Release 0.8.0

Rewritten RMT Timing
Update packet building
Internal clean up
Cosmetics
More pause between frames
Fix RX buffer

.github/workflows/ci.yml

@@ -1,4 +1,5 @@
 name: ESP32 Build & Quality Check
+
 permissions:
   contents: read
 
@@ -8,80 +9,106 @@ on:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   # ============================================================================
   # Code Quality & Linting
   # ============================================================================
   quality-check:
-    name: 'Arduino Lint Check'
+    name: Arduino Lint Check
     runs-on: ubuntu-latest
     timeout-minutes: 10
 
     steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v5
+      - uses: actions/checkout@v5
 
-      - name: Setup Arduino CLI
-        uses: arduino/setup-arduino-cli@v2
+      - uses: arduino/setup-arduino-cli@v2
 
-      - name: Install ESP32 core
+      - name: Cache Arduino Core
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.arduino15/packages
+            ~/.arduino15/cache
+          key: arduino-core-${{ runner.os }}-esp32-v1
+          restore-keys: |
+            arduino-core-${{ runner.os }}-
+
+      - name: Install ESP32 Core
         run: |
-          arduino-cli core update-index > /dev/null
-          arduino-cli core install esp32:esp32 > /dev/null
+          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
 
-      - name: Arduino Lint
-        uses: arduino/arduino-lint-action@v2
+      - uses: arduino/arduino-lint-action@v2
         with:
           path: ${{ github.workspace }}
           compliance: strict
           library-manager: update
           verbose: true
 
-# ============================================================================
+  # ============================================================================
   # Compilation Test
   # ============================================================================
   compile-test:
-    name: 'Compile Example Sketches'
+    name: Compile Example Sketches
     runs-on: ubuntu-latest
     timeout-minutes: 15
 
     strategy:
       fail-fast: false
       matrix:
-        examples:
-          - "examples/dshot300/dshot300.ino"
-          - "examples/command_manager/command_manager.ino"
-          - "examples/web_control/web_control.ino"
-          - "examples/web_client/web_client.ino"
+        example:
+          - examples/dshot300/dshot300.ino
+          - examples/command_manager/command_manager.ino
+          - examples/web_control/web_control.ino
+          - examples/web_client/web_client.ino
 
     steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v5
+      - uses: actions/checkout@v5
 
-      - name: Setup Arduino CLI
-        uses: arduino/setup-arduino-cli@v2
+      - uses: arduino/setup-arduino-cli@v2
+
+      - name: Cache Arduino Core & Libraries
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.arduino15/packages
+            ~/.arduino15/cache
+            ~/Arduino/libraries
+          key: arduino-full-${{ runner.os }}-esp32-v1
+          restore-keys: |
+            arduino-full-${{ runner.os }}-
 
       - name: Install ESP32 Core and Dependencies
         run: |
-          arduino-cli core update-index
+          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
-
           arduino-cli lib install "ArduinoJson"
 
-          # Workround for ESPAsyncWebServer
-          git clone https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
-          git clone https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
-      
+          mkdir -p ~/Arduino/libraries
+
+          # Cached repository check
+          if [ ! -d ~/Arduino/libraries/ESPAsyncWebServer ]; then
+            git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
+          fi
+
+          if [ ! -d ~/Arduino/libraries/AsyncTCP ]; then
+            git clone --depth=1 https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
+          fi
+
       - name: Compile Sketch
         run: |
-          arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} ${{ matrix.examples}}
+          arduino-cli compile \
+            --fqbn esp32:esp32:esp32 \
+            --library ${{ github.workspace }} \
+            ${{ matrix.example }}
 
   # ============================================================================
   # Build Status Report
   # ============================================================================
   build-summary:
-    name: 'Build Summary'
+    name: Build Summary
     runs-on: ubuntu-latest
     if: always()
     needs: [quality-check, compile-test]
@@ -90,32 +117,21 @@ jobs:
       - name: Create Build Summary
         run: |
           echo "# 🔧 DShotRMT Build Report" >> $GITHUB_STEP_SUMMARY
-          echo "" >> $GITHUB_STEP_SUMMARY
-          echo "| Check | Status | Details |" >> $GITHUB_STEP_SUMMARY  
+          echo "| Check | Status | Details |" >> $GITHUB_STEP_SUMMARY
           echo "|-------|--------|---------|" >> $GITHUB_STEP_SUMMARY
-          
-          # Quality Check Status
-          if [[ "${{ needs.quality-check.result }}" == "success" ]]; then
-            echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY
-          else
-            echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY
-          fi
-          
-          # Compile Test Status  
-          if [[ "${{ needs.compile-test.result }}" == "success" ]]; then
-            echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY
-          else
-            echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
-          fi
-          
+
+          [[ "${{ needs.quality-check.result }}" == "success" ]] \
+            && echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY \
+            || echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY
+
+          [[ "${{ needs.compile-test.result }}" == "success" ]] \
+            && echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY \
+            || echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
+
           echo "" >> $GITHUB_STEP_SUMMARY
-          
-          # Overall Status
-          if [[ "${{ needs.quality-check.result }}" == "success" && 
-                "${{ needs.compile-test.result }}" == "success" ]]; then
-            echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY
-            echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY
-          else
-            echo "## ⚠️ Action Required" >> $GITHUB_STEP_SUMMARY
-            echo "Please review the failed checks and address any issues."
-          fi
+
+          [[ "${{ needs.quality-check.result }}" == "success" && "${{ needs.compile-test.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

.gitignore

@@ -1,12 +1,3 @@
-.vs
-.vscode
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
 # Local History for Visual Studio Code
 .history/
 

.vscode/arduino.json

@@ -0,0 +1,7 @@
+{
+    "configuration": "JTAGAdapter=default,PSRAM=disabled,PartitionScheme=default,CPUFreq=240,FlashMode=qio,FlashFreq=80,FlashSize=4M,UploadSpeed=921600,LoopCore=1,EventsCore=1,DebugLevel=none,EraseFlash=all,ZigbeeMode=default",
+    "board": "esp32:esp32:esp32",
+    "sketch": "examples/dshot300/dshot300.ino",
+    "output": "build",
+    "port": "/dev/ttyUSB0"
+}

.vscode/c_cpp_properties.json

@@ -0,0 +1,899 @@
+{
+    "version": 4,
+    "configurations": [
+        {
+            "name": "ESP32",
+            "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
+            "compilerArgs": [
+                "-MMD",
+                "-w",
+                "-Werror=return-type",
+                "-iprefix"
+            ],
+            "intelliSenseMode": "linux-gcc-x64",
+            "includePath": [
+                "~/.arduino15/packages/esp32/hardware/esp32/3.3.0/cores/esp32/**",
+                "~/.arduino15/packages/esp32/hardware/esp32/3.3.0/variants/esp32/**",
+                "~/.arduino15/packages/esp32/hardware/esp32/3.3.0/libraries/**",
+                "~/.arduino15/packages/esp32/hardware/esp32/3.3.0/**",
+                "~/.arduino15/packages/esp32/tools/**",
+                "~/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0/**",
+                "~/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0/xtensa-esp-elf/esp32/**",
+                "~/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0/backward/**",
+                "~/.arduino15/packages/esp32/tools/esp-x32/2411/lib/gcc/xtensa-esp-elf/14.2.0/include/**",
+                "~/.arduino15/packages/esp32/tools/esp-x32/2411/lib/gcc/xtensa-esp-elf/14.2.0/include-fixed/**",
+                "~/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/**",
+                "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.5-b66b5448-v1/esp32/include/**",
+                "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.5-b66b5448-v1/esp32/include/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/",
+                "~/Arduino/libraries/**",
+                "${workspaceFolder}/**"
+            ],
+            "forcedInclude": [
+                "~/.arduino15/packages/esp32/hardware/esp32/3.3.0/cores/esp32/Arduino.h"
+            ],
+            "cStandard": "c17",
+            "cppStandard": "c++20",
+            "defines": [
+                "F_CPU=240000000L",
+                "ESP32",
+                "ARDUINO=10607",
+                "ARDUINO_ESP32_DEV",
+                "ARDUINO_ARCH_ESP32",
+                "ARDUINO_BOARD=\"ESP32_DEV\"",
+                "ARDUINO_VARIANT=\"esp32\"",
+                "ARDUINO_PARTITION_default",
+                "ARDUINO_HOST_OS=\"linux\"",
+                "ARDUINO_FQBN=\"esp32:esp32:esp32:JTAGAdapter=default,PSRAM=disabled,PartitionScheme=default,CPUFreq=240,FlashMode=qio,FlashFreq=80,FlashSize=4M,UploadSpeed=921600,LoopCore=1,EventsCore=1,DebugLevel=none,EraseFlash=none,ZigbeeMode=default\"",
+                "ESP32=ESP32",
+                "CORE_DEBUG_LEVEL=0",
+                "ARDUINO_RUNNING_CORE=1",
+                "ARDUINO_EVENT_RUNNING_CORE=1",
+                "ARDUINO_USB_CDC_ON_BOOT=0",
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+                "__INT8_TYPE__=signed char",
+                "__cpp_digit_separators=201309L",
+                "__ELF__=1",
+                "__XSHAL_ABI=0",
+                "__xtensa__=1",
+                "__FLT_RADIX__=2",
+                "__INT_LEAST16_TYPE__=short int",
+                "__LDBL_EPSILON__=2.2204460492503131e-16L",
+                "__UINTMAX_C(c)=c ## ULL",
+                "__FLT32X_MIN__=2.2250738585072014e-308F32x",
+                "__XCHAL_HAVE_DFP_SQRT=0",
+                "__SIG_ATOMIC_MAX__=0x7fffffff",
+                "__XCHAL_HAVE_MAC16=1",
+                "__GCC_ATOMIC_WCHAR_T_LOCK_FREE=2",
+                "__USER_LABEL_PREFIX__",
+                "__SIZEOF_PTRDIFF_T__=4",
+                "__XCHAL_MMU_MIN_PTE_PAGE_SIZE=1",
+                "__XCHAL_DCACHE_IS_WRITEBACK=0",
+                "__SIZEOF_LONG__=4",
+                "__LDBL_DIG__=15",
+                "__FLT64_IS_IEC_60559__=1",
+                "__XCHAL_MAX_INSTRUCTION_SIZE=3",
+                "__FLT32X_MIN_EXP__=(-1021)",
+                "__INT_FAST16_MAX__=0x7fffffff",
+                "__GCC_CONSTRUCTIVE_SIZE=32",
+                "__FLT64_DIG__=15",
+                "__UINT_FAST32_MAX__=0xffffffffU",
+                "__UINT_LEAST64_TYPE__=long long unsigned int",
+                "__FLT_HAS_QUIET_NAN__=1",
+                "__FLT_MAX_10_EXP__=38",
+                "__FLT_HAS_INFINITY__=1",
+                "__GNUC_EXECUTION_CHARSET_NAME=\"UTF-8\"",
+                "__CHAR_UNSIGNED__=1",
+                "__cpp_unicode_literals=200710L",
+                "__UINT_FAST16_TYPE__=unsigned int",
+                "__INT_FAST32_WIDTH__=32",
+                "__CHAR16_TYPE__=short unsigned int",
+                "__PRAGMA_REDEFINE_EXTNAME=1",
+                "__SIZE_WIDTH__=32",
+                "__INT_LEAST16_MAX__=0x7fff",
+                "__INT64_MAX__=0x7fffffffffffffffLL",
+                "__FLT32_DENORM_MIN__=1.4012984643248171e-45F32",
+                "__SIG_ATOMIC_WIDTH__=32",
+                "__INT_LEAST64_TYPE__=long long int",
+                "__INT16_TYPE__=short int",
+                "__INT_LEAST8_TYPE__=signed char",
+                "__cpp_structured_bindings=201606L",
+                "__INT_FAST8_MAX__=0x7fffffff",
+                "__INTPTR_MAX__=0x7fffffff",
+                "__cpp_sized_deallocation=201309L",
+                "__cpp_guaranteed_copy_elision=201606L",
+                "__FLT64_HAS_QUIET_NAN__=1",
+                "__FLT32_MIN_10_EXP__=(-37)",
+                "__EXCEPTIONS=1",
+                "__UINT16_C(c)=c",
+                "__XCHAL_M_STAGE=3",
+                "__PTRDIFF_WIDTH__=32",
+                "__LDBL_MANT_DIG__=53",
+                "__cpp_range_based_for=201603L",
+                "__FLT64_HAS_INFINITY__=1",
+                "__STDCPP_DEFAULT_NEW_ALIGNMENT__=8",
+                "__SIG_ATOMIC_MIN__=(-__SIG_ATOMIC_MAX__ - 1)",
+                "__XCHAL_ICACHE_SIZE=0",
+                "__cpp_nontype_template_args=201411L",
+                "__INTPTR_TYPE__=int",
+                "__UINT16_TYPE__=short unsigned int",
+                "__WCHAR_TYPE__=short unsigned int",
+                "__XCHAL_HAVE_DEPBITS=0",
+                "__SIZEOF_FLOAT__=4",
+                "__UINTPTR_MAX__=0xffffffffU",
+                "__INT_FAST64_WIDTH__=64",
+                "__cpp_decltype=200707L",
+                "__FLT32_DECIMAL_DIG__=9",
+                "__INT_FAST64_MAX__=0x7fffffffffffffffLL",
+                "__GCC_ATOMIC_TEST_AND_SET_TRUEVAL=1",
+                "__FLT_NORM_MAX__=3.4028234663852886e+38F",
+                "__XCHAL_HAVE_DFP=0",
+                "__FLT32_HAS_INFINITY__=1",
+                "__UINT_FAST64_TYPE__=long long unsigned int",
+                "__cpp_inline_variables=201606L",
+                "__INT_MAX__=0x7fffffff",
+                "__XCHAL_HAVE_EXCLUSIVE=0",
+                "__STDCPP_THREADS__=1",
+                "__INT64_TYPE__=long long int",
+                "__XCHAL_HAVE_DFP_DIV=0",
+                "__FLT_MAX_EXP__=128",
+                "__XCHAL_INST_FETCH_WIDTH=4",
+                "__DBL_MANT_DIG__=53",
+                "__cpp_inheriting_constructors=201511L",
+                "__INT_LEAST64_MAX__=0x7fffffffffffffffLL",
+                "__FP_FAST_FMAF32=1",
+                "__WINT_TYPE__=unsigned int",
+                "__UINT_LEAST32_TYPE__=long unsigned int",
+                "__SIZEOF_SHORT__=2",
+                "__FLT32_NORM_MAX__=3.4028234663852886e+38F32",
+                "__LDBL_MIN_EXP__=(-1021)",
+                "__XCHAL_HAVE_S32C1I=1",
+                "__FLT64_MAX__=1.7976931348623157e+308F64",
+                "__WINT_WIDTH__=32",
+                "__cpp_template_auto=201606L",
+                "__INT_LEAST64_WIDTH__=64",
+                "__FLT32X_MAX_10_EXP__=308",
+                "__cpp_namespace_attributes=201411L",
+                "__WCHAR_UNSIGNED__=1",
+                "__LDBL_MAX_10_EXP__=308",
+                "__ATOMIC_RELAXED=0",
+                "__DBL_EPSILON__=double(2.2204460492503131e-16L)",
+                "__XCHAL_HAVE_SEXT=1",
+                "__INT_LEAST32_TYPE__=long int",
+                "__XTENSA_WINDOWED_ABI__=1",
+                "__UINT8_C(c)=c",
+                "__FLT64_MAX_EXP__=1024",
+                "__SIZEOF_WCHAR_T__=2",
+                "__XCHAL_HAVE_FP_POSTINC=1",
+                "__FLT64_NORM_MAX__=1.7976931348623157e+308F64",
+                "__INTMAX_MAX__=0x7fffffffffffffffLL",
+                "__INT_FAST8_TYPE__=int",
+                "__XCHAL_HAVE_MUL32_HIGH=1",
+                "__GNUC_STDC_INLINE__=1",
+                "__FLT64_HAS_DENORM__=1",
+                "__FLT32_EPSILON__=1.1920928955078125e-7F32",
+                "__DBL_DECIMAL_DIG__=17",
+                "__STDC_UTF_32__=1",
+                "__XCHAL_HAVE_FP_DIV=1",
+                "__INT_FAST8_WIDTH__=32",
+                "__FLT32X_MAX__=1.7976931348623157e+308F32x",
+                "__DBL_NORM_MAX__=double(1.7976931348623157e+308L)",
+                "__BYTE_ORDER__=__ORDER_LITTLE_ENDIAN__",
+                "__GCC_DESTRUCTIVE_SIZE=32",
+                "__XTENSA__=1",
+                "__INTMAX_WIDTH__=64",
+                "__ORDER_BIG_ENDIAN__=4321",
+                "__XTHAL_ABI_CALL0=1",
+                "__cpp_runtime_arrays=198712L",
+                "__FLT32_DIG__=6",
+                "__UINT64_TYPE__=long long unsigned int",
+                "__UINT32_C(c)=c ## UL",
+                "__cpp_alias_templates=200704L",
+                "__FLT_DENORM_MIN__=1.4012984643248171e-45F",
+                "__INT8_MAX__=0x7f",
+                "__LONG_WIDTH__=32",
+                "__UINT_FAST32_TYPE__=unsigned int",
+                "__FLT32X_NORM_MAX__=1.7976931348623157e+308F32x",
+                "__CHAR32_TYPE__=long unsigned int",
+                "__FLT_MAX__=3.4028234663852886e+38F",
+                "__cpp_constexpr=201603L",
+                "__XCHAL_HAVE_FP_RSQRT=1",
+                "__INT32_TYPE__=long int",
+                "__SIZEOF_DOUBLE__=8",
+                "__cpp_exceptions=199711L",
+                "__FLT_MIN_10_EXP__=(-37)",
+                "__FLT64_MIN__=2.2250738585072014e-308F64",
+                "__INT_LEAST32_WIDTH__=32",
+                "__INTMAX_TYPE__=long long int",
+                "__XCHAL_HAVE_ABS=1",
+                "__FLT32X_HAS_QUIET_NAN__=1",
+                "__ATOMIC_CONSUME=1",
+                "__XCHAL_NUM_DBREAK=2",
+                "__XCHAL_HAVE_WIDE_BRANCHES=0",
+                "__GNUC_MINOR__=2",
+                "__INT_FAST16_WIDTH__=32",
+                "__UINTMAX_MAX__=0xffffffffffffffffULL",
+                "__FLT32X_DENORM_MIN__=4.9406564584124654e-324F32x",
+                "__cpp_template_template_args=201611L",
+                "__DBL_MAX_10_EXP__=308",
+                "__LDBL_DENORM_MIN__=4.9406564584124654e-324L",
+                "__INT16_C(c)=c",
+                "__STDC__=1",
+                "__PTRDIFF_TYPE__=int",
+                "__LONG_MAX__=0x7fffffffL",
+                "__XCHAL_HAVE_FP_SQRT=1",
+                "__UINT32_TYPE__=long unsigned int",
+                "__FLT32X_MIN_10_EXP__=(-307)",
+                "__UINTPTR_TYPE__=unsigned int",
+                "__LDBL_MIN_10_EXP__=(-307)",
+                "__cpp_generic_lambdas=201304L",
+                "__SIZEOF_LONG_LONG__=8",
+                "__cpp_user_defined_literals=200809L",
+                "__GCC_ATOMIC_LLONG_LOCK_FREE=1",
+                "__FLT_DECIMAL_DIG__=9",
+                "__UINT_FAST16_MAX__=0xffffffffU",
+                "__LDBL_NORM_MAX__=1.7976931348623157e+308L",
+                "__GCC_ATOMIC_SHORT_LOCK_FREE=2",
+                "__XCHAL_HAVE_BE=0",
+                "__UINT_FAST8_TYPE__=unsigned int",
+                "__cpp_init_captures=201304L",
+                "__ATOMIC_ACQ_REL=4",
+                "__ATOMIC_RELEASE=3",
+                "USBCON"
+            ]
+        }
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+    "C_Cpp.errorSquiggles": "enabled",
+    "C_Cpp.default.compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
+    "files.associations": {
+        ".fantomasignore": "ignore",
+        "string_view": "cpp"
+    }
+}

README.md

@@ -57,7 +57,7 @@ The library requires these additional libraries for full functionality:
 **Core DShotRMT (always required):**
 - ESP32 Arduino Core
 
-**Web Interface Example (dshot300.ino):**
+**Web Interface Example (web_control.ino / web_client.ino):**
 ```ini
 lib_deps = 
     https://github.com/derdoktor667/DShotRMT
@@ -101,92 +101,6 @@ void loop() {
     }
 }
 ```
-
-### Web Control Interface 
-
-```cpp
-#include <DShotRMT.h>
-#include <WiFi.h>
-#include <ESPAsyncWebServer.h>
-
-DShotRMT motor(17, DSHOT300, false);
-AsyncWebServer server(80);
-AsyncWebSocket ws("/ws");
-
-void setup() {
-    // Initialize motor
-    motor.begin();
-    
-    // Create WiFi Access Point
-    WiFi.softAP("DShotRMT Control", "12345678");
-    
-    // Setup web interface
-    ws.onEvent(onWsEvent);
-    server.addHandler(&ws);
-    server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) {
-        request->send_P(200, "text/html", index_html);
-    });
-    server.begin();
-    
-    // Access at http://10.10.10.1
-}
-
-void loop() {
-    // Handle WebSocket communication and motor control
-    ws.cleanupClients();
-}
-```
-
-### Advanced Command Management
-
-```cpp
-#include <DShotRMT.h>
-#include <DShotCommandManager.h>
-
-DShotRMT motor(17, DSHOT300, false);
-DShotCommandManager cmdManager(motor);
-
-void setup() {
-    motor.begin();
-    cmdManager.begin();
-}
-
-void loop() {
-    // High-level ESC control
-    cmdManager.stopMotor();
-    cmdManager.activateBeacon(1);
-    cmdManager.setSpinDirection(false);
-    cmdManager.executeInitSequence();
-}
-```
-
-### Bidirectional DShot (RPM Telemetry)
-
-```cpp
-#include <DShotRMT.h>
-
-// Enable bidirectional mode for telemetry
-DShotRMT motor(17, DSHOT300, true);
-
-void setup() {
-    Serial.begin(115200);
-    motor.begin();
-}
-
-void loop() {
-    // Send throttle
-    motor.sendThrottle(1000);
-    
-    // Get telemetry data
-    dshot_telemetry_result_t telemetry = motor.getTelemetry(14); // 14 magnets
-    if (telemetry.success) {
-        Serial.printf("eRPM: %u, Motor RPM: %u\n", 
-          telemetry.erpm, 
-          telemetry.motor_rpm);
-    }
-}
-```
-
 ---
 
 ## 🌐 Web Control Interface
@@ -228,7 +142,7 @@ Make sure you are using these libraries for [ESPAsyncWebServer](https://github.c
 
 The library includes comprehensive examples:
 
-### 1. Basic DShot Control with Web Interface (`dshot300.ino`)
+### 1. Basic DShot Control with Web Interface (`web_control.ino`)
 - **Web Control Interface:** Modern responsive web UI accessible at `http://10.10.10.1`
 - **WiFi Access Point:** Creates hotspot "DShotRMT Control" for wireless control
 - **Safety Features:** Arming/disarming system with motor safety lockout
@@ -257,8 +171,8 @@ Interactive ESC control with full menu system:
  0 - Emergency Stop
 
 Advanced Commands:
- cmd <number>       - Send DShot command (0-47)
- throttle <value>   - Set throttle (48-2047)
+ cmd <number>       - Send DShot command (0 - 47)
+ throttle <value>   - Set throttle (48 - 2047)
  repeat cmd <num> count <count> - Repeat command
 ```
 
@@ -274,6 +188,8 @@ Advanced Commands:
 | 300   | 300 kbit/s  | 2.50  | 1.25   | 3.33          | ~53.28          |
 | 600   | 600 kbit/s  | 1.25  | 0.625  | 1.67          | ~26.72          |
 
+For DShot, T1H length is always double T0H length.
+
 ### GPIO Configuration
 ```cpp
 // Using GPIO number
@@ -294,14 +210,14 @@ DShotRMT motor(17, DSHOT300, true);
 | Command | Value | Description | Usage |
 |---------|-------|-------------|-------|
 | MOTOR_STOP | 0 | Stop motor | Always available |
-| BEACON1 - 5 | 1 - 5 | Motor beeping | Motor identification |
+| BEACON 1 - 5 | 1 - 5 | Motor beeping | Motor identification |
 | ESC_INFO | 6 | Request ESC info | Get ESC version/settings |
 | SPIN_DIRECTION_1/2 | 7 - 8 | Set spin direction | Motor configuration |
 | 3D_MODE_OFF/ON | 9 - 10 | 3D mode control | Bidirectional flight |
 | SAVE_SETTINGS | 12 | Save to EEPROM | Permanent configuration |
 | EXTENDED_TELEMETRY_ENABLE/DISABLE | 13 - 14 | Telemetry control | Data transmission |
 | SPIN_DIRECTION_NORMAL/REVERSED | 20 - 21 | Spin direction | Alias commands |
-| LED0-3_ON/OFF | 22 - 29 | LED control | BLHeli32 only |
+| LED 0-3_ON/OFF | 22 - 29 | LED control | BLHeli32 only |
 | AUDIO_STREAM_MODE | 30 | Audio mode toggle | KISS ESCs |
 | SILENT_MODE | 31 | Silent mode toggle | KISS ESCs |
 
@@ -341,7 +257,7 @@ The library utilizes the ESP32's RMT (Remote Control) peripheral for precise sig
 ### Advantages
 - **Hardware Timing:** No CPU intervention during transmission
 - **Concurrent Operation:** Multiple channels can run simultaneously  
-- **DMA Support:** Efficient memory-to-peripheral transfers
+- **DMA Support:** Efficient, automatic memory-to-peripheral transfers
 
 ---
 

examples/command_manager/command_manager.ino

@@ -308,13 +308,6 @@ void printSystemStatus()
     USB_SERIAL.println("\n=== System Status ===");
     USB_SERIAL.printf("Current throttle: %u\n", throttle_now);
     USB_SERIAL.printf("Continuous mode: %s\n", throttle_now > 0 ? "ACTIVE" : "INACTIVE");
-    USB_SERIAL.printf("GPIO Pin: %d\n", motor01.getGPIO());
-    USB_SERIAL.printf("DShot Mode: DSHOT%d\n",
-                      motor01.getMode() == DSHOT150 ? 150 : motor01.getMode() == DSHOT300 ? 300
-                                                        : motor01.getMode() == DSHOT600   ? 600
-                                                        : motor01.getMode() == DSHOT1200  ? 1200
-                                                                                          : 0);
-    USB_SERIAL.printf("Bidirectional: %s\n", motor01.is_bidirectional() ? "YES" : "NO");
     USB_SERIAL.printf("Free heap: %u bytes\n", ESP.getFreeHeap());
     USB_SERIAL.printf("Uptime: %lu seconds\n", millis() / 1000);
 }

examples/web_client/web_client.ino

@@ -10,6 +10,7 @@
 #include <WiFi.h>
 
 #include <DShotRMT.h>
+#include <web_content.h>
 
 #include <ArduinoJson.h>
 #include <AsyncTCP.h>

examples/web_control/web_control.ino

@@ -10,6 +10,7 @@
 #include <WiFi.h>
 
 #include <DShotRMT.h>
+#include <web_content.h>
 
 #include <ArduinoJson.h>
 #include <AsyncTCP.h>

library.properties

@@ -1,5 +1,5 @@
 name=DShotRMT
-version=0.7.6
+version=0.8.0
 author=Wastl Kraus <wir-sind-die-matrix.de>
 maintainer=Wastl Kraus <wir-sind-die-matrix.de>
 license=MIT
@@ -8,5 +8,5 @@ paragraph=This library can control a BlHeli_S by using encoded DShot commands. F
 category=Signal Input/Output
 url=https://github.com/derdoktor667/DShotRMT
 architectures=esp32
-provides_includes=DShotRMT.h, DShotCommandManager.h, dshot_commands.h, web_content.h
+provides_includes=DShotRMT.h, DShotCommandManager.h, dshot_commands.h
 depends=ArduinoJson

src/DShotCommandManager.h

@@ -10,7 +10,6 @@
 
 #include <Arduino.h>
 #include <DShotRMT.h>
-#include <dshot_commands.h>
 
 // Command item
 typedef struct

src/DShotRMT.cpp

@@ -8,27 +8,41 @@
 
 #include "DShotRMT.h"
 
+// Static Data & Helper Functions
 // Timing parameters for each DShot mode
-// Format: {frame_length_us, ticks_per_bit, ticks_one_high, ticks_one_low, ticks_zero_high, ticks_zero_low}
-static constexpr dshot_timing_t DSHOT_TIMINGS[] = {
-    {0, 0, 0, 0, 0, 0},        // DSHOT_OFF
-    {128, 64, 48, 16, 24, 40}, // DSHOT150
-    {64, 32, 24, 8, 12, 20},   // DSHOT300
-    {32, 16, 12, 4, 6, 10},    // DSHOT600
-    {16, 8, 6, 2, 3, 5}        // DSHOT1200
-};
+// Format: {bit_length_us, t1h_length_us}
+static constexpr dshot_timing_us_t DSHOT_TIMING_US[] = {
+    {0.00, 0.00},
+    {6.67, 5.00},
+    {3.33, 2.50},
+    {1.67, 1.25},
+    {0.83, 0.67}};
 
+// Helper function to print DShot results and telemetry
+void printDShotResult(dshot_result_t &result, Stream &output)
+{
+    output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
+
+    // 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();
+}
+
+// Constructors & Destructor
 // Constructor with GPIO number
 DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
     : _gpio(gpio),
       _mode(mode),
       _is_bidirectional(is_bidirectional),
-      _last_erpm_atomic(0),
-      _telemetry_ready_flag(false),
+      _dshot_timing(DSHOT_TIMING_US[mode]),
       _frame_timer_us(0),
-      _timing_config(DSHOT_TIMINGS[mode]),
+      _rmt_ticks{0},
       _last_throttle(DSHOT_CMD_MOTOR_STOP),
-      _last_transmission_time(0),
+      _last_transmission_time_us(0),
       _parsed_packet(0),
       _packet{0},
       _bitPositions{0},
@@ -39,30 +53,27 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
       _dshot_encoder(nullptr),
       _tx_channel_config{},
       _rx_channel_config{},
-      _transmit_config{},
-      _receive_config{}
+      _rmt_tx_config{},
+      _rmt_rx_config{},
+      _rx_event_callbacks{},
+      _last_erpm_atomic(0),
+      _telemetry_ready_flag_atomic(false)
 {
-    // Calculate frame timing including switch/pause time
-    _frame_timer_us = _timing_config.frame_length_us + DSHOT_PAUSE_US;
-
-    // Double frame time for bidirectional mode (includes response time)
-    if (_is_bidirectional)
-    {
-        _frame_timer_us = (_frame_timer_us << 1);
-    }
+    // Configure RMT ticks for DShot timings
+    _preCalculateRMTTicks();
 }
 
 // Constructor using pin number
 DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional)
-    : DShotRMT((gpio_num_t)pin_nr, mode, is_bidirectional)
+    : DShotRMT(static_cast<gpio_num_t>(pin_nr), mode, is_bidirectional)
 {
     // Delegates to primary constructor with type cast
 }
 
-// Destructor for "better" code
+// Destructor
 DShotRMT::~DShotRMT()
 {
-    // ...TX
+    // Cleanup TX channel
     if (_rmt_tx_channel)
     {
         if (rmt_disable(_rmt_tx_channel) == DSHOT_OK)
@@ -72,7 +83,7 @@ DShotRMT::~DShotRMT()
         }
     }
 
-    // ...RX
+    // Cleanup RX channel
     if (_rmt_rx_channel)
     {
         if (rmt_disable(_rmt_rx_channel) == DSHOT_OK)
@@ -82,7 +93,7 @@ DShotRMT::~DShotRMT()
         }
     }
 
-    // ...Encoder
+    // Cleanup encoder
     if (_dshot_encoder)
     {
         rmt_del_encoder(_dshot_encoder);
@@ -90,10 +101,12 @@ DShotRMT::~DShotRMT()
     }
 }
 
-// Init DShotRMT
+
+// Public Core Functions
+// Initialize DShotRMT
 dshot_result_t DShotRMT::begin()
 {
-    // Init RX channel first
+    // Init RX channel first (for bidirectional mode)
     if (_is_bidirectional)
     {
         if (!_initRXChannel().success)
@@ -120,105 +133,6 @@ dshot_result_t DShotRMT::begin()
     return {true, INIT_SUCCESS};
 }
 
-// Init RMT TX channel
-dshot_result_t DShotRMT::_initTXChannel()
-{
-    // Configure TX channel
-    _tx_channel_config.gpio_num = _gpio;
-    _tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
-    _tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
-    _tx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
-    _tx_channel_config.trans_queue_depth = RMT_QUEUE_DEPTH;
-
-    // Config RMT TX
-    _transmit_config.loop_count = 0;                              // No automatic loops - real-time calculation
-    _transmit_config.flags.eot_level = _is_bidirectional ? 1 : 0; // Telemetric Bit used as bidir flag
-
-    // Create RMT TX channel
-    if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
-    {
-        return {false, TX_INIT_FAILED};
-    }
-
-    //
-    if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
-    {
-        return {false, TX_INIT_FAILED};
-    }
-
-    return {true, TX_INIT_SUCCESS};
-}
-
-// Init RMT RX channel
-dshot_result_t DShotRMT::_initRXChannel()
-{
-
-    // Direct RMT symbol processing - Performance optimized
-    _rx_event_callbacks.on_recv_done = _rmt_rx_done_callback;
-
-    // Config RMT RX
-    _rx_channel_config.gpio_num = _gpio;
-    _rx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
-    _rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
-    _rx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
-
-    // Config RMT RX parameters
-    _receive_config.signal_range_min_ns = DSHOT_PULSE_MIN;
-    _receive_config.signal_range_max_ns = DSHOT_PULSE_MAX;
-
-    // Create RMT RX channel
-    if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
-    {
-        return {false, RX_INIT_FAILED};
-    }
-
-    //
-    if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
-    {
-        return {false, RX_INIT_FAILED};
-    }
-
-    return {true, RX_INIT_SUCCESS};
-}
-
-// Callback for RMT RX
-bool DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data)
-{
-    DShotRMT *instance = static_cast<DShotRMT *>(user_data);
-
-    // ISR check for valid data
-    if (edata && edata->num_symbols >= GCR_BITS_PER_FRAME && edata->num_symbols <= GCR_BITS_PER_FRAME)
-    {
-
-        // Direct decoding
-        uint16_t erpm = instance->_decodeDShotFrame(edata->received_symbols);
-
-        if (erpm != DSHOT_NULL_PACKET)
-        {
-            // Atomic writes - thread-safe
-            instance->_last_erpm_atomic = erpm;
-            instance->_telemetry_ready_flag = true;
-        }
-    }
-
-    return false;
-}
-
-// Initialize DShot encoder
-dshot_result_t DShotRMT::_initDShotEncoder()
-{
-    // Create copy encoder configuration
-    rmt_copy_encoder_config_t encoder_config = {};
-
-    // Create encoder instance
-    if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
-    {
-        return {false, ENCODER_INIT_FAILED};
-    }
-
-    return {true, TX_INIT_SUCCESS};
-}
-
 // Send throttle value
 dshot_result_t DShotRMT::sendThrottle(uint16_t throttle)
 {
@@ -258,7 +172,7 @@ dshot_result_t DShotRMT::sendCommand(uint16_t command)
 dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
 {
     // Result container with unified structure
-    dshot_result_t result = {false, TELEMETRY_FAILED, NO_DSHOT_ERPM, NO_DSHOT_RPM};
+    dshot_result_t result = {false, TELEMETRY_FAILED, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
 
     // Check if bidirectional mode is enabled
     if (!_is_bidirectional)
@@ -267,17 +181,17 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
         return result;
     }
 
-    //
-    if (_telemetry_ready_flag)
+    // Check for new telemetry data
+    if (_telemetry_ready_flag_atomic)
     {
-        _telemetry_ready_flag = false;
+        _telemetry_ready_flag_atomic = false;
 
         uint16_t erpm = _last_erpm_atomic;
 
-        //
+        // Calculate motor RPM from eRPM
         if (erpm != DSHOT_NULL_PACKET && magnet_count >= 1)
         {
-            uint8_t pole_pairs = max(MIN_POLE_PAIRS, (magnet_count / MAGNETS_PER_POLE_PAIR));
+            uint8_t pole_pairs = max(POLE_PAIRS_MIN, (magnet_count / MAGNETS_PER_POLE_PAIR));
             uint32_t motor_rpm = (erpm / pole_pairs);
 
             result.success = true;
@@ -290,216 +204,7 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
     return result;
 }
 
-// Build a complete DShot packet
-dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t value)
-{
-    // Init packet structure
-    dshot_packet_t packet = {};
-
-    // Re-check for valid value
-    if (value > DSHOT_THROTTLE_MAX)
-    {
-        // Something is really wrong
-        return packet;
-    }
-
-    // Build packet
-    packet.throttle_value = value & 0b0000011111111111;
-    packet.telemetric_request = _is_bidirectional ? 1 : 0;
-
-    // CRC is calculated over 11bit
-    uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
-
-    packet.checksum = _calculateCRC(data);
-
-    return packet;
-}
-
-// Parse DShot packet into 16-bit format
-uint16_t DShotRMT::_parseDShotPacket(const dshot_packet_t &packet)
-{
-    // Parse DShot frame into "raw" 16 bit value
-    uint16_t data_and_telemetry = (packet.throttle_value << 1) | packet.telemetric_request;
-    uint16_t parsed_packet = (data_and_telemetry << 4) | packet.checksum;
-
-    return parsed_packet;
-}
-
-// Calculate CRC
-uint16_t DShotRMT::_calculateCRC(const uint16_t data)
-{
-    // DShot CRC
-    uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & DSHOT_CRC_MASK;
-
-    // Invert CRC for bidirectional DShot mode
-    if (_is_bidirectional)
-    {
-        crc = (~crc) & DSHOT_CRC_MASK;
-    }
-
-    return crc;
-}
-
-// Per calculate bits - Performance optimized
-void DShotRMT::_preCalculateBitPositions()
-{
-    for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
-    {
-        _bitPositions[i] = DSHOT_BITS_PER_FRAME - 1 - i;
-    }
-}
-
-// Transmit DShot packet via RMT
-dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
-{
-    // Check timing requirements
-    if (!_timer_signal())
-    {
-        return {false, TIMING_CORRECTION};
-    }
-
-    // Enable RMT RX before RMT TX
-    if (_is_bidirectional)
-    {
-        // Calculate transmission data size
-        size_t rx_size_bytes = GCR_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
-
-        // Performance reasons
-        rmt_symbol_word_t rx_symbols[DSHOT_BITS_PER_FRAME];
-
-        if (rmt_receive(_rmt_rx_channel, rx_symbols, rx_size_bytes, &_receive_config) != DSHOT_OK)
-        {
-            return {false, RECEIVER_FAILED};
-        }
-    }
-
-    // Local for performance
-    rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
-
-    // Encode DShot packet into RMT symbols
-    _encodeDShotFrame(packet, tx_symbols);
-
-    // Calculate transmission data size
-    size_t tx_size_bytes = DSHOT_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
-
-    // TODO: Find out, why this is needed
-    if (_is_bidirectional)
-    {
-        // Disable RMT RX for sending
-        if (rmt_disable(_rmt_rx_channel) != DSHOT_OK)
-        {
-            return {false, RECEIVER_FAILED};
-        }
-    }
-
-    // Perform RMT transmission
-    if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, tx_size_bytes, &_transmit_config) != DSHOT_OK)
-    {
-        return {false, TRANSMISSION_FAILED};
-    }
-
-    // Re-enable RMT RX
-    if (_is_bidirectional)
-    {
-        if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
-        {
-            return {false, RECEIVER_FAILED};
-        }
-    }
-
-    // Update timestamp and calculate execution time
-    _timer_reset();
-
-    return {true, TRANSMISSION_SUCCESS};
-}
-
-// Encode DShot packet into RMT symbol format (placed in IRAM for performance)
-bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
-{
-    _parsed_packet = _parseDShotPacket(packet);
-
-    // Decode MSB
-    for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
-    {
-        // Use precalculated bit positions - Performace optimized
-        int bit_position = _bitPositions[i];
-
-        bool bit = (_parsed_packet >> bit_position) & 0b0000000000000001;
-        symbols[i].level0 = _level0;
-        symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
-        symbols[i].level1 = _level1;
-        symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
-    }
-
-    return DSHOT_OK;
-}
-
-// Decodes a DShot telemetry frame from received RMT symbols.
-uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
-{
-    uint32_t gcr_value = 0;
-
-    // Decode GCR symbols into a 21-bit value.
-    // '1' has a longer low pulse (duration0 > duration1).
-    // '0' has a longer high pulse (duration1 > duration0).
-    for (size_t i = 0; i < GCR_BITS_PER_FRAME; ++i)
-    {
-        bool bit_is_one = symbols[i].duration0 > symbols[i].duration1;
-        gcr_value = (gcr_value << 1) | bit_is_one;
-    }
-
-    // Perform GCR decoding: data = gcr ^ (gcr >> 1).
-    uint32_t decoded_frame = gcr_value ^ (gcr_value >> 1);
-
-    // Extract 16 data bits and 4 CRC bits from 20-bit frame.
-    // The first bit of the GCR frame is a start bit and is discarded.
-    uint16_t data_and_crc = (decoded_frame & DSHOT_FULL_PACKET);
-
-    // Cutting 4 bits?
-    uint16_t received_data = data_and_crc >> 4;
-
-    // Masking CRC
-    uint16_t received_crc = data_and_crc & DSHOT_CRC_MASK;
-
-    // Telemetry request bit has to be 1
-    if (!(received_data & (1 << 11)))
-    {
-        return DSHOT_NULL_PACKET;
-    }
-
-    // Calculate expected CRC
-    uint16_t data_for_crc = received_data;
-    uint16_t calculated_crc = _calculateCRC(data_for_crc);
-
-    // Validate CRC
-    if (received_crc != calculated_crc)
-    {
-        return DSHOT_NULL_PACKET;
-    }
-
-    // Return the eRPM value (first 11 bits of received data).
-    return received_data & DSHOT_THROTTLE_MAX;
-}
-
-// Check if enough time has passed for next transmission
-bool DShotRMT::_timer_signal()
-{
-    uint64_t current_time = esp_timer_get_time();
-
-    // Handle potential overflow
-    uint64_t elapsed = current_time - _last_transmission_time;
-
-    return elapsed >= _frame_timer_us;
-}
-
-// Reset transmission timer to current time
-bool DShotRMT::_timer_reset()
-{
-    _last_transmission_time = esp_timer_get_time();
-
-    return DSHOT_OK;
-}
-
+// Public Info & Debug Functions
 // Print timing diagnostic information to specified stream
 void DShotRMT::printDShotInfo(Stream &output) const
 {
@@ -507,11 +212,11 @@ void DShotRMT::printDShotInfo(Stream &output) const
     output.println(" === DShot Signal Info === ");
 
     // Current DShot mode
-    output.printf("Current Mode: DSHOT%d\n", 
-        _mode == DSHOT150 ? 150 : 
-        _mode == DSHOT300 ? 300 : 
-        _mode == DSHOT600 ? 600 : 
-        _mode == DSHOT1200 ? 1200 : 0);
+    output.printf("Current Mode: DSHOT%d\n",
+                  _mode == DSHOT150 ? 150 :
+                  _mode == DSHOT300 ? 300 : 
+                  _mode == DSHOT600 ? 600 : 
+                  _mode == DSHOT1200  ? 1200 : 0);
 
     output.printf("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
 
@@ -521,7 +226,7 @@ void DShotRMT::printDShotInfo(Stream &output) const
     // Print bit by bit
     for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
     {
-        if ((_parsed_packet >> i) & 1)
+        if ((_parsed_packet >> i) & 0b0000000000000001)
         {
             output.print("1");
         }
@@ -547,16 +252,330 @@ void DShotRMT::printCpuInfo(Stream &output) const
     output.printf("APB Freq = %lu Hz\n", getApbFrequency());
 }
 
-// --- HELPERS ---
-void printDShotResult(dshot_result_t &result, Stream &output)
+// Private Initialization Functions
+// Initialize RMT TX channel
+dshot_result_t DShotRMT::_initTXChannel()
 {
-    output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
+    // Configure TX channel
+    _tx_channel_config.gpio_num = _gpio;
+    _tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
+    _tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
+    _tx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
+    _tx_channel_config.trans_queue_depth = RMT_QUEUE_DEPTH;
 
-    // Print telemetry data if available
-    if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
+    // Config RMT TX
+    _rmt_tx_config.loop_count = 0;                              // No automatic loops - real-time calculation
+    _rmt_tx_config.flags.eot_level = _is_bidirectional ? 1 : 0; // Telemetric Bit used as bidir flag
+
+    // Create RMT TX channel
+    if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
     {
-        output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
+        return {false, TX_INIT_FAILED};
     }
 
-    output.println();
+    // Enable TX channel
+    if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
+    {
+        return {false, TX_INIT_FAILED};
+    }
+
+    return {true, TX_INIT_SUCCESS};
+}
+
+// Initialize RMT RX channel
+dshot_result_t DShotRMT::_initRXChannel()
+{
+    // Direct RMT symbol processing - Performance optimized
+    _rx_event_callbacks.on_recv_done = _on_rx_done;
+
+    // Config RMT RX
+    _rx_channel_config.gpio_num = _gpio;
+    _rx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
+    _rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
+    _rx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
+
+    // Config RMT RX parameters
+    _rmt_rx_config.signal_range_min_ns = DSHOT_PULSE_MIN;
+    _rmt_rx_config.signal_range_max_ns = DSHOT_PULSE_MAX;
+
+    // Create RMT RX channel
+    if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
+    {
+        return {false, RX_INIT_FAILED};
+    }
+
+    // Enable RX channel
+    if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
+    {
+        return {false, RX_INIT_FAILED};
+    }
+
+    return {true, RX_INIT_SUCCESS};
+}
+
+// Initialize DShot encoder
+dshot_result_t DShotRMT::_initDShotEncoder()
+{
+    // Create copy encoder configuration
+    rmt_copy_encoder_config_t encoder_config = {};
+
+    // Create encoder instance
+    if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
+    {
+        return {false, ENCODER_INIT_FAILED};
+    }
+
+    return {true, ENCODER_INIT_SUCCESS};
+}
+
+// Private Packet Management Functions
+// Build a complete DShot packet from a valid value
+dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
+{
+    // Init packet structure
+    dshot_packet_t packet = {};
+
+    // Re-check for valid value
+    if (value > DSHOT_THROTTLE_MAX)
+    {
+        // Something is really wrong
+        return packet;
+    }
+
+    // Build packet
+    packet.throttle_value = value & DSHOT_THROTTLE_MAX;
+    packet.telemetric_request = _is_bidirectional ? 1 : 0;
+
+    // CRC is calculated over 12bit
+    uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
+
+    packet.checksum = _calculateCRC(data);
+
+    return packet;
+}
+
+// Parse DShot packet into 16-bit format
+uint16_t DShotRMT::_parseDShotPacket(const dshot_packet_t &packet)
+{
+    // Parse DShot frame into "raw" 16 bit value
+    uint16_t data_and_telemetry = (packet.throttle_value << 1) | packet.telemetric_request;
+    return (data_and_telemetry << 4) | packet.checksum;
+}
+
+// Calculate CRC
+uint16_t DShotRMT::_calculateCRC(const uint16_t &data)
+{
+    // DShot CRC
+    uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & DSHOT_CRC_MASK;
+
+    // Invert CRC for bidirectional DShot mode
+    if (_is_bidirectional)
+    {
+        crc = (~crc) & DSHOT_CRC_MASK;
+    }
+
+    return crc;
+}
+
+// Configure RMT ticks for DShot timings
+void DShotRMT::_preCalculateRMTTicks()
+{
+    // Convert DShot timings (us) to RMT ticks
+    _rmt_ticks.bit_length_ticks = static_cast<uint16_t>(_dshot_timing.bit_length_us * RMT_TICKS_PER_US);
+    _rmt_ticks.t1h_ticks = static_cast<uint16_t>(_dshot_timing.t1h_lenght_us * RMT_TICKS_PER_US);
+    _rmt_ticks.t0h_ticks = _rmt_ticks.t1h_ticks >> 1; // High time for a 1 is always double that of a 0
+    _rmt_ticks.t1l_ticks = _rmt_ticks.bit_length_ticks - _rmt_ticks.t1h_ticks;
+    _rmt_ticks.t0l_ticks = _rmt_ticks.bit_length_ticks - _rmt_ticks.t0h_ticks;
+
+    // Pause between frames is frame time in us, some padding and about 30 us is added by hardware
+    _frame_timer_us = (static_cast<uint64_t>(_dshot_timing.bit_length_us * DSHOT_BITS_PER_FRAME) << 1) + DSHOT_PADDING_US;
+
+    // Double frame time for bidirectional mode (includes response time)
+    if (_is_bidirectional)
+    {
+        _frame_timer_us = (_frame_timer_us << 1);
+    }
+}
+
+// Precalculate bit positions for performance optimization
+void DShotRMT::_preCalculateBitPositions()
+{
+    for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
+    {
+        _bitPositions[i] = DSHOT_BITS_PER_FRAME - 1 - i;
+    }
+}
+
+// Private Frame Processing Functions
+// Transmit DShot packet via RMT
+dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
+{
+    // Check timing requirements
+    if (!_timer_signal())
+    {
+        return {false, TIMING_CORRECTION};
+    }
+
+    // Enable RMT RX before RMT TX (bidirectional mode)
+    if (_is_bidirectional)
+    {
+        // Calculate transmission data size
+        size_t rx_size_bytes = GCR_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
+
+        // Performance reasons
+        rmt_symbol_word_t rx_symbols[GCR_BITS_PER_FRAME];
+
+        if (rmt_receive(_rmt_rx_channel, rx_symbols, rx_size_bytes, &_rmt_rx_config) != DSHOT_OK)
+        {
+            return {false, RECEIVER_FAILED};
+        }
+    }
+
+    // Local for performance
+    rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
+
+    // Encode DShot packet into RMT symbols
+    _encodeDShotFrame(packet, tx_symbols);
+
+    // Calculate transmission data size
+    size_t tx_size_bytes = DSHOT_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
+
+    // TODO: Find out, why this is needed
+    if (_is_bidirectional)
+    {
+        // Disable RMT RX for sending
+        if (rmt_disable(_rmt_rx_channel) != DSHOT_OK)
+        {
+            return {false, RECEIVER_FAILED};
+        }
+    }
+
+    // Perform RMT transmission
+    if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
+    {
+        return {false, TRANSMISSION_FAILED};
+    }
+
+    // Re-enable RMT RX
+    if (_is_bidirectional)
+    {
+        if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
+        {
+            return {false, RECEIVER_FAILED};
+        }
+    }
+
+    // Update timestamp and calculate execution time
+    _timer_reset();
+
+    return {true, TRANSMISSION_SUCCESS};
+}
+
+// Encode DShot packet into RMT symbol format (placed in IRAM for performance)
+dshot_result_t IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
+{
+    _parsed_packet = _parseDShotPacket(packet);
+
+    // Decode MSB
+    for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
+    {
+        // Use precalculated bit positions - Performance optimized
+        int bit_position = _bitPositions[i];
+
+        bool bit = (_parsed_packet >> bit_position) & 0b0000000000000001;
+        symbols[i].level0 = _level0;
+        symbols[i].duration0 = bit ? _rmt_ticks.t1h_ticks : _rmt_ticks.t0h_ticks;
+        symbols[i].level1 = _level1;
+        symbols[i].duration1 = bit ? _rmt_ticks.t1l_ticks : _rmt_ticks.t0l_ticks;
+    }
+
+    return {true, ENCODING_SUCCESS};
+}
+
+// Decode DShot telemetry frame from received RMT symbols
+uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
+{
+    uint32_t gcr_value = 0;
+
+    // Decode GCR symbols into a 21-bit value.
+    // '1' has a longer low pulse (duration0 > duration1).
+    // '0' has a longer high pulse (duration1 > duration0).
+    for (size_t i = 0; i < GCR_BITS_PER_FRAME; ++i)
+    {
+        bool bit_is_one = symbols[i].duration0 > symbols[i].duration1;
+        gcr_value = (gcr_value << 1) | bit_is_one;
+    }
+
+    // Perform GCR decoding: data = gcr ^ (gcr >> 1).
+    uint32_t decoded_frame = gcr_value ^ (gcr_value >> 1);
+
+    // Extract 16 data bits and 4 CRC bits from 20-bit frame.
+    // The first bit of the GCR frame is a start bit and is discarded.
+    uint16_t data_and_crc = (decoded_frame & DSHOT_FULL_PACKET);
+
+    // Extract data (first 12 bits) and CRC (last 4 bits)
+    uint16_t received_data = data_and_crc >> 4;
+    uint16_t received_crc = data_and_crc & DSHOT_CRC_MASK;
+
+    // Telemetry request bit has to be 1
+    if (!(received_data & (1 << 11)))
+    {
+        return DSHOT_NULL_PACKET;
+    }
+
+    // Calculate expected CRC
+    uint16_t data_for_crc = received_data;
+    uint16_t calculated_crc = _calculateCRC(data_for_crc);
+
+    // Validate CRC
+    if (received_crc != calculated_crc)
+    {
+        return DSHOT_NULL_PACKET;
+    }
+
+    // Return the eRPM value (first 11 bits of received data).
+    return received_data & DSHOT_THROTTLE_MAX;
+}
+
+// Private Timing Control Functions
+// Check if enough time has passed for next transmission
+bool IRAM_ATTR DShotRMT::_timer_signal()
+{
+    uint64_t current_time = esp_timer_get_time();
+
+    // Handle potential overflow
+    uint64_t elapsed = current_time - _last_transmission_time_us;
+
+    return elapsed >= _frame_timer_us;
+}
+
+// Reset transmission timer to current time
+bool DShotRMT::_timer_reset()
+{
+    _last_transmission_time_us = esp_timer_get_time();
+
+    return DSHOT_OK;
+}
+
+// Static Callback Functions
+// Callback for RMT RX
+bool IRAM_ATTR DShotRMT::_on_rx_done(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data)
+{
+    DShotRMT *instance = static_cast<DShotRMT *>(user_data);
+
+    // ISR check for valid data
+    if (edata && edata->num_symbols >= GCR_BITS_PER_FRAME && edata->num_symbols <= GCR_BITS_PER_FRAME)
+    {
+        // Direct decoding
+        uint16_t erpm = instance->_decodeDShotFrame(edata->received_symbols);
+
+        if (erpm != DSHOT_NULL_PACKET)
+        {
+            // Atomic writes - thread-safe
+            instance->_last_erpm_atomic = erpm;
+            instance->_telemetry_ready_flag_atomic = true;
+        }
+    }
+
+    return false;
 }

src/DShotRMT.h

@@ -10,42 +10,20 @@
 
 #include <Arduino.h>
 #include <dshot_commands.h>
-#include <web_content.h>
 #include <driver/gpio.h>
 #include <driver/rmt_tx.h>
 #include <driver/rmt_rx.h>
+#include <atomic>
 
-// DShot Protocol Constants
+// DShot Protocol Constants & Types
 static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
 static constexpr auto DSHOT_THROTTLE_MIN = 48;
 static constexpr auto DSHOT_THROTTLE_MAX = 2047;
 static constexpr auto DSHOT_BITS_PER_FRAME = 16;
-static constexpr auto DSHOT_PAUSE_US = 30; // Additional frame pause time
-static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
-static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
-static constexpr auto DSHOT_CRC_MASK = 0b0000000000001111;
-static constexpr auto DSHOT_RX_TIMEOUT_MS = 2; // Never reached, just a timeeout
-static constexpr auto GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame (1 start + 16 data + 4 CRC)
 static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
-static constexpr auto MAGNETS_PER_POLE_PAIR = 2;
-static constexpr auto MIN_POLE_PAIRS = 1;
-static constexpr auto NO_DSHOT_ERPM = 0;
-static constexpr auto NO_DSHOT_RPM = 0;
-
-// RMT Configuration Constants
-constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
-constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
-constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
-constexpr auto RMT_BUFFER_SYMBOLS = 64;
-constexpr auto RMT_QUEUE_DEPTH = 1;
-
-// Smallest pulse for DShot1200 is 2us. Largest for DShot150 is 40us.
-// The range is set from 3us (3000ns) to 60us (60000ns) to be safe across all modes.
-constexpr uint32_t DSHOT_PULSE_MIN = 3000;
-constexpr uint32_t DSHOT_PULSE_MAX = 60000;
 
 // DShot Modes
-typedef enum
+typedef enum dshot_mode
 {
     DSHOT_OFF,
     DSHOT150,
@@ -54,8 +32,8 @@ typedef enum
     DSHOT1200
 } dshot_mode_t;
 
-// DShot Packet
-typedef struct
+// DShot Packet Structure
+typedef struct dshot_packet
 {
     uint16_t throttle_value : 11;
     bool telemetric_request : 1;
@@ -63,18 +41,24 @@ typedef struct
 } dshot_packet_t;
 
 // DShot Timing Configuration
-typedef struct
+typedef struct dshot_timing
 {
-    uint32_t frame_length_us;
-    uint16_t ticks_per_bit;
-    uint16_t ticks_one_high;
-    uint16_t ticks_one_low;
-    uint16_t ticks_zero_high;
-    uint16_t ticks_zero_low;
-} dshot_timing_t;
+    double bit_length_us;
+    double t1h_lenght_us;
+} dshot_timing_us_t;
 
-// Unified DShot result structure
-typedef struct
+// RMT Timing Configuration
+typedef struct rmt_ticks
+{
+    uint16_t bit_length_ticks;
+    uint16_t t1h_ticks;
+    uint16_t t1l_ticks;
+    uint16_t t0h_ticks;
+    uint16_t t0l_ticks;
+} rmt_ticks_t;
+
+// Unified DShot Result Structure
+typedef struct dshot_result
 {
     bool success;
     const char *msg;
@@ -82,46 +66,41 @@ typedef struct
     uint16_t motor_rpm; 
 } dshot_result_t;
 
-// Naming convention
+// Command Type Alias
 typedef dshotCommands_e dshot_commands_t;
 
-// --- HELPERS ---
+// Helper Functions
 void printDShotResult(dshot_result_t &result, Stream &output = Serial);
 
 //
+// DShotRMT Main Class
 class DShotRMT
 {
 public:
-    // Constructor with GPIO enum
+    // Constructors & Destructor
     explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
-
-    // Constructor with pin number
     DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
-
-    // Destructor for "better" code
+    
     ~DShotRMT();
 
+    // Public Core Functions
     // Initialize the RMT module and DShot config
     dshot_result_t begin();
-
-    // Send throttle value (48-2047)
+    
+    // Send throttle value (48 - 2047)
     dshot_result_t sendThrottle(uint16_t throttle);
-
-    // Send DShot command (0-47)
+    
+    // Send DShot command (0 - 47)
     dshot_result_t sendCommand(uint16_t command);
-
-    // --- GETTERS ---
-    gpio_num_t getGPIO() const { return _gpio; }
-    uint16_t getDShotPacket() const { return _parsed_packet; }
-    bool is_bidirectional() const { return _is_bidirectional; }
-    dshot_mode_t getMode() const { return _mode; }
+    
+    // Get telemetry data (bidirectional mode only)
     dshot_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
-
-    // --- INFO ---
+    
+    // Public Info & Debug Functions
     void printDShotInfo(Stream &output = Serial) const;
     void printCpuInfo(Stream &output = Serial) const;
-
-    // --- DEPRECATED METHODS ---
+    
+    // Deprecated Methods
     [[deprecated("Use sendThrottle() instead")]]
     bool setThrottle(uint16_t throttle)
     {
@@ -144,67 +123,30 @@ public:
     }
 
 private:
-    // --- CONFIG ---
-    gpio_num_t _gpio;
-    dshot_mode_t _mode;
-    bool _is_bidirectional;
-    uint32_t _frame_timer_us;
-    const dshot_timing_t &_timing_config;
-    uint16_t _last_throttle;
-
-    // --- TIMING & PACKET VARIABLES ---
-    uint64_t _last_transmission_time;
-    uint16_t _parsed_packet;
-    dshot_packet_t _packet;
-    uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
-    uint16_t _level0;
-    uint16_t _level1;
-
-    // --- RMT HARDWARE HANDLES ---
-    rmt_channel_handle_t _rmt_tx_channel;
-    rmt_channel_handle_t _rmt_rx_channel;
-    rmt_encoder_handle_t _dshot_encoder;
-
-    // --- RMT CONFIG STRUCTURES ---
-    rmt_tx_channel_config_t _tx_channel_config;
-    rmt_rx_channel_config_t _rx_channel_config;
-    rmt_transmit_config_t _transmit_config;
-    rmt_receive_config_t _receive_config;
-
-    // --- INITS ---
-    dshot_result_t _initTXChannel();
-    dshot_result_t _initRXChannel();
-    dshot_result_t _initDShotEncoder();
-
-    // --- PACKET MANAGEMENT ---
-    dshot_packet_t _buildDShotPacket(const uint16_t value);
-    uint16_t _parseDShotPacket(const dshot_packet_t &packet);
-    uint16_t _calculateCRC(const uint16_t data);
-    void _preCalculateBitPositions();
-
-    // --- FRAME PROCESSING ---
-    dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
-    bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
-    uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
-
-    // --- TIMING CONTROL ---
-    bool IRAM_ATTR _timer_signal();
-    bool _timer_reset();
-
-    // -- CALLBACKS ---
-    rmt_rx_event_callbacks_t _rx_event_callbacks;
-    volatile rmt_symbol_word_t _rx_symbols_direct[GCR_BITS_PER_FRAME];
-    volatile uint16_t _last_erpm_atomic;
-    volatile bool _telemetry_ready_flag;
-    static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
-
-    // --- DSHOT DEFAULTS ---
-    static constexpr auto const DSHOT_TELEMETRY_INVALID = (0xffff);
-
-    // --- CONSTANTS & ERROR MESSAGES ---
+     // Configuration Constants
     static constexpr bool DSHOT_OK = 0;
     static constexpr bool DSHOT_ERROR = 1;
+    
+    static constexpr auto const DSHOT_NULL_PACKET = 0b0000000000000000;
+    static constexpr auto const DSHOT_FULL_PACKET = 0b1111111111111111;
+    static constexpr auto const DSHOT_CRC_MASK = 0b0000000000001111;
+    static constexpr auto const DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
+    static constexpr auto const DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000;                      // 8 MHz resolution
+    static constexpr auto const RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond
+    static constexpr auto const RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
+    static constexpr auto const DSHOT_RX_TIMEOUT_MS = 2;
+    static constexpr auto const DSHOT_PADDING_US = 20;  // Add to pause between frames for compatibility
+    static constexpr auto const RMT_BUFFER_SYMBOLS = 64;
+    static constexpr auto const RMT_QUEUE_DEPTH = 1;
+    static constexpr auto const GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame
+    static constexpr auto const POLE_PAIRS_MIN = 1;
+    static constexpr auto const MAGNETS_PER_POLE_PAIR = 2;
+    static constexpr auto const NO_DSHOT_TELEMETRY = 0;
+    static constexpr auto const DSHOT_PULSE_MIN = 3000;  // 3us minimum pulse
+    static constexpr auto const DSHOT_PULSE_MAX = 60000; // 60us maximum pulse
+    static constexpr auto const DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX;
 
+    // Error Messages
     static constexpr char const *NONE = "";
     static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
     static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
@@ -213,9 +155,9 @@ private:
     static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
     static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
     static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!";
-    static constexpr char const *RX_BUFFER_FAILED = "RX RMT buffer init failed!";
     static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
     static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!";
+    static constexpr char const *ENCODING_SUCCESS = "Packet encoded successfully";
     static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
     static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!";
     static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!";
@@ -226,4 +168,61 @@ private:
     static constexpr char const *TELEMETRY_FAILED = "No valid Telemetric Frame received!";
     static constexpr char const *INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
     static constexpr char const *TIMING_CORRECTION = "Timing correction!";
+    
+    // Core Configuration Variables
+    gpio_num_t _gpio;
+    dshot_mode_t _mode;
+    bool _is_bidirectional;
+    const dshot_timing_us_t &_dshot_timing;
+    uint64_t _frame_timer_us;
+
+    // Timing & Packet Variables
+    rmt_ticks_t _rmt_ticks;
+    uint16_t _last_throttle;
+    uint64_t _last_transmission_time_us;
+    uint16_t _parsed_packet;
+    dshot_packet_t _packet;
+    uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
+    uint16_t _level0;
+    uint16_t _level1;
+    
+    // RMT Hardware Handles
+    rmt_channel_handle_t _rmt_tx_channel;
+    rmt_channel_handle_t _rmt_rx_channel;
+    rmt_encoder_handle_t _dshot_encoder;
+
+    // RMT Configuration Structures
+    rmt_tx_channel_config_t _tx_channel_config;
+    rmt_rx_channel_config_t _rx_channel_config;
+    rmt_transmit_config_t _rmt_tx_config;
+    rmt_receive_config_t _rmt_rx_config;
+
+    // Bidirectional / Telemetry Variables
+    rmt_rx_event_callbacks_t _rx_event_callbacks;
+    std::atomic<uint16_t> _last_erpm_atomic;
+    std::atomic<bool> _telemetry_ready_flag_atomic;
+
+    // Private Initialization Functions
+    dshot_result_t _initTXChannel();
+    dshot_result_t _initRXChannel();
+    dshot_result_t _initDShotEncoder();
+
+    // Private Packet Management Functions
+    dshot_packet_t _buildDShotPacket(const uint16_t &value);
+    uint16_t _parseDShotPacket(const dshot_packet_t &packet);
+    uint16_t _calculateCRC(const uint16_t &data);
+    void _preCalculateRMTTicks();
+    void _preCalculateBitPositions();
+
+    // 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 _timer_reset();
+    
+    // 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/web_content.h

@@ -1,15 +1,15 @@
 /**
  * @file web_content.h
- * @brief DShotRMT_Control Website content with Arming Switch
+ * @brief DShot signal generation using ESP32 RMT with bidirectional support
  * @author Wastl Kraus
- * @date 2025-09-09
+ * @date 2025-09-13
  * @license MIT
  */
 
 #pragma once
 
 // Web Site Content
-const char index_html[] PROGMEM = R"rawliteral(
+static constexpr char index_html[] = R"rawliteral(
 <!DOCTYPE html>
 <html lang="de">
 
@@ -357,5 +357,4 @@ const char index_html[] PROGMEM = R"rawliteral(
 </body>
 
 </html>
-
-)rawliteral";
+)rawliteral";