dshot.h

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#pragma once
#ifndef DSHOT_H
#define DSHOT_H
 
#include "DriveMaster.h"
 
#if defined(ARDUINO_ARCH_ESP32)
#include <esp32-hal-rmt.h>
#define DSHOT_FRAME_LENGTH 16
 
enum DShotType
{
  DSHOT_150, 
  DSHOT_300  
};
 
class dshot : public DriveMaster
{
private:
  rmt_data_t _data[DSHOT_FRAME_LENGTH]; 
  uint16_t _timingDuration0;            
  uint16_t _timingDuration1;            
  uint16_t _timingDurationBit;          
  uint8_t calculateCrc(uint16_t value);
  void write(uint16_t value, bool telemetery = false);
 
public:
  explicit dshot(int pin, DShotType type = DSHOT_300);
  ~dshot();
  void begin() override;
  void sendCommand(uint16_t value) override;
  void sendValue(uint16_t value) override;
};
#endif
#endif