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DShotRMT
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...cosmetics

This commit is contained in:
Wastl Kraus 2025-09-05 23:28:08 +02:00
parent 31b3dbdf56
commit cfca2de4e9
2 changed files with 25 additions and 20 deletions
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26
DShotRMT.cpp
View File

@ -60,30 +60,34 @@ DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional)
// Destructor for "better" code // Destructor for "better" code
DShotRMT::~DShotRMT() DShotRMT::~DShotRMT()
{ {
// ...kill them all // ...TX
if (_rmt_tx_channel) if (_rmt_tx_channel)
{ {
rmt_disable(_rmt_tx_channel); if (rmt_disable(_rmt_tx_channel) == DSHOT_OK)
rmt_del_channel(_rmt_tx_channel); {
_rmt_tx_channel = nullptr; rmt_del_channel(_rmt_tx_channel);
_rmt_tx_channel = nullptr;
}
} }
// // ...RX
if (_rmt_rx_channel) if (_rmt_rx_channel)
{ {
rmt_disable(_rmt_rx_channel); if (rmt_disable(_rmt_rx_channel) == DSHOT_OK)
rmt_del_channel(_rmt_rx_channel); {
_rmt_rx_channel = nullptr; rmt_del_channel(_rmt_rx_channel);
_rmt_rx_channel = nullptr;
}
} }
// // ...Encoder
if (_dshot_encoder) if (_dshot_encoder)
{ {
rmt_del_encoder(_dshot_encoder); rmt_del_encoder(_dshot_encoder);
_dshot_encoder = nullptr; _dshot_encoder = nullptr;
} }
// // ...Buffer
if (_rx_queue) if (_rx_queue)
{ {
vQueueDelete(_rx_queue); vQueueDelete(_rx_queue);
@ -91,7 +95,7 @@ DShotRMT::~DShotRMT()
} }
} }
// Initialize DShotRMT // Init DShotRMT
dshot_result_t DShotRMT::begin() dshot_result_t DShotRMT::begin()
{ {
dshot_result_t result = {false, UNKNOWN_ERROR}; dshot_result_t result = {false, UNKNOWN_ERROR};

19
examples/dshot300/dshot300.ino
View File

@ -78,6 +78,9 @@ void loop()
{ {
motor01.printDShotInfo(); motor01.printDShotInfo();
USB_SERIAL.println(" ");
USB_SERIAL.println("Type 'help' to show Menu");
// Get Motor RPM if bidirectional // Get Motor RPM if bidirectional
if (IS_BIDIRECTIONAL) if (IS_BIDIRECTIONAL)
{ {
@ -94,21 +97,21 @@ void loop()
void printMenu() void printMenu()
{ {
USB_SERIAL.println(" "); USB_SERIAL.println(" ");
USB_SERIAL.println("******************************************"); USB_SERIAL.println("*******************************************");
USB_SERIAL.println(" DShotRMT Demo "); USB_SERIAL.println(" DShotRMT Demo ");
USB_SERIAL.println("******************************************"); USB_SERIAL.println("*******************************************");
USB_SERIAL.println(" <value> - Set throttle (48 – 2047)"); USB_SERIAL.println(" <value> - Set throttle (48 – 2047)");
USB_SERIAL.println(" 0 - Stop motor"); USB_SERIAL.println(" 0 - Stop motor");
USB_SERIAL.println("******************************************"); USB_SERIAL.println("*******************************************");
USB_SERIAL.println(" cmd <number> - Send DShot command (0-47)"); USB_SERIAL.println(" cmd <number> - Send DShot command (0 - 47)");
USB_SERIAL.println(" info - Show motor info"); USB_SERIAL.println(" info - Show motor info");
if (IS_BIDIRECTIONAL) if (IS_BIDIRECTIONAL)
{ {
USB_SERIAL.println(" rpm - Get telemetry data"); USB_SERIAL.println(" rpm - Get telemetry data");
} }
USB_SERIAL.println("******************************************"); USB_SERIAL.println("*******************************************");
USB_SERIAL.println(" h / help - Show this Menu"); USB_SERIAL.println(" h / help - Show this Menu");
USB_SERIAL.println("******************************************"); USB_SERIAL.println("*******************************************");
} }
// Helper to print command results // Helper to print command results
@ -191,8 +194,6 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
dshot_result_t result = motor01.sendThrottle(throttle); dshot_result_t result = motor01.sendThrottle(throttle);
printCommandResult(result, "Set Throttle " + String(throttle)); printCommandResult(result, "Set Throttle " + String(throttle));
USB_SERIAL.println("Continuous throttle mode enabled. Send '0' to stop.");
} }
else else
{ {