Struct ErpmTelemetry 

pub struct ErpmTelemetry { /* private fields */ }

eRPM telemetry frame as sent by ESC in bidirectional DShot mode.

Despite being used in bidirectional mode, this frame is not inverted, and its CRC is computed using the standard (non-inverted) DShot algorithm.

Format (16 bits): [3-bit shift][9-bit period_base][4-bit CRC]

Implementations

impl ErpmTelemetry

pub fn shift(&self) -> u8

Returns the 3-bit shift value (0-7).

pub fn period_base(&self) -> u16

Returns the 9-bit period base (0-511).

pub fn crc(&self) -> u8

Returns the 4-bit CRC.

pub fn set_shift(&mut self, shift: u8)

Sets the 3-bit shift value (0-7). Recalculates the CRC accordingly.

Panics

Panics if the shift value is out of bounds (> 7).

pub fn set_period_base(&mut self, period_base: u16)

Sets the 9-bit period-base (0-511). Recalculates the CRC accordingly.

Panics

Panics if the period base is out of bounds (> 511).

pub fn try_from_raw(raw: u16) -> Option<Self>

Attempts to parse a 16-bit raw telemetry value.

Returns None if the CRC is invalid.

pub fn period_us(&self) -> Option<u32>

Returns the period in microseconds.

If period_base is zero, the period is considered infinite (motor stopped).

pub fn erpm(&self) -> u32

Returns the electrical RPM (eRPM).

Computed as 60_000_000 / period_us. Returns 0 if the motor is stopped (period_base == 0).

pub fn to_raw(&self) -> u16

Returns the raw 16-bit value (for logging or retransmission).

Trait Implementations

impl Clone for ErpmTelemetry

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for ErpmTelemetry

impl Debug for ErpmTelemetry

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for ErpmTelemetry

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for ErpmTelemetry