From 65aeb56e3b7eeb351d12125e469760a01ac9ed25 Mon Sep 17 00:00:00 2001 From: Wastl Kraus Date: Thu, 30 Mar 2023 18:58:19 +0200 Subject: [PATCH] Update README.md --- README.md | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 4595c8d..e1041c8 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,16 @@ + [![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: