Internal clean up

Some sorting and grouping

.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 update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
-          arduino-cli core install esp32:esp32 > /dev/null
+          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:
+        example:
-          - "examples/dshot300/dshot300.ino"
+          - examples/dshot300/dshot300.ino
-          - "examples/command_manager/command_manager.ino"
+          - examples/command_manager/command_manager.ino
-          - "examples/web_control/web_control.ino"
+          - examples/web_control/web_control.ino
-          - "examples/web_client/web_client.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
+          mkdir -p ~/Arduino/libraries
-          git clone https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
+
-          git clone https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
+          # 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 "|-------|--------|---------|" >> $GITHUB_STEP_SUMMARY
-          
+
-          # Quality Check Status
+          [[ "${{ needs.quality-check.result }}" == "success" ]] \
-          if [[ "${{ needs.quality-check.result }}" == "success" ]]; then
+            && echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY \
-            echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY
+            || echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY
-          else
+
-            echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY
+          [[ "${{ needs.compile-test.result }}" == "success" ]] \
-          fi
+            && echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY \
-          
+            || echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
-          # Compile Test Status  
+
-          if [[ "${{ 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
-          
           echo "" >> $GITHUB_STEP_SUMMARY
-          
+
-          # Overall Status
+          [[ "${{ needs.quality-check.result }}" == "success" && "${{ needs.compile-test.result }}" == "success" ]] \
-          if [[ "${{ needs.quality-check.result }}" == "success" && 
+            && echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY \
-                "${{ needs.compile-test.result }}" == "success" ]]; then
+            && echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY \
-            echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY
+            || echo "## ⚠️ Action Required" >> $GITHUB_STEP_SUMMARY \
-            echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY
+            && echo "Please review the failed checks and address any issues." >> $GITHUB_STEP_SUMMARY
-          else
-            echo "## ⚠️ Action Required" >> $GITHUB_STEP_SUMMARY
-            echo "Please review the failed checks and address any issues."
-          fi

examples/web_client/web_client.ino

@@ -62,6 +62,358 @@ void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventTyp
 bool connectToWiFi();
 void printWiFiStatus();
 
+// Web Site Content
+const char index_html[] PROGMEM = R"rawliteral(
+<!DOCTYPE html>
+<html lang="de">
+
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
+    <title>DShotRMT Web Client</title>
+    <style>
+        body {
+            font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
+            display: flex;
+            flex-direction: column;
+            align-items: center;
+            background-color: #2c3e50;
+            color: #ecf0f1;
+            margin: 0;
+            height: 100dvh;
+            justify-content: center;
+        }
+
+        h1 {
+            font-size: 1.5em;
+            font-weight: bold;
+            margin-bottom: 20px;
+        }
+
+        .control-container {
+            background-color: #34495e;
+            padding: 30px;
+            border-radius: 12px;
+            box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
+            text-align: center;
+            width: 85%;
+            max-width: 500px;
+        }
+
+        /* Arming Switch Styles */
+        .arming-section {
+            margin-bottom: 25px;
+            padding: 15px;
+            background-color: #2c3e50;
+            border-radius: 8px;
+            border: 2px solid #e74c3c;
+        }
+
+        .arming-switch {
+            display: flex;
+            align-items: center;
+            justify-content: center;
+            gap: 15px;
+            margin-bottom: 10px;
+        }
+
+        .switch {
+            position: relative;
+            display: inline-block;
+            width: 60px;
+            height: 34px;
+        }
+
+        .switch input {
+            opacity: 0;
+            width: 0;
+            height: 0;
+        }
+
+        .slider-switch {
+            position: absolute;
+            cursor: pointer;
+            top: 0;
+            left: 0;
+            right: 0;
+            bottom: 0;
+            background-color: #e74c3c;
+            -webkit-transition: .4s;
+            transition: .4s;
+            border-radius: 34px;
+        }
+
+        .slider-switch:before {
+            position: absolute;
+            content: "";
+            height: 26px;
+            width: 26px;
+            left: 4px;
+            bottom: 4px;
+            background-color: white;
+            -webkit-transition: .4s;
+            transition: .4s;
+            border-radius: 50%;
+        }
+
+        input:checked+.slider-switch {
+            background-color: #27ae60;
+        }
+
+        input:checked+.slider-switch:before {
+            -webkit-transform: translateX(26px);
+            -ms-transform: translateX(26px);
+            transform: translateX(26px);
+        }
+
+        .arming-label {
+            font-size: 1.2em;
+            font-weight: bold;
+        }
+
+        .arming-status {
+            font-size: 0.9em;
+            margin-top: 5px;
+        }
+
+        .status-disarmed {
+            color: #e74c3c;
+        }
+
+        .status-armed {
+            color: #27ae60;
+        }
+
+        /* Throttle Section */
+        .throttle-section {
+            opacity: 0.3;
+            transition: opacity 0.3s ease;
+        }
+
+        .throttle-section.armed {
+            opacity: 1;
+        }
+
+        #throttleValue {
+            font-size: 2.5em;
+            font-weight: bold;
+            color: #3498db;
+            margin-bottom: 20px;
+        }
+
+        #throttleSlider {
+            appearance: none;
+            width: 100%;
+            height: 25px;
+            background: #2c3e50;
+            outline: none;
+            border-radius: 12px;
+        }
+
+        #throttleSlider::-webkit-slider-thumb {
+            -webkit-appearance: none;
+            appearance: none;
+            width: 40px;
+            height: 40px;
+            background: #3498db;
+            cursor: pointer;
+            border-radius: 50%;
+        }
+
+        #throttleSlider::-moz-range-thumb {
+            width: 40px;
+            height: 40px;
+            background: #3498db;
+            cursor: pointer;
+            border-radius: 50%;
+            border: none;
+        }
+
+        .stats {
+            margin-top: 20px;
+            font-size: 1.2em;
+        }
+
+        .stats span {
+            font-weight: bold;
+            color: #e67e22;
+        }
+
+        .warning-text {
+            color: #e74c3c;
+            font-size: 0.9em;
+            margin-top: 10px;
+            font-style: italic;
+        }
+    </style>
+</head>
+
+<body>
+    <h1>DShotRMT Web Client</h1>
+    <div class="control-container">
+        <!-- Arming Section -->
+        <div class="arming-section">
+            <div class="arming-switch">
+                <span class="arming-label">ARMING SWITCH</span>
+                <label class="switch">
+                    <input type="checkbox" id="armingSwitch">
+                    <span class="slider-switch"></span>
+                </label>
+            </div>
+            <div class="arming-status">
+                <span id="armingStatus" class="status-disarmed">DISARMED</span>
+            </div>
+            <div class="warning-text">
+                ⚠️ Disabled when disarmed!
+            </div>
+        </div>
+
+        <!-- Throttle Section -->
+        <div class="throttle-section" id="throttleSection">
+            <div id="throttleValue">0</div>
+            <input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
+        </div>
+
+        <div class="stats">
+            RPM: <span id="rpmValue">--</span>
+        </div>
+    </div>
+
+    <script>
+        const gateway = `ws://${window.location.hostname}/ws`;
+        let websocket;
+        let isArmed = false;
+
+        // Init WebSocket
+        window.addEventListener('load', () => {
+            initWebSocket();
+        });
+
+        function initWebSocket() {
+            console.log('Trying to open a WebSocket connection...');
+
+            websocket = new WebSocket(gateway);
+            websocket.onopen = onOpen;
+            websocket.onclose = onClose;
+            websocket.onmessage = onMessage;
+        }
+
+        function onOpen(event) {
+            console.log('Connection opened');
+        }
+
+        function onClose(event) {
+            console.log('Connection closed');
+            setTimeout(initWebSocket, 2000);
+        }
+
+        // Getting data from sketch
+        function onMessage(event) {
+            try {
+                const data = JSON.parse(event.data);
+
+                if (data.rpm !== undefined) {
+                    document.getElementById('rpmValue').innerText = data.rpm;
+                }
+
+                // Sync web and serial throttle inputs
+                if (data.throttle !== undefined) {
+                    if (isArmed) {
+                        document.getElementById('throttleSlider').value = data.throttle;
+                        document.getElementById('throttleValue').innerText = data.throttle;
+                    }
+                }
+
+                // Sync arming status if received from ESP32
+                if (data.armed !== undefined) {
+                    isArmed = data.armed;
+                    updateArmingUI();
+                }
+
+            } catch (e) {
+                console.error("Error parsing JSON: ", e);
+            }
+        }
+
+        // Elements
+        const slider = document.getElementById('throttleSlider');
+        const sliderValue = document.getElementById('throttleValue');
+        const armingSwitch = document.getElementById('armingSwitch');
+        const armingStatus = document.getElementById('armingStatus');
+        const throttleSection = document.getElementById('throttleSection');
+
+        // Arming switch event
+        armingSwitch.addEventListener('change', () => {
+            isArmed = armingSwitch.checked;
+            updateArmingUI();
+
+            // Send arming status to ESP32
+            const message = JSON.stringify({
+                "armed": isArmed,
+                "throttle": isArmed ? parseInt(slider.value) : 0
+            });
+
+            console.log("Sending arming status: ", message);
+            websocket.send(message);
+
+            // If disarmed, set throttle to 0
+            if (!isArmed) {
+                slider.value = 0;
+                sliderValue.innerText = 0;
+            }
+        });
+
+        // Update UI based on arming status
+        function updateArmingUI() {
+            
+            // Synch checkbox, as well
+            armingSwitch.checked = isArmed;
+
+            if (isArmed) {
+                armingStatus.innerText = 'ARMED';
+                armingStatus.className = 'status-armed';
+                throttleSection.classList.add('armed');
+                slider.disabled = false;
+            } else {
+                armingStatus.innerText = 'DISARMED';
+                armingStatus.className = 'status-disarmed';
+                throttleSection.classList.remove('armed');
+                slider.disabled = true;
+                slider.value = 0;
+                sliderValue.innerText = 0;
+            }
+        }
+
+        // Throttle slider event
+        slider.addEventListener('input', () => {
+            if (!isArmed) {
+                slider.disabled = true;
+                slider.value = 0;
+                sliderValue.innerText = 0;
+                return;
+            }
+
+            const throttle = slider.value;
+            sliderValue.innerText = throttle;
+
+            const message = JSON.stringify({
+                "throttle": parseInt(throttle),
+                "armed": isArmed
+            });
+
+            console.log("Sending throttle: ", message);
+            websocket.send(message);
+        });
+
+        // Initialize UI
+        updateArmingUI();
+    </script>
+</body>
+
+</html>
+
+)rawliteral";
+
 //
 void setup()
 {

examples/web_control/web_control.ino

@@ -58,6 +58,358 @@ void handleWebSocketMessage(void *arg, uint8_t *data, size_t len);
 void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
 void setArmingStatus(bool armed);
 
+// Web Site Content
+const char index_html[] PROGMEM = R"rawliteral(
+<!DOCTYPE html>
+<html lang="de">
+
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
+    <title>DShotRMT Web Client</title>
+    <style>
+        body {
+            font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
+            display: flex;
+            flex-direction: column;
+            align-items: center;
+            background-color: #2c3e50;
+            color: #ecf0f1;
+            margin: 0;
+            height: 100dvh;
+            justify-content: center;
+        }
+
+        h1 {
+            font-size: 1.5em;
+            font-weight: bold;
+            margin-bottom: 20px;
+        }
+
+        .control-container {
+            background-color: #34495e;
+            padding: 30px;
+            border-radius: 12px;
+            box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
+            text-align: center;
+            width: 85%;
+            max-width: 500px;
+        }
+
+        /* Arming Switch Styles */
+        .arming-section {
+            margin-bottom: 25px;
+            padding: 15px;
+            background-color: #2c3e50;
+            border-radius: 8px;
+            border: 2px solid #e74c3c;
+        }
+
+        .arming-switch {
+            display: flex;
+            align-items: center;
+            justify-content: center;
+            gap: 15px;
+            margin-bottom: 10px;
+        }
+
+        .switch {
+            position: relative;
+            display: inline-block;
+            width: 60px;
+            height: 34px;
+        }
+
+        .switch input {
+            opacity: 0;
+            width: 0;
+            height: 0;
+        }
+
+        .slider-switch {
+            position: absolute;
+            cursor: pointer;
+            top: 0;
+            left: 0;
+            right: 0;
+            bottom: 0;
+            background-color: #e74c3c;
+            -webkit-transition: .4s;
+            transition: .4s;
+            border-radius: 34px;
+        }
+
+        .slider-switch:before {
+            position: absolute;
+            content: "";
+            height: 26px;
+            width: 26px;
+            left: 4px;
+            bottom: 4px;
+            background-color: white;
+            -webkit-transition: .4s;
+            transition: .4s;
+            border-radius: 50%;
+        }
+
+        input:checked+.slider-switch {
+            background-color: #27ae60;
+        }
+
+        input:checked+.slider-switch:before {
+            -webkit-transform: translateX(26px);
+            -ms-transform: translateX(26px);
+            transform: translateX(26px);
+        }
+
+        .arming-label {
+            font-size: 1.2em;
+            font-weight: bold;
+        }
+
+        .arming-status {
+            font-size: 0.9em;
+            margin-top: 5px;
+        }
+
+        .status-disarmed {
+            color: #e74c3c;
+        }
+
+        .status-armed {
+            color: #27ae60;
+        }
+
+        /* Throttle Section */
+        .throttle-section {
+            opacity: 0.3;
+            transition: opacity 0.3s ease;
+        }
+
+        .throttle-section.armed {
+            opacity: 1;
+        }
+
+        #throttleValue {
+            font-size: 2.5em;
+            font-weight: bold;
+            color: #3498db;
+            margin-bottom: 20px;
+        }
+
+        #throttleSlider {
+            appearance: none;
+            width: 100%;
+            height: 25px;
+            background: #2c3e50;
+            outline: none;
+            border-radius: 12px;
+        }
+
+        #throttleSlider::-webkit-slider-thumb {
+            -webkit-appearance: none;
+            appearance: none;
+            width: 40px;
+            height: 40px;
+            background: #3498db;
+            cursor: pointer;
+            border-radius: 50%;
+        }
+
+        #throttleSlider::-moz-range-thumb {
+            width: 40px;
+            height: 40px;
+            background: #3498db;
+            cursor: pointer;
+            border-radius: 50%;
+            border: none;
+        }
+
+        .stats {
+            margin-top: 20px;
+            font-size: 1.2em;
+        }
+
+        .stats span {
+            font-weight: bold;
+            color: #e67e22;
+        }
+
+        .warning-text {
+            color: #e74c3c;
+            font-size: 0.9em;
+            margin-top: 10px;
+            font-style: italic;
+        }
+    </style>
+</head>
+
+<body>
+    <h1>DShotRMT Web Client</h1>
+    <div class="control-container">
+        <!-- Arming Section -->
+        <div class="arming-section">
+            <div class="arming-switch">
+                <span class="arming-label">ARMING SWITCH</span>
+                <label class="switch">
+                    <input type="checkbox" id="armingSwitch">
+                    <span class="slider-switch"></span>
+                </label>
+            </div>
+            <div class="arming-status">
+                <span id="armingStatus" class="status-disarmed">DISARMED</span>
+            </div>
+            <div class="warning-text">
+                ⚠️ Disabled when disarmed!
+            </div>
+        </div>
+
+        <!-- Throttle Section -->
+        <div class="throttle-section" id="throttleSection">
+            <div id="throttleValue">0</div>
+            <input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
+        </div>
+
+        <div class="stats">
+            RPM: <span id="rpmValue">--</span>
+        </div>
+    </div>
+
+    <script>
+        const gateway = `ws://${window.location.hostname}/ws`;
+        let websocket;
+        let isArmed = false;
+
+        // Init WebSocket
+        window.addEventListener('load', () => {
+            initWebSocket();
+        });
+
+        function initWebSocket() {
+            console.log('Trying to open a WebSocket connection...');
+
+            websocket = new WebSocket(gateway);
+            websocket.onopen = onOpen;
+            websocket.onclose = onClose;
+            websocket.onmessage = onMessage;
+        }
+
+        function onOpen(event) {
+            console.log('Connection opened');
+        }
+
+        function onClose(event) {
+            console.log('Connection closed');
+            setTimeout(initWebSocket, 2000);
+        }
+
+        // Getting data from sketch
+        function onMessage(event) {
+            try {
+                const data = JSON.parse(event.data);
+
+                if (data.rpm !== undefined) {
+                    document.getElementById('rpmValue').innerText = data.rpm;
+                }
+
+                // Sync web and serial throttle inputs
+                if (data.throttle !== undefined) {
+                    if (isArmed) {
+                        document.getElementById('throttleSlider').value = data.throttle;
+                        document.getElementById('throttleValue').innerText = data.throttle;
+                    }
+                }
+
+                // Sync arming status if received from ESP32
+                if (data.armed !== undefined) {
+                    isArmed = data.armed;
+                    updateArmingUI();
+                }
+
+            } catch (e) {
+                console.error("Error parsing JSON: ", e);
+            }
+        }
+
+        // Elements
+        const slider = document.getElementById('throttleSlider');
+        const sliderValue = document.getElementById('throttleValue');
+        const armingSwitch = document.getElementById('armingSwitch');
+        const armingStatus = document.getElementById('armingStatus');
+        const throttleSection = document.getElementById('throttleSection');
+
+        // Arming switch event
+        armingSwitch.addEventListener('change', () => {
+            isArmed = armingSwitch.checked;
+            updateArmingUI();
+
+            // Send arming status to ESP32
+            const message = JSON.stringify({
+                "armed": isArmed,
+                "throttle": isArmed ? parseInt(slider.value) : 0
+            });
+
+            console.log("Sending arming status: ", message);
+            websocket.send(message);
+
+            // If disarmed, set throttle to 0
+            if (!isArmed) {
+                slider.value = 0;
+                sliderValue.innerText = 0;
+            }
+        });
+
+        // Update UI based on arming status
+        function updateArmingUI() {
+            
+            // Synch checkbox, as well
+            armingSwitch.checked = isArmed;
+
+            if (isArmed) {
+                armingStatus.innerText = 'ARMED';
+                armingStatus.className = 'status-armed';
+                throttleSection.classList.add('armed');
+                slider.disabled = false;
+            } else {
+                armingStatus.innerText = 'DISARMED';
+                armingStatus.className = 'status-disarmed';
+                throttleSection.classList.remove('armed');
+                slider.disabled = true;
+                slider.value = 0;
+                sliderValue.innerText = 0;
+            }
+        }
+
+        // Throttle slider event
+        slider.addEventListener('input', () => {
+            if (!isArmed) {
+                slider.disabled = true;
+                slider.value = 0;
+                sliderValue.innerText = 0;
+                return;
+            }
+
+            const throttle = slider.value;
+            sliderValue.innerText = throttle;
+
+            const message = JSON.stringify({
+                "throttle": parseInt(throttle),
+                "armed": isArmed
+            });
+
+            console.log("Sending throttle: ", message);
+            websocket.send(message);
+        });
+
+        // Initialize UI
+        updateArmingUI();
+    </script>
+</body>
+
+</html>
+
+)rawliteral";
+
 //
 void setup()
 {

library.properties

@@ -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/DShotRMT.cpp

@@ -8,7 +8,17 @@
 
 #include "DShotRMT.h"
 
-// --- HELPERS ---
+// Static Data & Helper Functions
+// Timing parameters for each DShot mode
+// Format: {frame_length_ticks, ticks_per_bit, t1h_ticks, t1l_ticks, t0h_ticks, t0l_ticks}
+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
 void printDShotResult(dshot_result_t &result, Stream &output)
 {
     output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
@@ -22,25 +32,14 @@ void printDShotResult(dshot_result_t &result, Stream &output)
     output.println();
 }
 
-// Timing parameters for each DShot mode
+// Constructors & Destructor
-// Format: {frame_length_ticks, ticks_per_bit, t1h_ticks, t1l_ticks, t0h_ticks, t0l_ticks}
-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}
-};
-
 // 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),
-      _frame_timer_us(0),
       _dshot_timing(DSHOT_TIMING_US[mode]),
+      _frame_timer_us(0),
       _rmt_ticks{0},
       _last_throttle(DSHOT_CMD_MOTOR_STOP),
       _last_transmission_time_us(0),
@@ -55,23 +54,13 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
       _tx_channel_config{},
       _rx_channel_config{},
       _transmit_config{},
-      _receive_config{}
+      _receive_config{},
+      _rx_event_callbacks{},
+      _last_erpm_atomic(0),
+      _telemetry_ready_flag_atomic(false)
 {
-    // Convert DShot timings (us) to RMT ticks
+    // Configure RMT ticks for DShot timings
-    _rmt_ticks.ticks_per_bit = static_cast<uint16_t>(_dshot_timing.bit_length_us * RMT_TICKS_PER_US);
+    _configureRMTTiming();
-    _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.ticks_per_bit - _rmt_ticks.t1h_ticks;
-    _rmt_ticks.t0l_ticks = _rmt_ticks.ticks_per_bit - _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<uint32_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);
-    }
 }
 
 // Constructor using pin number
@@ -81,10 +70,10 @@ DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool 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)
@@ -94,7 +83,7 @@ DShotRMT::~DShotRMT()
         }
     }
 
-    // ...RX
+    // Cleanup RX channel
     if (_rmt_rx_channel)
     {
         if (rmt_disable(_rmt_rx_channel) == DSHOT_OK)
@@ -104,7 +93,7 @@ DShotRMT::~DShotRMT()
         }
     }
 
-    // ...Encoder
+    // Cleanup encoder
     if (_dshot_encoder)
     {
         rmt_del_encoder(_dshot_encoder);
@@ -112,10 +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)
@@ -142,104 +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)
 {
@@ -288,14 +181,14 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
         return result;
     }
 
-    //
+    // Check for new telemetry data
-    if (_telemetry_ready_flag)
+    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(POLE_PAIRS_MIN, (magnet_count / MAGNETS_PER_POLE_PAIR));
@@ -311,6 +204,131 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
     return result;
 }
 
+// Public Info & Debug Functions
+// Print timing diagnostic information to specified stream
+void DShotRMT::printDShotInfo(Stream &output) const
+{
+    output.println(" ");
+    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("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
+
+    // Packet Info
+    output.printf("Current Packet: ");
+
+    // Print bit by bit
+    for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
+    {
+        if ((_parsed_packet >> i) & 1)
+        {
+            output.print("1");
+        }
+        else
+        {
+            output.print("0");
+        }
+    }
+    output.printf("\n");
+
+    output.printf("Current Value: %u\n", _packet.throttle_value);
+}
+
+// Print CPU information
+void DShotRMT::printCpuInfo(Stream &output) const
+{
+    output.println(" ");
+    output.println(" ===  CPU Info  === ");
+    output.printf("Chip Model: %s\n", ESP.getChipModel());
+    output.printf("Chip Revision: %d\n", ESP.getChipRevision());
+    output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
+    output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
+    output.printf("APB Freq = %lu Hz\n", getApbFrequency());
+}
+
+// Private Initialization Functions
+// Initialize 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};
+    }
+
+    // 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 = _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};
+    }
+
+    // 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, TX_INIT_SUCCESS};
+}
+
+// Private Packet Management Functions
 // Build a complete DShot packet
 dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
 {
@@ -361,7 +379,27 @@ uint16_t DShotRMT::_calculateCRC(const uint16_t data)
     return crc;
 }
 
-// Per calculate bits - Performance optimized
+// Configure RMT ticks for DShot timings
+void DShotRMT::_configureRMTTiming()
+{
+    // Convert DShot timings (us) to RMT ticks
+    _rmt_ticks.ticks_per_bit = 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.ticks_per_bit - _rmt_ticks.t1h_ticks;
+    _rmt_ticks.t0l_ticks = _rmt_ticks.ticks_per_bit - _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<uint32_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)
@@ -370,6 +408,7 @@ void DShotRMT::_preCalculateBitPositions()
     }
 }
 
+// Private Frame Processing Functions
 // Transmit DShot packet via RMT
 dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
 {
@@ -379,7 +418,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
         return {false, TIMING_CORRECTION};
     }
 
-    // Enable RMT RX before RMT TX
+    // Enable RMT RX before RMT TX (bidirectional mode)
     if (_is_bidirectional)
     {
         // Calculate transmission data size
@@ -442,7 +481,7 @@ bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t
     // Decode MSB
     for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
     {
-        // Use precalculated bit positions - Performace optimized
+        // Use precalculated bit positions - Performance optimized
         int bit_position = _bitPositions[i];
 
         bool bit = (_parsed_packet >> bit_position) & 0b0000000000000001;
@@ -455,7 +494,7 @@ bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t
     return DSHOT_OK;
 }
 
-// Decodes a DShot telemetry frame from received RMT symbols.
+// Decode DShot telemetry frame from received RMT symbols
 uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
 {
     uint32_t gcr_value = 0;
@@ -476,10 +515,8 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
     // 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?
+    // Extract data (first 12 bits) and CRC (last 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
@@ -502,6 +539,7 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
     return received_data & DSHOT_THROTTLE_MAX;
 }
 
+// Private Timing Control Functions
 // Check if enough time has passed for next transmission
 bool DShotRMT::_timer_signal()
 {
@@ -521,49 +559,25 @@ bool DShotRMT::_timer_reset()
     return DSHOT_OK;
 }
 
-// Print timing diagnostic information to specified stream
+// Static Callback Functions
-void DShotRMT::printDShotInfo(Stream &output) const
+// 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)
 {
-    output.println(" ");
+    DShotRMT *instance = static_cast<DShotRMT *>(user_data);
-    output.println(" === DShot Signal Info === ");
 
-    // Current DShot mode
+    // ISR check for valid data
-    output.printf("Current Mode: DSHOT%d\n", 
+    if (edata && edata->num_symbols >= GCR_BITS_PER_FRAME && edata->num_symbols <= GCR_BITS_PER_FRAME)
-        _mode == DSHOT150 ? 150 : 
-        _mode == DSHOT300 ? 300 : 
-        _mode == DSHOT600 ? 600 : 
-        _mode == DSHOT1200 ? 1200 : 0);
-
-    output.printf("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
-
-    // Packet Info
-    output.printf("Current Packet: ");
-
-    // Print bit by bit
-    for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
     {
-        if ((_parsed_packet >> i) & 1)
+        // Direct decoding
+        uint16_t erpm = instance->_decodeDShotFrame(edata->received_symbols);
+
+        if (erpm != DSHOT_NULL_PACKET)
         {
-            output.print("1");
+            // Atomic writes - thread-safe
-        }
+            instance->_last_erpm_atomic = erpm;
-        else
+            instance->_telemetry_ready_flag_atomic = true;
-        {
-            output.print("0");
         }
     }
-    output.printf("\n");
 
-    output.printf("Current Value: %u\n", _packet.throttle_value);
+    return false;
-}
-
-// Print CPU information
-void DShotRMT::printCpuInfo(Stream &output) const
-{
-    output.println(" ");
-    output.println(" ===  CPU Info  === ");
-    output.printf("Chip Model: %s\n", ESP.getChipModel());
-    output.printf("Chip Revision: %d\n", ESP.getChipRevision());
-    output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
-    output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
-    output.printf("APB Freq = %lu Hz\n", getApbFrequency());
 }

src/DShotRMT.h

@@ -10,12 +10,12 @@
 
 #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;
@@ -32,7 +32,7 @@ typedef enum
     DSHOT1200
 } dshot_mode_t;
 
-// DShot Packet
+// DShot Packet Structure
 typedef struct
 {
     uint16_t throttle_value : 11;
@@ -40,14 +40,14 @@ typedef struct
     uint16_t checksum : 4;
 } dshot_packet_t;
 
-// DShot Timings
+// DShot Timing Configuration
 typedef struct
 {
     double bit_length_us;
     double t1h_lenght_us;
 } dshot_timing_us_t;
 
-// RMT Ticks Configuration
+// RMT Timing Configuration
 typedef struct
 {
     uint16_t ticks_per_bit;
@@ -57,7 +57,7 @@ typedef struct
     uint16_t t0l_ticks;
 } rmt_ticks_t;
 
-// Unified DShot result structure
+// Unified DShot Result Structure
 typedef struct
 {
     bool success;
@@ -66,46 +66,46 @@ 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)
     dshot_result_t sendThrottle(uint16_t throttle);
-
+    
     // Send DShot command (0-47)
     dshot_result_t sendCommand(uint16_t command);
-
+    
-    // --- GETTERS ---
+    // Get telemetry data (bidirectional mode only)
+    dshot_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
+    
+    // Public Getter Functions
     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; }
-    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)
     {
@@ -128,67 +128,30 @@ public:
     }
 
 private:
-    // --- CONFIG ---
+     // Configuration Constants
-    gpio_num_t _gpio;
-    dshot_mode_t _mode;
-    bool _is_bidirectional;
-    uint32_t _frame_timer_us;
-    rmt_ticks_t _rmt_ticks;
-    const dshot_timing_us_t &_dshot_timing;
-    uint16_t _last_throttle;
-
-    // --- TIMING & PACKET VARIABLES ---
-    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 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 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 = 0b1111111111111111;
-
-    // --- CONSTANTS & ERROR MESSAGES ---
     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 = 3;
+    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 = 0b1111111111111111;
 
+    // Error Messages
     static constexpr char const *NONE = "";
     static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
     static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
@@ -210,26 +173,61 @@ 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;
+    uint32_t _frame_timer_us;
 
-    // Configuration Constants
+    // Timing & Packet Variables
-    static constexpr auto const DSHOT_NULL_PACKET = 0b0000000000000000;
+    rmt_ticks_t _rmt_ticks;
-    static constexpr auto const DSHOT_FULL_PACKET = 0b1111111111111111;
+    uint16_t _last_throttle;
-    static constexpr auto const DSHOT_CRC_MASK = 0b0000000000001111;
+    uint64_t _last_transmission_time_us;
-    static constexpr auto const DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
+    uint16_t _parsed_packet;
-    static constexpr auto const DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000;                      // 8 MHz resolution
+    dshot_packet_t _packet;
-    static constexpr auto const RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond, based on the RMT resolution in MHz
+    uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
-    static constexpr auto const RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
+    uint16_t _level0;
-    static constexpr auto const DSHOT_RX_TIMEOUT_MS = 2; // Never reached
+    uint16_t _level1;
-    static constexpr auto const DSHOT_PADDING_US = 3;
+    
-    static constexpr auto const RMT_BUFFER_SYMBOLS = 64;
+    // RMT Hardware Handles
-    static constexpr auto const RMT_QUEUE_DEPTH = 1;
+    rmt_channel_handle_t _rmt_tx_channel;
-    static constexpr auto const GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame (1 start + 16 data + 4 CRC)
+    rmt_channel_handle_t _rmt_rx_channel;
-    static constexpr auto const POLE_PAIRS_MIN = 1;
+    rmt_encoder_handle_t _dshot_encoder;
-    static constexpr auto const MAGNETS_PER_POLE_PAIR = 2;
-    static constexpr auto const NO_DSHOT_TELEMETRY = 0;
 
-    // Smallest pulse for DShot1200 is 2us. Largest for DShot150 is 40us.
+    // RMT Configuration Structures
-    // The range is set from 3us (3000ns) to 60us (60000ns) to be safe across all modes.
+    rmt_tx_channel_config_t _tx_channel_config;
-    static constexpr auto const DSHOT_PULSE_MIN = 3000;
+    rmt_rx_channel_config_t _rx_channel_config;
-    static constexpr auto const DSHOT_PULSE_MAX = 60000;
+    rmt_transmit_config_t _transmit_config;
+    rmt_receive_config_t _receive_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 _configureRMTTiming();
+    void _preCalculateBitPositions();
+
+    // Private Frame Processing Functions
+    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);
+    
+    // Private Timing Control Functions
+    bool IRAM_ATTR _timer_signal();
+    bool _timer_reset();
+    
+    // Static Callback Functions
+    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);
 };

src/web_content.h

@@ -1,361 +0,0 @@
-/**
- * @file web_content.h
- * @brief DShotRMT_Control Website content with Arming Switch
- * @author Wastl Kraus
- * @date 2025-09-09
- * @license MIT
- */
-
-#pragma once
-
-// Web Site Content
-const char index_html[] PROGMEM = R"rawliteral(
-<!DOCTYPE html>
-<html lang="de">
-
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
-    <title>DShotRMT Web Client</title>
-    <style>
-        body {
-            font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
-            display: flex;
-            flex-direction: column;
-            align-items: center;
-            background-color: #2c3e50;
-            color: #ecf0f1;
-            margin: 0;
-            height: 100dvh;
-            justify-content: center;
-        }
-
-        h1 {
-            font-size: 1.5em;
-            font-weight: bold;
-            margin-bottom: 20px;
-        }
-
-        .control-container {
-            background-color: #34495e;
-            padding: 30px;
-            border-radius: 12px;
-            box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
-            text-align: center;
-            width: 85%;
-            max-width: 500px;
-        }
-
-        /* Arming Switch Styles */
-        .arming-section {
-            margin-bottom: 25px;
-            padding: 15px;
-            background-color: #2c3e50;
-            border-radius: 8px;
-            border: 2px solid #e74c3c;
-        }
-
-        .arming-switch {
-            display: flex;
-            align-items: center;
-            justify-content: center;
-            gap: 15px;
-            margin-bottom: 10px;
-        }
-
-        .switch {
-            position: relative;
-            display: inline-block;
-            width: 60px;
-            height: 34px;
-        }
-
-        .switch input {
-            opacity: 0;
-            width: 0;
-            height: 0;
-        }
-
-        .slider-switch {
-            position: absolute;
-            cursor: pointer;
-            top: 0;
-            left: 0;
-            right: 0;
-            bottom: 0;
-            background-color: #e74c3c;
-            -webkit-transition: .4s;
-            transition: .4s;
-            border-radius: 34px;
-        }
-
-        .slider-switch:before {
-            position: absolute;
-            content: "";
-            height: 26px;
-            width: 26px;
-            left: 4px;
-            bottom: 4px;
-            background-color: white;
-            -webkit-transition: .4s;
-            transition: .4s;
-            border-radius: 50%;
-        }
-
-        input:checked+.slider-switch {
-            background-color: #27ae60;
-        }
-
-        input:checked+.slider-switch:before {
-            -webkit-transform: translateX(26px);
-            -ms-transform: translateX(26px);
-            transform: translateX(26px);
-        }
-
-        .arming-label {
-            font-size: 1.2em;
-            font-weight: bold;
-        }
-
-        .arming-status {
-            font-size: 0.9em;
-            margin-top: 5px;
-        }
-
-        .status-disarmed {
-            color: #e74c3c;
-        }
-
-        .status-armed {
-            color: #27ae60;
-        }
-
-        /* Throttle Section */
-        .throttle-section {
-            opacity: 0.3;
-            transition: opacity 0.3s ease;
-        }
-
-        .throttle-section.armed {
-            opacity: 1;
-        }
-
-        #throttleValue {
-            font-size: 2.5em;
-            font-weight: bold;
-            color: #3498db;
-            margin-bottom: 20px;
-        }
-
-        #throttleSlider {
-            appearance: none;
-            width: 100%;
-            height: 25px;
-            background: #2c3e50;
-            outline: none;
-            border-radius: 12px;
-        }
-
-        #throttleSlider::-webkit-slider-thumb {
-            -webkit-appearance: none;
-            appearance: none;
-            width: 40px;
-            height: 40px;
-            background: #3498db;
-            cursor: pointer;
-            border-radius: 50%;
-        }
-
-        #throttleSlider::-moz-range-thumb {
-            width: 40px;
-            height: 40px;
-            background: #3498db;
-            cursor: pointer;
-            border-radius: 50%;
-            border: none;
-        }
-
-        .stats {
-            margin-top: 20px;
-            font-size: 1.2em;
-        }
-
-        .stats span {
-            font-weight: bold;
-            color: #e67e22;
-        }
-
-        .warning-text {
-            color: #e74c3c;
-            font-size: 0.9em;
-            margin-top: 10px;
-            font-style: italic;
-        }
-    </style>
-</head>
-
-<body>
-    <h1>DShotRMT Web Client</h1>
-    <div class="control-container">
-        <!-- Arming Section -->
-        <div class="arming-section">
-            <div class="arming-switch">
-                <span class="arming-label">ARMING SWITCH</span>
-                <label class="switch">
-                    <input type="checkbox" id="armingSwitch">
-                    <span class="slider-switch"></span>
-                </label>
-            </div>
-            <div class="arming-status">
-                <span id="armingStatus" class="status-disarmed">DISARMED</span>
-            </div>
-            <div class="warning-text">
-                ⚠️ Disabled when disarmed!
-            </div>
-        </div>
-
-        <!-- Throttle Section -->
-        <div class="throttle-section" id="throttleSection">
-            <div id="throttleValue">0</div>
-            <input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
-        </div>
-
-        <div class="stats">
-            RPM: <span id="rpmValue">--</span>
-        </div>
-    </div>
-
-    <script>
-        const gateway = `ws://${window.location.hostname}/ws`;
-        let websocket;
-        let isArmed = false;
-
-        // Init WebSocket
-        window.addEventListener('load', () => {
-            initWebSocket();
-        });
-
-        function initWebSocket() {
-            console.log('Trying to open a WebSocket connection...');
-
-            websocket = new WebSocket(gateway);
-            websocket.onopen = onOpen;
-            websocket.onclose = onClose;
-            websocket.onmessage = onMessage;
-        }
-
-        function onOpen(event) {
-            console.log('Connection opened');
-        }
-
-        function onClose(event) {
-            console.log('Connection closed');
-            setTimeout(initWebSocket, 2000);
-        }
-
-        // Getting data from sketch
-        function onMessage(event) {
-            try {
-                const data = JSON.parse(event.data);
-
-                if (data.rpm !== undefined) {
-                    document.getElementById('rpmValue').innerText = data.rpm;
-                }
-
-                // Sync web and serial throttle inputs
-                if (data.throttle !== undefined) {
-                    if (isArmed) {
-                        document.getElementById('throttleSlider').value = data.throttle;
-                        document.getElementById('throttleValue').innerText = data.throttle;
-                    }
-                }
-
-                // Sync arming status if received from ESP32
-                if (data.armed !== undefined) {
-                    isArmed = data.armed;
-                    updateArmingUI();
-                }
-
-            } catch (e) {
-                console.error("Error parsing JSON: ", e);
-            }
-        }
-
-        // Elements
-        const slider = document.getElementById('throttleSlider');
-        const sliderValue = document.getElementById('throttleValue');
-        const armingSwitch = document.getElementById('armingSwitch');
-        const armingStatus = document.getElementById('armingStatus');
-        const throttleSection = document.getElementById('throttleSection');
-
-        // Arming switch event
-        armingSwitch.addEventListener('change', () => {
-            isArmed = armingSwitch.checked;
-            updateArmingUI();
-
-            // Send arming status to ESP32
-            const message = JSON.stringify({
-                "armed": isArmed,
-                "throttle": isArmed ? parseInt(slider.value) : 0
-            });
-
-            console.log("Sending arming status: ", message);
-            websocket.send(message);
-
-            // If disarmed, set throttle to 0
-            if (!isArmed) {
-                slider.value = 0;
-                sliderValue.innerText = 0;
-            }
-        });
-
-        // Update UI based on arming status
-        function updateArmingUI() {
-            
-            // Synch checkbox, as well
-            armingSwitch.checked = isArmed;
-
-            if (isArmed) {
-                armingStatus.innerText = 'ARMED';
-                armingStatus.className = 'status-armed';
-                throttleSection.classList.add('armed');
-                slider.disabled = false;
-            } else {
-                armingStatus.innerText = 'DISARMED';
-                armingStatus.className = 'status-disarmed';
-                throttleSection.classList.remove('armed');
-                slider.disabled = true;
-                slider.value = 0;
-                sliderValue.innerText = 0;
-            }
-        }
-
-        // Throttle slider event
-        slider.addEventListener('input', () => {
-            if (!isArmed) {
-                slider.disabled = true;
-                slider.value = 0;
-                sliderValue.innerText = 0;
-                return;
-            }
-
-            const throttle = slider.value;
-            sliderValue.innerText = throttle;
-
-            const message = JSON.stringify({
-                "throttle": parseInt(throttle),
-                "armed": isArmed
-            });
-
-            console.log("Sending throttle: ", message);
-            websocket.send(message);
-        });
-
-        // Initialize UI
-        updateArmingUI();
-    </script>
-</body>
-
-</html>
-
-)rawliteral";