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DShotRMT
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prepare release 0.9.0

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Wastl Kraus 2025-10-04 21:41:25 +02:00
parent da7719a166
commit 6e3006c4c8
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LICENSE
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@ -1,6 +1,6 @@
MIT License
Copyright (c) 2021 Wastl Kraus
Copyright (c) 2023 derdoktor667
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal

28
README.md
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@ -1,11 +1,15 @@
# DShotRMT - ESP32 RMT DShot Driver
[![Arduino CI](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml/badge.svg)](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
[![Arduino Library](https://img.shields.io/badge/Arduino-Library-blue.svg)](https://www.arduinolibraries.com/libraries/dshot-rmt)
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
An Arduino IDElibrary for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT encoder API** (`rmt_tx.h` / `rmt_rx.h`). This library specifically leverages the official `rmt_bytes_encoder` API for an efficient, hardware-timed, and maintainable implementation. It provides a simple way to control brushless motors in both Arduino and ESP-IDF projects.
An Arduino IDE library for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT Encoder API** (`rmt_tx.h` / `rmt_rx.h`). This library specifically leverages the official `rmt_bytes_encoder` API for an efficient, hardware-timed and maintainable implementation. It provides a simple way to control BLHeli ESCs in both Arduino and ESP-IDF projects.
The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
---
### DShot300 Example Output
Here's an example of the output from the `dshot300` example sketch:
@ -15,7 +19,7 @@ Here's an example of the output from the `dshot300` example sketch:
## 🚀 Core Features
- **Multiple DShot Modes:** Supports DSHOT150, DSHOT300, DSHOT600, and DSHOT1200.
- **Bidirectional DShot Support:** Implemented, but note that official support is limited due to potential instability and external hardware requirements. Use with caution.
- **Bidirectional DShot Support:** Implemented, but note that official support is limited due to potential instability and external hardware requirements. Use with caution (and pull-up).
- **Hardware-Timed Signals:** Precise signal generation using the ESP32 RMT peripheral, ensuring stable and reliable motor control.
- **Simple API:** Easy-to-use C++ class with intuitive methods like `sendThrottlePercent()`.
- **Error Handling:** Provides detailed feedback on operation success or failure via `dshot_result_t`.
@ -43,11 +47,11 @@ The DShot protocol defines specific timing characteristics for each mode. The fo
## ⚡ Quick Start
Here's a basic example of how to use the `DShotRMT` library to control a motor. Please use example sketches for more detailes:
Here's a basic example of how to use the `DShotRMT` library to control a motor. Note that `DShotRMT.h` now includes all necessary dependencies, so you only need to include this single header. Please use example sketches for more detailes:
```cpp
#include <Arduino.h>
#include <DShotRMT.h> // Include the DShotRMT library
#include <DShotRMT.h>
// Define the GPIO pin connected to the motor ESC
const gpio_num_t MOTOR_PIN = GPIO_NUM_27;
@ -65,14 +69,13 @@ void setup() {
printCpuInfo(Serial);
Serial.println("Motor initialized. Ramping up to 25% throttle...");
}
}
void loop() {
// Ramp up to 25% throttle over 2.5 seconds
for (int i = 0; i <= 25; i++) {
motor.sendThrottlePercent(i);
delay(100);
delay(200);
}
Serial.println("Stopping motor.");
@ -80,6 +83,9 @@ void loop() {
// Print DShot Info
printDShotInfo(motor, Serial);
// Take a break before next bench run
delay(3000);
}
```
@ -124,6 +130,14 @@ The main class is `DShotRMT`. Here are the most important methods:
- `getEncodedFrameValue()`: Gets the last encoded DShot frame value.
- `getThrottleValue()`: Gets the last transmitted throttle value.
## ⚙️ ESP-IDF Integration
This library is built upon the ESP-IDF framework, specifically leveraging its RMT (Remote Control Peripheral) module for precise signal generation. For detailed information on the underlying ESP-IDF components and their usage, please refer to the official ESP-IDF documentation:
* [ESP-IDF v5.5.1 Documentation](https://docs.espressif.com/projects/esp-idf/en/v5.5.1/)
---
## 🤝 Contributing
Contributions are welcome! Please fork the repository, create a feature branch, and submit a pull request.

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examples/throttle_percent/throttle_percent.ino
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/**
* @file throttle_percent.ino
* @brief Demo sketch for DShotRMT library using percentage throttle.
* @brief Example sketch for DShotRMT library demonstrating throttle control by percentage
* @author Wastl Kraus
* @date 2025-09-20
* @license MIT

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examples/web_client/web_client.ino
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@ -1,6 +1,6 @@
/**
* @file web_client.ino
* @brief DShotRMT Web Control as WiFi Client
* @brief Example sketch for DShotRMT library demonstrating web control via a client
* @author Wastl Kraus
* @date 2025-09-11
* @license MIT
@ -16,10 +16,9 @@
******************************************************************/
#include <Arduino.h>
#include <Update.h>
#include <WiFi.h>
#include <DShotRMT.h>
#include <WiFi.h>
#include <Update.h>
#include "web_utilities/ota_update.h"
#include "web_utilities/web_content.h"

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examples/web_control/web_control.ino
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@ -1,6 +1,6 @@
/**
* @file web_control.ino
* @brief Demo sketch for DShotRMT library
* @brief Example sketch for DShotRMT library demonstrating web control via an access point
* @author Wastl Kraus
* @date 2025-09-09
* @license MIT
@ -16,9 +16,9 @@
******************************************************************/
#include <Arduino.h>
#include <WiFi.h>
#include <DShotRMT.h>
#include <WiFi.h>
#include <Update.h>
#include "web_utilities/web_content.h"
#include <ArduinoJson.h>

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library.properties
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@ -1,5 +1,5 @@
name=DShotRMT
version=0.8.9
version=0.9.0
author=Wastl Kraus <wir-sind-die-matrix.de>
maintainer=Wastl Kraus <wir-sind-die-matrix.de>
license=MIT

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src/DShotRMT.h
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@ -9,12 +9,14 @@
#pragma once
#include <atomic>
#include <Arduino.h>
#include <driver/gpio.h>
#include <driver/rmt_tx.h>
#include <driver/rmt_rx.h>
#include <driver/rmt_tx.h>
#include "dshot_definitions.h"
#include "dshot_config.h"
#include "dshot_init.h"
// DShot Protocol Constants
static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
@ -69,17 +71,22 @@ public:
uint16_t getEncodedFrameValue() const { return _encoded_frame_value; }
private:
// Configuration
gpio_num_t _gpio;
dshot_mode_t _mode;
bool _is_bidirectional;
uint16_t _motor_magnet_count;
dshot_timing_us_t _dshot_timing;
// RMT Handles & Config
rmt_channel_handle_t _rmt_tx_channel = nullptr;
rmt_channel_handle_t _rmt_rx_channel = nullptr;
rmt_encoder_handle_t _dshot_encoder = nullptr;
rmt_ticks_t _rmt_ticks;
uint16_t _pulse_level = 1; // Default to high
uint16_t _idle_level = 0; // Default to low
// Timing & State
uint64_t _last_transmission_time_us = 0;
uint64_t _frame_timer_us = 0;
uint16_t _last_throttle = 0;
@ -87,7 +94,7 @@ private:
uint16_t _encoded_frame_value = 0;
uint64_t _last_command_timestamp = 0;
// Telemetry related
// Telemetry
std::atomic<uint16_t> _last_erpm_atomic = 0;
std::atomic<bool> _telemetry_ready_flag_atomic = false;
rmt_rx_event_callbacks_t _rx_event_callbacks = {
@ -110,4 +117,4 @@ private:
static bool IRAM_ATTR _on_rx_done(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
};
#include "dshot_utils.h" // Workround for util functions
#include "dshot_utils.h" // Include for helper functions

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src/dshot_definitions.h
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@ -1,10 +1,15 @@
/**
* @file dshot_definitions.h
* @brief Defines DShot protocol constants, data structures, and command enums for DShotRMT library
* @author Wastl Kraus
* @date 2025-10-04
* @license MIT
*/
#pragma once
#include <Arduino.h>
#include <driver/gpio.h>
#include <driver/rmt_tx.h>
#include <driver/rmt_rx.h>
#include <atomic>
#include <cstdint>
#include <driver/rmt_common.h>
// Defines the available DShot communication speeds.
enum dshot_mode_t
@ -13,8 +18,7 @@ enum dshot_mode_t
DSHOT150,
DSHOT300,
DSHOT600,
DSHOT1200,
DSHOT_MODE_MAX
DSHOT1200
};
// Represents the 16-bit DShot data packet sent to the ESC.
@ -152,6 +156,5 @@ const dshot_timing_us_t DSHOT_TIMING_US[] = {
{6.67, 5.00}, // DSHOT150
{3.33, 2.50}, // DSHOT300
{1.67, 1.25}, // DSHOT600
{0.83, 0.67}, // DSHOT1200
{0.00, 0.00} // DSHOT_MODE_MAX (dummy entry)
{0.83, 0.67} // DSHOT1200
};

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src/dshot_config.cpp → src/dshot_init.cpp
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@ -1,4 +1,12 @@
#include "dshot_config.h"
/**
* @file dshot_init.cpp
* @brief RMT configuration and initialization functions for DShotRMT library
* @author Wastl Kraus
* @date 2025-10-04
* @license MIT
*/
#include "dshot_init.h"
// Function to initialize the RMT TX channel
dshot_result_t init_rmt_tx_channel(gpio_num_t gpio, rmt_channel_handle_t *out_channel, bool is_bidirectional)
@ -38,12 +46,10 @@ dshot_result_t init_rmt_rx_channel(gpio_num_t gpio, rmt_channel_handle_t *out_ch
.mem_block_symbols = RMT_BUFFER_SYMBOLS,
};
rmt_receive_config_t rmt_rx_config = {
.signal_range_min_ns = DSHOT_PULSE_MIN_NS,
.signal_range_max_ns = DSHOT_PULSE_MAX_NS,
};
if (rmt_new_rx_channel(&rx_channel_config, out_channel) != DSHOT_OK)
{
return {false, DSHOT_RX_INIT_FAILED};
}
if (rmt_rx_register_event_callbacks(*out_channel, rx_event_callbacks, user_data) != DSHOT_OK)
{
@ -58,6 +64,12 @@ dshot_result_t init_rmt_rx_channel(gpio_num_t gpio, rmt_channel_handle_t *out_ch
// Start the receiver to wait for incoming telemetry data
rmt_symbol_word_t rx_symbols[GCR_BITS_PER_FRAME];
size_t rx_size_bytes = GCR_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
rmt_receive_config_t rmt_rx_config = {
.signal_range_min_ns = DSHOT_PULSE_MIN_NS,
.signal_range_max_ns = DSHOT_PULSE_MAX_NS,
};
if (rmt_receive(*out_channel, rx_symbols, rx_size_bytes, &rmt_rx_config) != DSHOT_OK)
{
return {false, DSHOT_RECEIVER_FAILED};

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src/dshot_config.h → src/dshot_init.h
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@ -1,8 +1,15 @@
/**
* @file dshot_init.h
* @brief RMT configuration and initialization function declarations for DShotRMT library
* @author Wastl Kraus
* @date 2025-10-04
* @license MIT
*/
#pragma once
#include <Arduino.h>
#include <driver/rmt_tx.h>
#include <driver/rmt_rx.h>
#include <driver/rmt_tx.h>
#include "dshot_definitions.h"

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src/dshot_utils.h
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@ -1,7 +1,17 @@
/**
* @file dshot_utils.h
* @brief Utility functions for DShotRMT library
* @author Wastl Kraus
* @date 2025-10-04
* @license MIT
*/
#pragma once
#include <Arduino.h>
#include "DShotRMT.h" // Include the full class definition
// Forward declaration of the DShotRMT class to break circular dependency
class DShotRMT;
// Error Messages
static constexpr char NONE[] = "";

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src/web_utilities/ota_update.h
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@ -2,7 +2,7 @@
* @file ota_update.h
* @brief Contains the HTML, CSS, and JavaScript for the OTA (Over-The-Air) update web page.
* @author Wastl Kraus
* @date 2025-09-13
* @date 2025-10-04
* @license MIT
*/

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src/web_utilities/web_content.h
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@ -2,7 +2,7 @@
* @file web_content.h
* @brief Contains the HTML, CSS, and JavaScript for the main DShot control web page.
* @author Wastl Kraus
* @date 2025-09-13
* @date 2025-10-04
* @license MIT
*/