Revert "...clean up"

This reverts commit dbfe3922f0.

DShotRMT.cpp

@@ -19,8 +19,7 @@ const dshot_timing_t DSHOT_TIMINGS[] = {
 
 //
 DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
-    : _gpio(gpio)
+    : _gpio(gpio), _mode(mode)
-    , _mode(mode)
     , _is_bidirectional(is_bidirectional)
     , _timing_config(DSHOT_TIMINGS[mode])
     , _rmt_tx_channel(nullptr)
@@ -63,9 +62,10 @@ bool DShotRMT::begin()
     return DSHOT_OK;
 }
 
-// Sets the throttle value and transmits
+//
 bool DShotRMT::setThrottle(uint16_t throttle)
 {
+
     // DShot Frame Container
     dshot_packet_t packet = {};
 
@@ -78,32 +78,6 @@ bool DShotRMT::setThrottle(uint16_t throttle)
     {
         return DSHOT_ERROR;
     }
-
-    return DSHOT_OK;
-}
-
-// DShot Commands
-bool DShotRMT::sendDShotCommand(uint16_t command)
-{
-    // DShot Frame Container
-    dshot_packet_t packet = {};
-
-    if ((command < DSHOT_CMD_MOTOR_STOP) || command > DSHOT_CMD_MAX)
-    {
-        return DSHOT_ERROR;
-    }
-
-    // Create DShot packet
-    packet.throttle_value = command;
-    packet.telemetric_request = _is_bidirectional;
-    packet.checksum = _calculateCRC(packet);
-
-    if (!_sendDShotFrame(packet))
-    {
-        return DSHOT_ERROR;
-    }
-
-    return DSHOT_OK;
 }
 
 //
@@ -229,47 +203,40 @@ uint16_t DShotRMT::_calculateCRC(const dshot_packet_t &packet)
     return crc;
 }
 
-// Create a "raw" DShot Frame
+//
 uint16_t DShotRMT::_assembleDShotFrame(const dshot_packet_t &packet)
 {
-    // Check packet
+    // Parses DShot Frame
-    uint16_t crc_calculated = _calculateCRC(packet);
-    uint16_t crc_in_packet = packet.checksum;
-
-    if (crc_calculated != crc_in_packet)
-    {
-        return DSHOT_ERROR;
-    }
-    
-    // Parses DShot Packet
     uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
     return (data << 4) | packet.checksum;
 }
 
-// Converts DShot Frame 
+//
-bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
+void DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
 {
-    // Encoding to "raw" DShot Packet
-    uint16_t frame_bits = _assembleDShotFrame(packet);
-
-    // Convert the parsed dshot frame to rmt_tx data
-    for (int i = 0; i < DSHOT_BITS_PER_FRAME; i++)
     {
-        // Encode RMT symbols bitwise (MSB first) - tricky
+        // Encoding to "raw" DShot Packet
-        bool bit = (frame_bits >> ((DSHOT_BITS_PER_FRAME - 1) - i)) & 0b0000000000000001;
+        uint16_t frame_bits = _assembleDShotFrame(packet);
-        if (_is_bidirectional)
+
+        // Convert the parsed dshot frame to rmt_tx data
+        for (int i = 0; i < DSHOT_BITS_PER_FRAME; i++)
         {
-            symbols[i].level0 = 0;
+            // Encode RMT symbols bitwise (MSB first) - tricky
-            symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
+            bool bit = (frame_bits >> (DSHOT_BITS_PER_FRAME - 1 - i)) & 0b0000000000000001;
-            symbols[i].level1 = 1;
+            if (_is_bidirectional)
-            symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
+            {
-        }
+                symbols[i].level0 = 0;
-        else
+                symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
-        {
+                symbols[i].level1 = 1;
-            symbols[i].level0 = 1;
+                symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
-            symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
+            }
-            symbols[i].level1 = 0;
+            else
-            symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
+            {
+                symbols[i].level0 = 1;
+                symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
+                symbols[i].level1 = 0;
+                symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
+            }
         }
     }
 }
@@ -308,13 +275,13 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols, size_t sy
     return data >> 1;
 }
 
-// Timer is ringing
+//
 bool DShotRMT::_timer_signal()
 {
-    return ((micros() - _last_transmission_time) >= _frame_time_us);
+    return (micros() - _last_transmission_time) >= _frame_time_us;
 }
 
-// Timer restart
+//
 void DShotRMT::_timer_reset()
 {
     _last_transmission_time = micros();

DShotRMT.h

@@ -77,7 +77,7 @@ public:
     // Sets the throttle value and transmits
     bool setThrottle(uint16_t throttle);
 
-    // Sends a valid DShot Command
+    // Sends a DShot Command
     bool sendDShotCommand(uint16_t command);
 
     // Gets eRPM from ESC telemetry
@@ -89,7 +89,7 @@ public:
     //
     gpio_num_t getGPIO() const { return _gpio; }
     dshot_mode_t getDShotMode() const { return _mode; }
-    bool isBidirectional() const { return _is_bidirectional; }
+    bool is_bidirectional() const { return _is_bidirectional; }
 
 private:
     // --- Config ---
@@ -117,14 +117,14 @@ private:
     uint16_t _last_erpm;
     unsigned long _last_transmission_time;
 
-    // 
+    //
     bool _initTXChannel();
     bool _initRXChannel();
     bool _initDShotEncoder();
 
     uint16_t _calculateCRC(const dshot_packet_t &packet);
     uint16_t _assembleDShotFrame(const dshot_packet_t &packet);
-    bool _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
+    void _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
     uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols, size_t symbol_count);
     bool _sendDShotFrame(const dshot_packet_t &packet);
 

examples/dshot300/dshot300.ino

@@ -16,11 +16,13 @@ constexpr uint32_t USB_SERIAL_BAUD = 115200;
 // Motor configuration
 constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
 constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
-constexpr uint8_t MOTOR01_MAGNET_COUNT = 14;
 
-// BiDirectional DShot Signal (default: false)
+// BiDirectional DShot Support (default: false)
 constexpr bool IS_BIDIRECTIONAL = false;
 
+// Motor magnet count for RPM calculation
+constexpr uint8_t MOTOR01_MAGNET_COUNT = 14;
+
 // Setup Motor Pin, DShot Mode and optional BiDirectional Support
 DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
 
@@ -39,6 +41,9 @@ void setup()
     // Initialize DShot Signal
     motor01.begin();
 
+    // Arm ESC with minimum throttle
+    motor01.setThrottle(DSHOT_THROTTLE_MIN);
+
     USB_SERIAL.println("**********************");
     USB_SERIAL.println("DShotRMT Demo started.");
     USB_SERIAL.println("Enter a throttle value (48 – 2047):");