "Packet encoded successfully";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_SUCCESS:
-        msg_str = "Transmission successfully";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_SUCCESS:
-        msg_str = "Valid Telemetric Frame received!";
-        break;
-    case dshot_msg_code_t::DSHOT_ERROR_COMMAND_SUCCESS:
-        msg_str = "DShot command sent successfully";
-        break;
-    default:
-        msg_str = "Unhandled Error Code!";
-        break;
-    }
-    output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", msg_str);
 
     // Print telemetry data if available
     if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
@@ -285,4 +259,4 @@ inline void printDShotResult(dshot_result_t &result, Stream &output = Serial)
     }
 
     output.println();
-}
+}