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[![Arduino CI](https://github.com/derdoktor667/DShotRMT/actions/workflows/esp32.yml/badge.svg?event=push)](https://github.com/derdoktor667/DShotRMT/actions/workflows/esp32.yml)
## DShot ESP32 Library utilizing RMT
### The DShot Protocol
The DSHOT protocol consists of transmitting 16-bit packets to the ESCs: 11-bit throttle value, 1-bit to request telemetry and a 4-bit checksum. There are three major protocol speeds: DSHOT150, DSHOT300 and DSHOT600.
| DSHOT | Bitrate | TH1 | TH0 | Bit Time µs | Frame Time µs |
|-------|----------|-------|--------|-------------|-----------------|
| 150 | 150kbit/s | 5.00 | 2.50 | 6.67 | 106.72 |
| 300 | 300kbit/s | 2.50 | 1.25 | 3.33 | 53.28 |
| 600 | 600kbit/s | 1.25 | 0.625 | 1.67 | 26.72 |
| 1200 | 1200kbit/s| 0.625 | 0.313 | 0.83 | 13.28 |
| DSHOT | Bitrate | TH1 | TH0 | Bit Time µs | Frame Time µs |
|-------|------------|-------|--------|------------|---------------|
| 150 | 150kbit/s | 5.00 | 2.50 | 6.67 | 106.72 |
| 300 | 300kbit/s | 2.50 | 1.25 | 3.33 | 53.28 |
| 600 | 600kbit/s | 1.25 | 0.625 | 1.67 | 26.72 |
| 1200 | 1200kbit/s | 0.625 | 0.313 | 0.83 | 13.28 |
#### Calculating the CRC
The checksum is calculated over the throttle value and the telemetry bit, so the “first” 12 bits our value in the following example: