Use official RMT Encoder API

.github/workflows/ci.yml

@@ -1,98 +1,92 @@
+# This GitHub Actions workflow is designed to ensure code quality and
+# successful compilation for an ESP32 Arduino library.
+# It runs on every push to any branch.
+
 name: ESP32 Build & Quality Check
 
+# Set permissions for the GitHub token.
+# 'contents: read' is required to checkout the repository.
 permissions:
   contents: read
 
+# Define the trigger for the workflow.
+# It runs on any push to any branch.
 on:
   push:
     branches: [ '*' ]
 
+# Concurrency control ensures that only the latest commit for a branch
+# runs, canceling any workflows already in progress for the same branch.
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
   # ============================================================================
-  # Code Quality & Linting
+  # Prepare Environment & Cache
+  # This job installs the Arduino core and libraries and saves them to a cache
+  # for later jobs to use.
   # ============================================================================
-
+  prepare-cache:
-  quality-check-linux:
+    name: Prepare Cache (Linux)
-    name: Arduino Lint Check (Linux)
     runs-on: ubuntu-latest
-    timeout-minutes: 10
+    
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout Repository
-      - uses: arduino/setup-arduino-cli@v2
+        uses: actions/checkout@v4
-      - name: Restore Arduino Core Cache
+
-        id: cache-core-linux
+      - name: Setup Arduino CLI
-        uses: actions/cache/restore@v4
+        uses: arduino/setup-arduino-cli@v2
+
+      - name: Restore Arduino Core & Libraries Cache
+        uses: actions/cache@v4
+        id: cache-arduino
         with:
           path: |
             ~/.arduino15/packages
             ~/.arduino15/cache
-          key: arduino-core-linux-esp32-v1
+            ~/Arduino/libraries
-          restore-keys: |
+          key: linux-arduino-esp32-v2-${{ hashFiles('**/library.properties') }}
-            arduino-core-linux-
+
-      - name: Ensure ESP32 Core is installed (Linux)
+      - name: Install Dependencies
+        if: steps.cache-arduino.outputs.cache-hit != 'true'
         shell: bash
         run: |
-          if [[ "${{ 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
+          arduino-cli lib install "ArduinoJson"
-      - name: Save Arduino Core Cache
+          mkdir -p "$HOME/Arduino/libraries"
-        if: always() && steps.cache-core-linux.outputs.cache-hit != 'true'
+          git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer "$HOME/Arduino/libraries/ESPAsyncWebServer"
-        uses: actions/cache/save@v4
+          git clone --depth=1 https://github.com/ESP32Async/AsyncTCP "$HOME/Arduino/libraries/AsyncTCP"
-        with:
-          path: |
-            ~/.arduino15/packages
-            ~/.arduino15/cache
-          key: arduino-core-linux-esp32-v1
-      - uses: arduino/arduino-lint-action@v2
-        with:
-          path: ${{ github.workspace }}
-          compliance: strict
-          library-manager: update
-          verbose: true
 
-  quality-check-windows:
+  # ============================================================================
-    name: Arduino Lint Check (Windows)
+  # Code Quality & Linting
-    runs-on: windows-latest
+  # This job runs after the cache is prepared and checks the code quality.
+  # ============================================================================
+  quality-check:
+    name: Arduino Lint Check (Linux)
+    needs: prepare-cache
+    runs-on: ubuntu-latest
     timeout-minutes: 10
+    
     steps:
-      - uses: actions/checkout@v5
+      - name: Checkout Repository
-      - uses: arduino/setup-arduino-cli@v2
+        uses: actions/checkout@v4
-      - name: Restore Arduino Core Cache
+
-        id: cache-core-win
+      - name: Setup Arduino CLI
-        uses: actions/cache/restore@v4
+        uses: arduino/setup-arduino-cli@v2
+
+      - name: Restore Arduino Core & Libraries Cache
+        uses: actions/cache@v4
         with:
           path: |
             ~/.arduino15/packages
             ~/.arduino15/cache
-          key: arduino-core-windows-esp32-v1
+            ~/Arduino/libraries
-          restore-keys: |
+          key: linux-arduino-esp32-v2-${{ hashFiles('**/library.properties') }}
-            arduino-core-windows-
+      
-      - name: Ensure ESP32 Core is installed (Windows)
+      - name: Run Arduino Lint
-        if: steps.cache-core-win.outputs.cache-hit != 'true'
+        uses: arduino/arduino-lint-action@v2
-        shell: pwsh
-        run: |
-          if ($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
-          }
-      - name: Save Arduino Core Cache
-        if: always() && steps.cache-core-win.outputs.cache-hit != 'true'
-        uses: actions/cache/save@v4
-        with:
-          path: |
-            ~/.arduino15/packages
-            ~/.arduino15/cache
-          key: arduino-core-windows-esp32-v1
-      - uses: arduino/arduino-lint-action@v2
         with:
           path: ${{ github.workspace }}
           compliance: strict
@@ -101,114 +95,66 @@ jobs:
 
   # ============================================================================
   # Compilation Test
+  # This job compiles all example sketches.
   # ============================================================================
-
+  compile-sketches:
-  compile-all-sketches:
+    name: Compile ${{ matrix.sketch }} (Linux)
-    name: Compile ${{ matrix.sketch }} (${{ matrix.os }})
+    needs: prepare-cache
-    runs-on: ${{ matrix.os }}
+    runs-on: ubuntu-latest
     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
+      - name: Checkout Repository
-      - uses: arduino/setup-arduino-cli@v2
+        uses: actions/checkout@v4
+
+      - name: Setup Arduino CLI
+        uses: arduino/setup-arduino-cli@v2
 
       - name: Restore Arduino Core & Libraries Cache
-        id: cache-all
+        uses: actions/cache@v4
-        uses: actions/cache/restore@v4
         with:
           path: |
             ~/.arduino15/packages
             ~/.arduino15/cache
             ~/Arduino/libraries
-          key: ${{ runner.os }}-arduino-full-esp32-v1-${{ hashFiles('**/library.properties', '**/platform.txt') }}
+          key: linux-arduino-esp32-v2-${{ hashFiles('**/library.properties') }}
-          restore-keys: |
-            ${{ runner.os }}-arduino-full-esp32-v1-
       
-      - name: Ensure ESP32 Core and Dependencies (Linux)
+      - name: Compile Sketch
-        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
-          arduino-cli core install esp32:esp32
-          mkdir -p ~/Arduino/libraries
-          git clone --depth=1 https://github.com/bblanchon/ArduinoJson.git ~/Arduino/libraries/ArduinoJson
-          git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
-          git clone --depth=1 https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
-
-      - 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
-          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"
-          }
-          if (-not (Test-Path -Path "$env:USERPROFILE/Arduino/libraries/ESPAsyncWebServer")) {
-            git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer "$env:USERPROFILE/Arduino/libraries/ESPAsyncWebServer"
-          }
-          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.outputs.cache-hit != 'true'
-        uses: actions/cache/save@v4
-        with:
-          path: |
-            ~/.arduino15/packages
-            ~/.arduino15/cache
-            ~/Arduino/libraries
-          key: ${{ runner.os }}-arduino-full-esp32-v1-${{ hashFiles('**/library.properties', '**/platform.txt') }}
-
-      - 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
+  # This job runs last and provides a summary of the build status.
   # ============================================================================
   build-summary:
     name: Build Summary
     runs-on: ubuntu-latest
-    if: always()
+    if: always() # This ensures the job runs even if previous jobs fail
     needs:
-      - quality-check-linux
+      - quality-check
-      - quality-check-windows
+      - compile-sketches
-      - compile-all-sketches
+      
     steps:
       - name: Create Build Summary
         run: |
           echo "# 🔧 DShotRMT Build Report" >> $GITHUB_STEP_SUMMARY
           echo "| Check | Status | Details |" >> $GITHUB_STEP_SUMMARY
           echo "|-------|--------|---------|" >> $GITHUB_STEP_SUMMARY
-
+          if [[ "${{ needs.quality-check.result }}" == "success" ]]; then
-          [[ "${{ needs.quality-check-linux.result }}" == "success" && "${{ needs.quality-check-windows.result }}" == "success" ]] \
+            echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY
-            && echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY \
+          else
-            || echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY
+            echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report for errors |" >> $GITHUB_STEP_SUMMARY
-
+          fi
-          [[ "${{ needs.compile-all-sketches.result }}" == "success" ]] \
+          if [[ "${{ needs.compile-sketches.result }}" == "success" ]]; then
-            && echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY \
+            echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY
-            || echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
+          else
-
+            echo "| 🔨 Compilation | ❌ Failed | One or more examples failed to compile |" >> $GITHUB_STEP_SUMMARY
-          echo "" >> $GITHUB_STEP_SUMMARY
+          fi
-
-          [[ "${{ 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 \
-            && echo "Please review the failed checks and address any issues." >> $GITHUB_STEP_SUMMARY
-            

README.md

@@ -2,7 +2,7 @@
 
 [![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`). It provides a simple, efficient, and hardware-timed 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.
+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`). It leverages the standard `rmt_bytes_encoder` to ensure an efficient, hardware-timed, and maintainable implementation. The library 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.
 
 ## 🚀 Core Features
 

examples/dshot300/dshot300.ino

@@ -88,7 +88,7 @@ void loop()
         if (IS_BIDIRECTIONAL)
         {
             dshot_result_t telem_result = motor01.getTelemetry();
-            printDShotResult(telem_result);
+            DShotRMT::printDShotResult(telem_result);
         }
 
         USB_SERIAL.println("Type 'help' to show Menu");
@@ -128,7 +128,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
         throttle = 0;
         continuous_throttle = true;
         dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
-        printDShotResult(result);
+        DShotRMT::printDShotResult(result);
     }
     else if (input == "info")
     {
@@ -137,7 +137,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
     else if (input == "rpm" && IS_BIDIRECTIONAL)
     {
         dshot_result_t result = motor01.getTelemetry();
-        printDShotResult(result);
+        DShotRMT::printDShotResult(result);
     }
     else if (input.startsWith("cmd "))
     {
@@ -149,7 +149,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
         if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
         {
             dshot_result_t result = motor01.sendCommand(cmd_num);
-            printDShotResult(result);
+            DShotRMT::printDShotResult(result);
         }
         else
         {
@@ -171,7 +171,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
             continuous_throttle = true;
 
             dshot_result_t result = motor01.sendThrottle(throttle);
-            printDShotResult(result);
+            DShotRMT::printDShotResult(result);
         }
         else
         {

examples/throttle_percent/throttle_percent.ino

@@ -94,7 +94,7 @@ void handleSerialInput(const String &input)
     {
         // Stop motor
         dshot_result_t result = motor01.sendThrottlePercent(0.0f);
-        printDShotResult(result);
+        DShotRMT::printDShotResult(result);
     }
     else if (input == "info")
     {
@@ -103,7 +103,7 @@ void handleSerialInput(const String &input)
     else if (input == "rpm" && IS_BIDIRECTIONAL)
     {
         dshot_result_t result = motor01.getTelemetry();
-        printDShotResult(result);
+        DShotRMT::printDShotResult(result);
     }
     else if (input.startsWith("cmd "))
     {
@@ -113,7 +113,7 @@ void handleSerialInput(const String &input)
         if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
         {
             dshot_result_t result = motor01.sendCommand(cmd_num);
-            printDShotResult(result);
+            DShotRMT::printDShotResult(result);
         }
         else
         {
@@ -132,7 +132,7 @@ void handleSerialInput(const String &input)
         if (throttle_percent >= 0.0f && throttle_percent <= 100.0f)
         {
             dshot_result_t result = motor01.sendThrottlePercent(throttle_percent);
-            printDShotResult(result);
+            DShotRMT::printDShotResult(result);
         }
         else
         {

examples/web_client/web_client.ino

@@ -178,7 +178,7 @@ void loop()
         if (IS_BIDIRECTIONAL && isArmed)
         {
             dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
-            printDShotResult(telem_result);
+            DShotRMT::printDShotResult(telem_result);
         }
 
         USB_SERIAL.println("Type 'help' to show Menu");
@@ -495,7 +495,7 @@ void handleSerialInput(const String &input)
         if (isArmed)
         {
             dshot_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
-            printDShotResult(result);
+            DShotRMT::printDShotResult(result);
         }
         else
         {
@@ -520,7 +520,7 @@ void handleSerialInput(const String &input)
         if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
         {
             dshot_result_t result = motor01.sendCommand(cmd_num);
-            printDShotResult(result);
+            DShotRMT::printDShotResult(result);
         }
         else
         {
@@ -581,7 +581,7 @@ void handleSerialInput(const String &input)
         throttle = 0;
         continuous_throttle = false;
         dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
-        printDShotResult(result);
+        DShotRMT::printDShotResult(result);
         return;
     }
 

examples/web_control/web_control.ino

@@ -146,7 +146,7 @@ void loop()
         if (IS_BIDIRECTIONAL && isArmed)
         {
             dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
-            printDShotResult(telem_result);
+            DShotRMT::printDShotResult(telem_result);
         }
 
         USB_SERIAL.println("Type 'help' to show Menu");
@@ -264,7 +264,7 @@ void handleSerialInput(const String &input)
         if (isArmed)
         {
             dshot_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
-            printDShotResult(result);
+            DShotRMT::printDShotResult(result);
         }
         else
         {
@@ -288,7 +288,7 @@ void handleSerialInput(const String &input)
         if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
         {
             dshot_result_t result = motor01.sendCommand(cmd_num);
-            printDShotResult(result);
+            DShotRMT::printDShotResult(result);
         }
         else
         {
@@ -341,7 +341,7 @@ void handleSerialInput(const String &input)
         throttle = 0;
         continuous_throttle = false;
         dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
-        printDShotResult(result);
+        DShotRMT::printDShotResult(result);
         return;
     }
 

src/DShotRMT.cpp

@@ -23,8 +23,8 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, ui
       _last_command_timestamp(0),
       _encoded_frame_value(0),
       _packet{0},
-      _level0(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
+      _pulse_level(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
-      _level1(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),
@@ -355,9 +355,25 @@ dshot_result_t DShotRMT::_initRXChannel()
 
 dshot_result_t DShotRMT::_initDShotEncoder()
 {
-    rmt_copy_encoder_config_t encoder_config = {};
+    rmt_bytes_encoder_config_t encoder_config = {
+        .bit0 = {
+            .duration0 = _rmt_ticks.t0h_ticks,
+            .level0 = _pulse_level,
+            .duration1 = _rmt_ticks.t0l_ticks,
+            .level1 = _idle_level,
+        },
+        .bit1 = {
+            .duration0 = _rmt_ticks.t1h_ticks,
+            .level0 = _pulse_level,
+            .duration1 = _rmt_ticks.t1l_ticks,
+            .level1 = _idle_level,
+        },
+        .flags = {
+            .msb_first = 1 // DShot is MSB first
+        }
+    };
 
-    if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
+    if (rmt_new_bytes_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
     {
         return {false, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED};
     }
@@ -424,50 +440,27 @@ void DShotRMT::_preCalculateRMTTicks()
 dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
 {
     // Ensure enough time has passed since the last transmission
-    if (!_timer_signal())
+    if (!_isFrameIntervalElapsed())
     {
         return {true, dshot_msg_code_t::DSHOT_ERROR_NONE};
     }
 
-    rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
+    _encoded_frame_value = _buildDShotFrameValue(packet);
-    dshot_result_t result = _encodeDShotFrame(packet, tx_symbols);
 
-    if (!result.success)
+    // The DShot frame is 16 bits, which is 2 bytes
-    {
+    size_t tx_size_bytes = sizeof(_encoded_frame_value);
-        return result;
-    }
 
-    size_t tx_size_bytes = DSHOT_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
+    if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, &_encoded_frame_value, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
-
-    if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
     {
         return {false, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_FAILED};
     }
 
-    _timer_reset(); // Reset the timer for the next frame
+    _recordFrameTransmissionTime(); // Reset the timer for the next frame
 
     return {true, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_SUCCESS};
 }
 
-// This function needs to be fast, as it generates the RMT symbols just before sending
-dshot_result_t IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
-{
-    _encoded_frame_value = _buildDShotFrameValue(packet);
 
-    for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
-    {
-        int bit_position = DSHOT_BITS_PER_FRAME - 1 - i;
-        bool bit = (_encoded_frame_value >> bit_position) & 1;
-
-        // A '1' bit has a longer high-time, a '0' bit has a shorter high-time
-        symbols[i].level0 = _level0; // Go HIGH
-        symbols[i].duration0 = bit ? _rmt_ticks.t1h_ticks : _rmt_ticks.t0h_ticks;
-        symbols[i].level1 = _level1; // Go LOW
-        symbols[i].duration1 = bit ? _rmt_ticks.t1l_ticks : _rmt_ticks.t0l_ticks;
-    }
-
-    return {true, dshot_msg_code_t::DSHOT_ERROR_ENCODING_SUCCESS};
-}
 
 // Placed in IRAM for high performance, as it's called from an ISR context
 uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
@@ -510,7 +503,7 @@ uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
 }
 
 // Timing Control Functions
-bool IRAM_ATTR DShotRMT::_timer_signal()
+bool IRAM_ATTR DShotRMT::_isFrameIntervalElapsed()
 {
     // Check if the minimum interval between frames has passed
     uint64_t current_time = esp_timer_get_time();
@@ -518,11 +511,10 @@ bool IRAM_ATTR DShotRMT::_timer_signal()
     return elapsed >= _frame_timer_us;
 }
 
-bool DShotRMT::_timer_reset()
+void DShotRMT::_recordFrameTransmissionTime()
 {
     // Record the time of the current transmission
     _last_transmission_time_us = esp_timer_get_time();
-    return true;
 }
 
 // Static Callback Functions
@@ -546,14 +538,123 @@ bool IRAM_ATTR DShotRMT::_on_rx_done(rmt_channel_handle_t rmt_rx_channel, const
     return false;
 }
 
+void DShotRMT::printDShotResult(const dshot_result_t &result, Stream &output)
+{
+    const char *msg_str;
+    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))
+    {
+        output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
+    }
+
+    output.println();
+}
+
 // Public Static Utility Functions
 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
+    int mode_val = 0;
-                                                                                               : dshot_rmt.getMode() == dshot_mode_t::DSHOT1200  ? 1200
+    switch (dshot_rmt.getMode())
-                                                                                                                                                 : 0);
+    {
+    case dshot_mode_t::DSHOT150:
+        mode_val = 150;
+        break;
+    case dshot_mode_t::DSHOT300:
+        mode_val = 300;
+        break;
+    case dshot_mode_t::DSHOT600:
+        mode_val = 600;
+        break;
+    case dshot_mode_t::DSHOT1200:
+        mode_val = 1200;
+        break;
+    default:
+        break;
+    }
+    output.printf("Current Mode: DSHOT%d\n", mode_val);
+
     output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO");
     output.printf("Current Packet: ");
 

src/DShotRMT.h

@@ -113,6 +113,13 @@ public:
     dshot_result_t saveESCSettings();
 
     // Public Utility & Info Functions
+    /**
+     * @brief Prints the result of a DShot operation to the specified output stream.
+     * @param result The dshot_result_t structure containing the operation's outcome.
+     * @param output The output stream (e.g., Serial) to print to. Defaults to Serial.
+     */
+    static void printDShotResult(const dshot_result_t &result, Stream &output = Serial);
+
     /**
      * @brief Prints detailed DShot signal information for a given DShotRMT instance.
      * @param dshot_rmt The DShotRMT instance to get information from.
@@ -213,8 +220,8 @@ private:
     uint64_t _last_command_timestamp;
     uint16_t _encoded_frame_value;
     dshot_packet_t _packet;
-    uint16_t _level0; // DShot protocol: Signal is idle-low, so pulses start by going HIGH.
+    uint16_t _pulse_level; // DShot protocol: Signal is idle-low, so pulses start by going HIGH.
-    uint16_t _level1; // DShot protocol: Signal returns to LOW after the high pulse.
+    uint16_t _idle_level;  // DShot protocol: Signal returns to LOW after the high pulse.
 
     // RMT Hardware Handles
     rmt_channel_handle_t _rmt_tx_channel;
@@ -245,12 +252,12 @@ private:
 
     // Private Frame Processing Functions
     dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
-    dshot_result_t _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
+
     uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
 
     // Private Timing Control Functions
-    bool _timer_signal();
+    bool _isFrameIntervalElapsed();
-    bool _timer_reset();
+    void _recordFrameTransmissionTime();
 
     // Static Callback Functions
     static bool _on_rx_done(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);

src/dshot_definitions.h

@@ -217,101 +217,3 @@ const char *const TIMING_CORRECTION = "Timing correction!";
 const char *const CALLBACK_REGISTERING_FAILED = "RMT RX Callback registering failed!";
 const char *const INVALID_COMMAND = "Invalid command!";
 const char *const COMMAND_SUCCESS = "DShot command sent successfully";
-
-// Helper Functions
-/**
- * @brief Prints the result of a DShot operation to the specified output stream.
- * @param result The dshot_result_t structure containing the operation's outcome.
- * @param output The output stream (e.g., Serial) to print to. Defaults to Serial.
- */
-inline void printDShotResult(dshot_result_t &result, Stream &output = Serial)
-{
-    const char *msg_str;
-    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))
-    {
-        output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
-    }
-
-    output.println();
-}