Struct ErpmTelemetry 

pub struct ErpmTelemetry {
    pub shift: u8,
    pub period_base: u16,
    pub crc: u8,
}

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]

Fields

shift: u8

Raw 3-bit shift value (0–7)

period_base: u16

Raw 9-bit period base (0–511)

crc: u8

Raw 4-bit CRC (for debugging)

Implementations

impl ErpmTelemetry

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) -> ErpmTelemetry

Returns a duplicate of the value.

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

Performs copy-assignment from source.

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: &ErpmTelemetry) -> bool

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for ErpmTelemetry

impl StructuralPartialEq for ErpmTelemetry