...more simplifications

DShotRMT.cpp

@@ -18,7 +18,7 @@ constexpr dshot_timing_t DSHOT_TIMINGS[] = {
     {16, 8, 6, 3, 5, 2}        // DSHOT1200
 };
 
-//
+// --- DShot Config ---
 DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional): 
     _gpio(gpio),
     _mode(mode),
@@ -28,8 +28,9 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional):
     _rmt_rx_channel(nullptr),
     _dshot_encoder(nullptr),
     _last_erpm(0),
-    _last_transmission_time(0),
+    _current_packet(0),
-    _current_packet(0)
+    _packet{0},
+    _last_transmission_time(0)
 {
     // Double up frame time for bidirectional mode
     if (_is_bidirectional)
@@ -41,6 +42,14 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional):
     _frame_time_us = _timing_config.frame_length_us + DSHOT_SWITCH_TIME;
 }
 
+// Easy Constructor
+DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional):
+    DShotRMT((gpio_num_t)pin_nr, 
+    mode, 
+    is_bidirectional)
+{
+}
+
 // Init DShotRMT
 bool DShotRMT::begin()
 {
@@ -69,36 +78,50 @@ bool DShotRMT::begin()
     return DSHOT_OK;
 }
 
-//
+// Deprecated, use "sendThrottle() instead"
 bool DShotRMT::setThrottle(uint16_t throttle)
 {
+    return sendThrottle(throttle);
+}
+
+// Sends a valid throttle value
+bool DShotRMT::sendThrottle(uint16_t throttle)
+{
+    static uint16_t last_throttle = DSHOT_THROTTLE_MIN;
+
     // Precheck throttle value
     if (throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX)
     {
         Serial.println(DSHOT_MSG_06);
         return DSHOT_ERROR;
+    } else {
+        last_throttle = throttle;
     }
 
-    //
+    // Converts throttle value to dshot packet 
-    dshot_packet_t packet = _buildDShotPacket(throttle);
+    _packet = _buildDShotPacket(last_throttle);
 
-    return (_sendDShotFrame(packet));
+    return (_sendDShotFrame(_packet));
 }
 
-//
+// Deprecated, use "sendCommand() instead"
 bool DShotRMT::sendDShotCommand(uint16_t command)
 {
-    // Precheck command value
+    return sendCommand(command);
+}
+
+bool DShotRMT::sendCommand(uint16_t command)
+{
+    // Check for valid command
     if (command < DSHOT_CMD_MOTOR_STOP || command > DSHOT_CMD_MAX)
     {
         Serial.println(DSHOT_MSG_07);
         return DSHOT_ERROR;
     }
 
-    //
+    _packet = _buildDShotPacket(command);
-    dshot_packet_t packet = _buildDShotPacket(command);
 
-    return (_sendDShotFrame(packet));
+    return (_sendDShotFrame(_packet));
 }
 
 //

DShotRMT.h

@@ -59,24 +59,26 @@ typedef struct dshot_timing_s
     uint16_t ticks_one_low;
 } dshot_timing_t;
 
-// --- DShot Timing Config ---
 extern const dshot_timing_t DSHOT_TIMINGS[];
 
-//
+// --- DShotRMT Class ---
 class DShotRMT
 {
 public:
-    //
+    // --- DShot Config ---
     DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
+    DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
 
     // --- Init RMT Module ---
     bool begin();
 
     // Sets the throttle value and transmits
-    bool setThrottle(uint16_t throttle);
+    bool setThrottle(uint16_t throttle);    // deprecated
+    bool sendThrottle(uint16_t throttle);
 
     // Sends a DShot Command
-    bool sendDShotCommand(uint16_t command);
+    bool sendDShotCommand(uint16_t command);    // deprecated
+    bool sendCommand(uint16_t command);
 
     // Gets eRPM from ESC telemetry
     uint16_t getERPM();
@@ -117,6 +119,7 @@ private:
     // --- Buffers ---
     uint16_t _last_erpm;
     uint16_t _current_packet;
+    dshot_packet_t _packet;
     unsigned long _last_transmission_time;
 
     //

examples/dshot300/dshot300.ino

@@ -14,7 +14,8 @@ static constexpr HardwareSerial &USB_SERIAL = Serial0;
 static constexpr uint32_t USB_SERIAL_BAUD = 115200;
 
 // Motor configuration
-static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
+// static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
+static constexpr uint16_t MOTOR01_PIN = 17;
 static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
 
 // BiDirectional DShot Support (default: false)
@@ -26,14 +27,14 @@ static constexpr uint8_t MOTOR01_MAGNET_COUNT = 14;
 // Setup Motor Pin, DShot Mode and optional BiDirectional Support
 DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
 
-// Prints RPM and throttle every 2 seconds if BiDirectional is enabled
+// Prints RPM if BiDirectional is enabled every ms
-void printRPMPeriodically(uint16_t throttle);
+void printRPMPeriodically(uint16_t timer_ms);
 
 // Reads throttle value from serial input
-uint16_t readSerialThrottle();
+uint16_t readSerialThrottle(HardwareSerial &serial);
 
-// Prints out the dshot packet bitwise (Debug)
+// Prints out the dshot packet bitwise every ms (Debug)
-void printPacket();
+void printTXPacket(uint16_t timer_ms);
 
 //
 void setup()
@@ -45,10 +46,10 @@ void setup()
     motor01.begin();
 
     // Arm ESC with minimum throttle
-    motor01.setThrottle(DSHOT_THROTTLE_MIN);
+    // motor01.sendThrottle(DSHOT_THROTTLE_MIN);
 
-    USB_SERIAL.println("**********************");
+    USB_SERIAL.println("***********************************");
-    USB_SERIAL.println("DShotRMT Demo started.");
+    USB_SERIAL.println("  === DShotRMT Demo started. ===   ");
     USB_SERIAL.println("Enter a throttle value (48 – 2047):");
 }
 
@@ -56,78 +57,74 @@ void setup()
 void loop()
 {
     // Read value input from Serial
-    uint16_t throttle_input = readSerialThrottle();
+    uint16_t throttle_input = readSerialThrottle(USB_SERIAL);
 
     // Send the value to the ESC
-    motor01.setThrottle(throttle_input);
+    motor01.sendThrottle(throttle_input);
 
-    // Print RPM if BiDirectional DShot is enabled
+    // Prints RPM every 2 if BiDirectional DShot is enabled
-    if (IS_BIDIRECTIONAL)
+    printRPMPeriodically(2000);
-    {
-        printRPMPeriodically(throttle_input);
-    }
 
-    // Prints out "raw" DShot packet
+    // Prints out "raw" DShot packet every 2 seconds
-    // printPacket();
+    // printTXPacket(2000);
 }
 
 // Reads throttle value from serial input
-uint16_t readSerialThrottle()
+uint16_t readSerialThrottle(HardwareSerial &serial)
 {
     static uint16_t last_throttle = DSHOT_THROTTLE_MIN;
 
-    if (USB_SERIAL.available() > 0)
+    if (serial.available() > NULL)
     {
-        String input = USB_SERIAL.readStringUntil('\n');
+        // Reads a value
-        int throttle_input = input.toInt();
+        uint16_t throttle = (serial.readStringUntil('\n').toInt());
 
-        if (throttle_input < DSHOT_THROTTLE_MIN || throttle_input > DSHOT_THROTTLE_MAX)
+        // Check for valid throttle value
+        if (throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX)
         {
-            USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047.");
+            USB_SERIAL.println("Throttle value not in range (48 - 2047)!");
             return last_throttle;
         }
-        else
-        {
-            last_throttle = throttle_input;
-            USB_SERIAL.print("Throttle set to: ");
-            USB_SERIAL.println(last_throttle);
-        }
 
-        USB_SERIAL.println("*********************************");
+        last_throttle = throttle;
-        USB_SERIAL.println("Enter a throttle value (48 – 2047):");
+
+        USB_SERIAL.println("*********************");
+        USB_SERIAL.print("Throttle set to: ");
+        USB_SERIAL.println(last_throttle);
     }
 
     return last_throttle;
 }
 
-// Prints RPM and throttle every 2 seconds
+// Prints RPM every ms
-void printRPMPeriodically(uint16_t throttle)
+void printRPMPeriodically(uint16_t timer_ms)
 {
-    static unsigned long last_print_time = 0;
+    if (IS_BIDIRECTIONAL)
-
-    if (millis() - last_print_time >= 2000)
     {
-        uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
+        static unsigned long last_print_time = 0;
 
-        USB_SERIAL.print("Throttle: ");
+        if (millis() - last_print_time >= timer_ms)
-        USB_SERIAL.print(throttle);
+        {
-        USB_SERIAL.print(" | RPM: ");
+            uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
-        USB_SERIAL.println(rpm);
 
-        last_print_time = millis();
+            USB_SERIAL.print("RPM: ");
+            USB_SERIAL.println(rpm);
+
+            last_print_time = millis();
+        }
     }
 }
 
-//
+// Prints "raw" packet every ms
-void printPacket()
+void printTXPacket(uint16_t timer_ms)
 {
     static unsigned long last_print_time = 0;
 
-    if (millis() - last_print_time >= 2000)
+    if (millis() - last_print_time >= timer_ms)
     {
-        // Prints out actual DShot Packet bitwise
         uint16_t packet = motor01.getDShotPacket();
 
+        // Print bit by bit
         for (int i = 15; i >= 0; --i)
         {
             if ((packet >> i) & 1)